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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,783 records · Page 99
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Method and apparatus for configuration control of redundant robots

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Seraji, Homayoun↗
NASA NTRS1991

A white paper: Operational efficiency. New approaches to future propulsion systems

Advanced launch systems for the next generation of space transportation systems (1995 to 2010) must deliver large payloads (125,000 to 500,000 lbs) to low earth orbit (LEO) at one tenth of today's cost, or 300 to 400 $/lb of payload. This cost represents an order of magnitude reduction from the Titan unmanned vehicle cost of delivering payload to orbit. To achieve this sizable reduction, the operations cost as well as the engine cost must both be lower than current engine system. The Advanced Launch System (ALS) is studying advanced engine designs, such as the Space Transportation Main Engine (STME), which has achieved notable reduction in cost. The results are presented of a current study wherein another level of cost reduction can be achieved by designing the propulsion module utilizing these advanced engines for enhanced operations efficiency and reduced operations cost.

Rhodes, Russel↗
NASA NTRS1991

Gigaflop performance on a CRAY-2: Multitasking a computational fluid dynamics application

The methodology is described for converting a large, long-running applications code that executed on a single processor of a CRAY-2 supercomputer to a version that executed efficiently on multiple processors. Although the conversion of every application is different, a discussion of the types of modification used to achieve gigaflop performance is included to assist others in the parallelization of applications for CRAY computers, especially those that were developed for other computers. An existing application, from the discipline of computational fluid dynamics, that had utilized over 2000 hrs of CPU time on CRAY-2 during the previous year was chosen as a test case to study the effectiveness of multitasking on a CRAY-2. The nature of dominant calculations within the application indicated that a sustained computational rate of 1 billion floating-point operations per second, or 1 gigaflop, might be achieved. The code was first analyzed and modified for optimal performance on a single processor in a batch environment. After optimal performance on a single CPU was achieved, the code was modified to use multiple processors in a dedicated environment. The results of these two efforts were merged into a single code that had a sustained computational rate of over 1 gigaflop on a CRAY-2. Timings and analysis of performance are given for both single- and multiple-processor runs.

Tennille, Geoffrey M.↗
NASA NTRS1990

MODIS-N - Moderate Resolution Imaging Spectrometer-Nadir

The Moderate Resolution Imaging Spectrometer-Nadir (MODIS-N) for the Earth Observing System (EOS) is intended to provide daily global surveys for the atmosphere, the oceans, and the land. To achieve this capability, MODIS-N requires an at-least 2300-km swath width, and provides geometric-instantaneous-fields-of-view (GIFOVs) that are either 856 m, 428 m, or 214 m in size with reference to a 705 km satellite altitude. The 214 m GIFOV may or may not be used depending on total data rate impact assessments traded with science needs. To achieve the data for the multiplicity of science investigations MODIS-N provides nominally 36 spectral bands that are selected for specific locations and bandpasses in the spectral range from the visible to the long wave infrared. Another driver of this instrument combination is the need for long term spectral and radiometric calibration stability. Specific calibration capabilities are to be built into MODIS-N to achieve calibration knowledge over a 5 year operational life.

Weber, Richard R.↗
NASA NTRS1991

Model order reduction applied to a hot-bench simulation of an aeroelastic wind-tunnel model

Simulations of an aeroelastically scaled wind-tunnel model were developed for hot-bench testing of a digital controller. The digital controller provided active flutter-suppression, rolling-maneuver-load alleviation, and plant estimation. To achieve an acceptable time scale for the hot-bench application, the mathematical model of the wind-tunnel model was reduced from 220 states to approximately 130 states while assuring that the required accuracy was preserved for all combinations of 10 inputs and 56 outputs. The reduction was achieved by focussing on a linear, aeroelastic submodel of the full mathematical model and by applying a method based on the internally balanced realization of a dynamic system. The error-bound properties of the internally balanced realization significantly contribute to its utility in the model reduction process. The reduction method and the results achieved are described.

