A digital computer program for the dynamic interaction simulation of controls and structure (DISCOS), volume 2
For abstract, see N78-25123.
Bodley, C. S.↗
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A digital computer program for the dynamic interaction simulation of controls and structure (DISCOS). Volume 4: Supplementary documentation
Additions made to the original version of the DISCOS computer programs are presented. They include demonstrations of problems and improved capabilities. Remarks are made pertaining new subroutines.
Frisch, H. P.↗
Laboratory simulations of controlled energetic electron-beam-plasma interactions in space
Previously cited in issue 06, p. 945, Accession no. A82-17806
Szuszczewicz, E. P.↗
Kinematic rate control of simulated robot hand at or near wrist singularity
A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.
Barker, K.↗
Development of an Emulation-simulation Thermal Control Model for Space Station Application
Analysis techniques to evaluate the effects of changing thermal loads and the methods utilized to control temperature distributions in the orbital space station are essential. Analysis techniques including a user-friendly computer program, were developed which should prove useful in thermal design and system analysis of the the space station. The program uses a data base and user input to compute costs, sizes, and power requirements for individual components and complete systems. User input consists of selecting mission parameters, selecting thermal acquisition configurations, transport systems and distances, and thermal rejection configurations.
Colwell, G. T.↗
Development of an emulation-simulation thermal control model for space station application
An improved capability for comparing various techniques for thermal management in the Space Station was developed. Current planning for the orbiting space station calls for a dual keel configuration. The thermal control system (TCS) for the space is composed of a central TCS and internal thermal control systems for the modules, as well as service facilities and attached payloads. The internal TCS may be attacted to the central TCS through a thermal bus. The central TCS is composed of a main transport system which collects waste thermal energy from each of the modules and transports it through coolant lines to the main rejection system. The waste heat loads in the modules arise from electrical and electronic equipment as well as metabolic loads in the manned modules. Several candidate technologies are being considered for acquiring the waste heat loads, for transporting the thermal energy between the acquisition and rejection systems, and for rejecting the waste heat to space. The analysis techniques described were developed for use in evaluating reliability, weights, costs, volumes, and power requirements for configurations using different candidates and different mission parameters.
Hartley, James G.↗
Development of an emulation-simulation thermal control model for space station application
The orbiting space station being developed by NASA will have many thermal sources and sinks as well as requirements for the transport of thermal energy through large distances. The station is also expected to evolve over twenty or more years from an initial design. As the station evolves, thermal management will become more difficult. Thus, analysis techniques to evaluate the effects of changing various thermal loads and the methods utilized to control temperature distributions in the station are essential. Analysis techniques, including a user-friendly computer program, were developed which should prove useful to thermal designers and system analysts working on the space station. The program uses a data base and user input to compute costs, sizes, and power requirements for individual components and complete systems. User input consists of selecting mission parameters, selecting thermal acquisition configurations, transport systems and distances, and thermal rejection configurations. The capabilities of the program may be expanded by including additional thermal models as subroutines.
Hartley, James G.↗
Development of an emulation-simulation thermal control model for space station application
Many features were added to the Thermal Control System (TCS) program to increase its user-friendliness. Several apparent inconsistencies were identified. In some instances, these have led to modifications to the source programs. With the summary line-sizing information, the user can more readily compare the TCS program results with other available data. Two mathematical models were completed: one deals with sizing and analysis of bus heat exchangers and the other provides a means of analyzing a variety of heat pipe radiator designs. A generic heat pipe model was added to the TCS Analysis Program.
Colwell, Gene T.↗
Development of an emulation-simulation thermal control model for space station application
The goal of this program is to develop an improved capability for comparing various techniques for thermal management in the space station. The work involves three major tasks: Develop a Technology Options Data Base (Task 1); Complete Development of a Space Station Thermal Control Technology Assessment Program (Task 2); and Develop and Evaluate Emulation Models (Task 3).
Hartley, James G.↗
Visual enhancements in pick-and-place tasks - Human operators controlling a simulated cylindrical manipulator
A teleoperation simulator has been constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments thus conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements.
Kim, Won S.↗
The visual control of simulated altitude
The ability of a subject flying an experimental flight to use the different sources of visual information by looking at the vertical tracking error was investigated using a 3 (altitude) x 3 (texture) x 2 (replication) factorial design. Each subject flew these 18 flights in the same partially counterbalanced order, constructed such that there was one flight at each of the three altitudes, and over each of the three surface textures within each successive set of three flights. The three ground-surface textures used consisted of meridian, latitudinal, and square textures described by Wolpert et al. (1983). The results showed that, in displays where only splay information was available, the subjects tended to confuse lateral motion with vertical.
Johnson, Walter W.↗
Modeling, simulation and control for a cryogenic fluid management facility, preliminary report
The synthesis of a control system for a cryogenic fluid management facility was studied. The severe demand for reliability as well as instrumentation and control unique to the Space Station environment are prime considerations. Realizing that the effective control system depends heavily on quantitative description of the facility dynamics, a methodology for process identification and parameter estimation is postulated. A block diagram of the associated control system is also produced. Finally, an on-line adaptive control strategy is developed utilizing optimization of the velocity form control parameters (proportional gains, integration and derivative time constants) in appropriate difference equations for direct digital control. Of special concern are the communications, software and hardware supporting interaction between the ground and orbital systems. It is visualized that specialist in the OSI/ISO utilizing the Ada programming language will influence further development, testing and validation of the simplistic models presented here for adaptation to the actual flight environment.