Buttrill, Carey S.↗
NASA NTRS1991

The in-flight calibration of the Hubble Space Telescope attitude sensors

A detailed review of the in-flight calibration of the Hubble Space Telescope attitude sensors is presented. The review, which covers the period from the April 24, 1990, launch of the spacecraft until the time of this writing (June 1991), describes the calibrations required and accuracies achieved for the four principal attitude sensing systems on the spacecraft: the magnetometers, the fixed head star trackers, the gyroscopes, and the fine guidance sensors (FGS's). In contrast to the other three sensor groups, the Hubble Telecope's FGS's are unique in the precision and performance levels being attempted; spacecraft control and astrometric research at the near-milliarcsecond level are the ultimate goals. FGS calibration accuracies at the 20-milliarcsecond level have already been achieved, and plans for new data acquisitions and reductions that should substantially improve these results are in progress. A summary of the basic attributes of each of the four sensor groups with respect to its usage as an attitude measuring system is presented, followed by a discussion of the calibration items of interest for that group. The calibration items are as follows: for the magnetometers, the corrections for the spacecraft's static and time-varying magnetic fields; for the fixed-head star trackers, their relative alignments and use in performing onboard attitude updates; for the gyroscopes, their scale factors, alignments, and drift rate biases; and for the FGS's, their magnifications, optical distortions, and alignments. The discussion covers the procedures used for each calibration, as well as the order of the calibrations within the general flow of orbital verification activities. It also includes a synopsis of current plans for the eventual calibration of the FGS's to achieve their near-milliarcsecond design accuracy. The conclusions include a table indicating the current and predicted ultimate accuracies for each of the calibration items.

Welter, Gary L.↗
NASA NTRS1991

Non-volatile, high density, high speed, Micromagnet-Hall effect Random Access Memory (MHRAM)

The micromagnetic Hall effect random access memory (MHRAM) has the potential of replacing ROMs, EPROMs, EEPROMs, and SRAMs because of its ability to achieve non-volatility, radiation hardness, high density, and fast access times, simultaneously. Information is stored magnetically in small magnetic elements (micromagnets), allowing unlimited data retention time, unlimited numbers of rewrite cycles, and inherent radiation hardness and SEU immunity, making the MHRAM suitable for ground based as well as spaceflight applications. The MHRAM device design is not affected by areal property fluctuations in the micromagnet, so high operating margins and high yield can be achieved in large scale integrated circuit (IC) fabrication. The MHRAM has short access times (less than 100 nsec). Write access time is short because on-chip transistors are used to gate current quickly, and magnetization reversal in the micromagnet can occur in a matter of a few nanoseconds. Read access time is short because the high electron mobility sensor (InAs or InSb) produces a large signal voltage in response to the fringing magnetic field from the micromagnet. High storage density is achieved since a unit cell consists only of two transistors and one micromagnet Hall effect element. By comparison, a DRAM unit cell has one transistor and one capacitor, and a SRAM unit cell has six transistors.

Wu, Jiin C.↗
NASA NTRS1992

Electro-optic resonant phase modulator

An electro-optic resonant cavity is used to achieve phase modulation with lower driving voltages. Laser damage thresholds are inherently higher than with previously used integrated optics due to the utilization of bulk optics. Phase modulation is achieved at higher speeds with lower driving voltages than previously obtained with non-resonant electro-optic phase modulators. The instant scheme uses a data locking dither approach as opposed to the conventional sinusoidal locking schemes. In accordance with a disclosed embodiment, a resonant cavity modulator has been designed to operate at a data rate in excess of 100 megabits per sec. By carefully choosing the cavity finesse and its dimension, it is possible to control the pulse switching time to within 4 nano-sec. and to limit the required switching voltage to within 10 V. This cavity locking scheme can be applied by using only the random data sequence, and without the need of dithering of the cavity. Compared to waveguide modulators, the resonant cavity has a comparable modulating voltage requirement. Because of its bulk geometry, the resonant cavity modulator has the potential of accommodating higher throughput power. Mode matching into the bulk device is easier and typically can be achieved with higher efficiency. An additional control loop is incorporated into the modulator to maintain the cavity on resonance.

Chen, Chien-Chung↗
NASA NTRS1992

Digital control algorithms for microgravity isolation systems

New digital control algorithms were developed to achieve the desired acceleration transmissibility function. The attractive electromagnets have been taken as actuators. The relative displacement and the acceleration of the mass were used as feedback signals. Two approaches were developed to find that controller transfer function in Z-domain, which yields the desired transmissibility at each frequency. In the first approach, the controller transfer function is obtained by assuming that the desired transmissibility is known in Z-domain. Since the desired transmissibility H sub d(S) = 1/(tauS+1)(exp 2) is given in S-domain, the first task is to obtain the desired transmissibility in Z-domain. There are three methods to perform this task: bilinear transformation, and backward and forward rectangular rules. The bilinear transformation and backward rectangular rule lead to improper controller transfer functions, which are physically not realizable. The forward rectangular rule does lead to a physically realizable controller. However, this controller is found to be marginally stable because of a pole at Z=1. In order to eliminate this pole, a hybrid control structure is proposed. Here the control input is composed of two parts: analog and digital. The analog input simply represents the velocity (or the integral of acceleration) feedback; and the digital controller which uses only relative displacement signal, is then obtained to achieve the desired closed-loop transfer function. The stability analysis indicates that the controller transfer function is stable for typical values of sampling period. In the second approach, the aforementioned hybrid control structure is again used. First, an analog controller transfer function corresponding to relative displacement feedback is obtained to achieve the transmissibility as 1/(tauS+1)(exp 2). Then the transfer function for the digital control input is obtained by discretizing this analog controller transfer function via bilinear transformation. The stability of the resulting Z-domain closed loop system is analyzed. Also, the frequency response of the Z-domain closed-loop transfer function is determined to evaluate the performance of the control system.

Sinha, Alok↗
NASA NTRS1992

Controlled method of reducing electrophoretic mobility of macromolecules, particles, or cells

A method of reducing electrophoretic mobility of macromolecules, particles, cells, and other substances is provided which comprises interacting in a conventional electrophoretic separating procedure, the substances with a polymer-linked affinity compound comprised of a hydrophilic neutral polymer such as polyethylene glycol bound to a second component such as a hydrophobic compound, an immunocompound such as an antibody or antibody active fragment, or a ligand such as a hormone, drug, antigen, or a hapten. The reduction of electrophoretic mobility achieved is directly proportional to the concentration of the polymer-linked affinity compound employed, and such reduction can comprise up to 100 percent for particular particles and cells. The present invention is advantageous in that electrophoretic separation can now be achieved for substances whose native surface charge structure had prevented them from being separated by normal electrophoretic means. Depending on the affinity component utilized, separation can be achieved on the basis of the specific/irreversible, specific/reversible, semi-specific/reversible, relatively nonspecific/reversible, or relatively nonspecific/irreversible ligand-substance interactions.

Vanalstine, James M.↗
NASA NTRS1991

Extended long-wavelength lambda = 11-15-micron GaAs/Al(x)Ga(1-x)As quantum-well infrared photodetectors

Success has been achieved in extending the spectral wavelength of GaAs/Al(x)Ga(1-x)As quantum-well infrared photodetectors to significantly longer wavelengths of 11-15 micron. High responsivity of 0.5 A/W, high quantum efficiency of 12 percent, and high detectivity as well as an excellent noise equivalent temperature difference of 4 mK have been achieved at T = 50 K. High performance of 19 mK has also been achieved at an even higher temperature of 60 K.

Zussman, A.↗
NASA NTRS1991

A parallel trajectory optimization tool for aerospace plane guidance

A parallel trajectory optimization algorithm is being developed. One possible mission is to provide real-time, on-line guidance for the National Aerospace Plane. The algorithm solves a discrete-time problem via the augmented Lagrangian nonlinear programming algorithm. The algorithm exploits the dynamic programming structure of the problem to achieve parallelism in calculating cost functions, gradients, constraints, Jacobians, Hessian approximations, search directions, and merit functions. Special additions to the augmented Lagrangian algorithm achieve robust convergence, achieve (almost) superlinear local convergence, and deal with constraint curvature efficiency. The algorithm can handle control and state inequality constraints such as angle-of-attack and dynamic pressure constraints. Portions of the algorithm have been tested. The nonlinear programming core algorithm performs well on a variety of static test problems and on an orbit transfer problem. The parallel search direction algorithm can reduce wall clock time by a factor of 10 for this part of the computation task.

Psiaki, Mark L.↗
NASA NTRS1991

High figure-of-merit n-type SiGe/GaP alloys

Improvements to the figure-of-merit of n-type SiGe have been achieved via a systematic anneal study aimed at determining the optimal P:Ga ratio. Figures-of-merit of 0.85 to 0.90 x 10-3K-1 have been routinely and reproducibly achieved starting with an initial P:Ga ratio of 3:1. These samples have carrier concentrations in excess of 4.0 x 1020/cu cm, the highest reported for SiGe. This value has been shown to be too high, resulting in unfavorably low Seebeck coefficients. The optimal carrier concentration has been shown to be 1.5-3.0 x 1020/cu cm. Thus, further improvements will be achieved by reductions in the P and Ga concentrations.