Turner, Max A.↗
Visual enhancements in pick-and-place tasks: Human operators controlling a simulated cylindrical manipulator
A teleoperation simulator was constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements.
Kim, Won S.↗
Acceleration and pulse control in simulated spacecraft docking maneuvers
Explore the source record for details and available documents.
Brody, Adam R.↗
A Matlab-Based Graphical User Interface for Simulation and Control Design of a Hydrogen Mixer
A Graphical User Interface (GUI) that facilitates prediction and control design tasks for a propellant mixer is described. The Hydrogen mixer is used in rocket test stand operations at the NASA John C. Stennis Space Center. The mixer injects gaseous hydrogen (GH2) into a stream of liquid hydrogen (LH2) to obtain a combined flow with desired thermodynamic properties. The flows of GH2 and LH2 into the mixer are regulated by two control valves, and a third control valve is installed at the exit of the mixer to regulate the combined flow. The three valves may be simultaneously operated in order to achieve any desired combination of total flow, exit temperature and mixer pressure within the range of operation. The mixer, thus, constitutes a three-input, three-output system. A mathematical model of the mixer has been obtained and validated with experimental data. The GUI presented here uses the model to predict mixer response under diverse conditions.
Richter, Hanz↗
Aircraft Engine Icing Event Avoidance and Mitigation Through Real-Time Simulation and Controls
A process for mitigating or proactively avoiding an aircraft engine icing event may include detecting ice crystals in the atmosphere using one or more sensors on board an aircraft in real time. The process may also include modulating one or more engine operating conditions to proactively change an ice accretion location, to avoid the occurrence of an icing event. The process may further include implementing one or more modulated engine operating conditions in engine controls software, hardware, or both.
Veres, Joseph P.↗
Modeling, simulation, and control of parachute/balloon flight systems for Mars Exploration
In this paper, we report some models developed for analyzing parachute/balloon-assisted deployment of sensor packages within the Mars Aerobot Validation Program (MABVAP).
aerodynamic↗
Correlated Electromagnetic Levitation Actuator: A Reaction Sphere Based Attitude Control System
To address problems experienced by current reaction wheels and control moment gyroscopebased attitude control systems (ACS), researchers at NASA’s Marshall Space Flight Center have begun developing a reaction sphere actuator based on correlated electromagnetic levitation that will be immune to destructive bearing friction, momentum saturation, and gimbal lock. The Correlated Electromagnetic Levitation Actuator (CELA) advances the state of the art of reaction sphere ACSs by employing the concept of correlated magnetics. It is a frictionless, direct-drive reaction sphere that harnesses a unique technology with an array of applications across multiple disciplines. Correlated electromagnets function in a manner that is analogous to a matched filter; the convolution of two signals is peaked at the index representing the greatest match. For CELA, the signals are the patterns of magnetic flux density as a function of position. The magnitude of the convolution equates to an attractive or repulsive force, and these forces can be azimuthal or radial. The development of CELA is based in four distinct disciplines: Advanced Manufacturing, Prototype Development, Electromagnetic Modeling, and Controls. We are developing novel manufacturing techniques required to build arrays of permanent and electromagnet dipoles on curved surfaces. To print the permanent magnetic array, we have developed a probe with pyramidal magnets that will reside on a robotic arm to induce localized magnetic fields on a surface. The probe also includes the ability to erase dipole patterns from a permanent magnet by heating the surface to its Curie temperature. A number of test articles and prototypes have been developed using additive manufacturing methods. These prototypes have included hemispherical motors to test the drive algorithm, and a levitation test bed that demonstrates a magnetic bearing method based on attractive magnetic forces and ratiometric Hall effect sensors. We developed an array of electromagnetic dipoles on a printed circuit board (PCB) with individual H-bridges controlling each coil. This device created various flux density patterns and we measured their magnetic fields using a custom Hall effect 3-D probe and a LabVIEW virtual instrument. These data will serve as a benchmark for characterizing the accuracy of future models. Current work is focused on modeling the magnetic fields of our prototype arrays using COMSOL Finite Element Analysis and verifying the model against our test data. Accurate modeling will allow us to quickly test new patterns of electromagnets and their macro behavior. Eventually, the magnetic field models will be implemented in our controls simulations to facilitate precise control of the reaction sphere. Initial model results agree with field measurements to within 1 G (5% of measured flux density). Currently, we are testing different material properties of the electromagnets and their magnetic fields and thermal effects. These results will be used to refine the design of the electromagnetic dipoles. Our control efforts have centered on developing commutation, levitation, and field pattern shaping hardware in the form of breadboards and PCBs with software running on a local microcontroller. In addition, our partners developed MATLAB Simulink models to demonstrate a PID controller thatmitigates disturbance forces resulting from the interaction of drive and levitation magnetics. Finally, we have designed a three-axis test stand that will be used in future work to demonstrate CELA’s orientation control capability.
controls↗