Scoville, A. N.↗
NASA NTRS1992

Obtaining high resolution XUV coronal images

Photographs obtained during three flights of an 11 inch diameter normal incident soft X-ray (wavelength 63.5 A) telescope are analyzed and the data are compared to the results expected from tests of the mirror surfaces. Multilayer coated X ray telescopes have the potential for 0.01 arcsec resolution, and there is optimism that such high quality mirrors can be built. Some of the factors which enter into the performance actually achieved in practice are as follows: quality of the mirror substrate, quality of the multilayer coating, and number of photons collected. Measurements of multilayer mirrors show that the actual performance achieved in the solar X-ray images demonstrates a reduction in the scattering compared to that calculated from the topography of the top surface of the multilayer. In the brief duration of a rocket flight, the resolution is also limited by counting statistics from the number of photons collected. At X-ray Ultraviolet (XUV) wavelengths from 171 to 335 A the photon flux should be greater than 10(exp 10) ph/sec, so that a resolution better than 0.1 arcsec might be achieved, if mirror quality does not provide a limit first. In a satellite, a large collecting area will be needed for the highest resolution.

Golub, L.↗
NASA NTRS1992

Adaptive planning for applications with dynamic objectives

We devise a qualitative control layer to be integrated into a real-time multi-agent reactive planner. The reactive planning system consists of distributed planning agents attending to various perspectives of the task environment. Each perspective corresponds to an objective. The set of objectives considered are sometimes in conflict with each other. Each agent receives information about events as they occur, and a set of actions based on heuristics can be taken by the agents. Within the qualitative control scheme, we use a set of qualitative feature vectors to describe the effects of applying actions. A qualitative transition vector is used to denote the qualitative distance between the current state and the target state. We will then apply on-line learning at the qualitative control level to achieve adaptive planning. Our goal is to design a mechanism to refine the heuristics used by the reactive planner every time an action is taken toward achieving the objectives, using feedback from the results of the actions. When the outcome is compared with expectations, our prior objectives may be modified and a new set of objectives (or a new assessment of the relative importance of the different objectives) can be introduced. Because we are able to obtain better estimates of the time-varying objectives, the reactive strategies can be improved and better prediction can be achieved.

Hadavi, Khosrow↗
NASA NTRS1992

Completable scheduling: An integrated approach to planning and scheduling

The planning problem has traditionally been treated separately from the scheduling problem. However, as more realistic domains are tackled, it becomes evident that the problem of deciding on an ordered set of tasks to achieve a set of goals cannot be treated independently of the problem of actually allocating resources to the tasks. Doing so would result in losing the robustness and flexibility needed to deal with imperfectly modeled domains. Completable scheduling is an approach which integrates the two problems by allowing an a priori planning module to defer particular planning decisions, and consequently the associated scheduling decisions, until execution time. This allows a completable scheduling system to maximize plan flexibility by allowing runtime information to be taken into consideration when making planning and scheduling decision. Furthermore, through the criteria of achievability placed on deferred decision, a completable scheduling system is able to retain much of the goal-directedness and guarantees of achievement afforded by a priori planning. The completable scheduling approach is further enhanced by the use of contingent explanation-based learning, which enables a completable scheduling system to learn general completable plans from example and improve its performance through experience. Initial experimental results show that completable scheduling outperforms classical scheduling as well as pure reactive scheduling in a simple scheduling domain.

Gervasio, Melinda T.↗
NASA NTRS1993

Fabrication of photovoltaic laser energy converterby MBE

A laser-energy converter, fabricated by molecular beam epitaxy (MBE), was developed. This converter is a stack of vertical p-n junctions connected in series by low-resistivity, lattice matched CoSi2 layers to achieve a high conversion efficiency. Special high-temperature electron-beam (e-beam) sources were developed especially for the MBE growth of the junctions and CoSi2 layers. Making use of the small (greater than 1.2 percent) lattice mismatch between CoSi2 and Si layers, high-quality and pinhole-free epilayers were achieved, providing a capability of fabricating all the junctions and connecting layers as a single growth process with one pumpdown. Well-defined multiple p-n junctions connected by CoSi2 layers were accomplished by employing a low growth temperature (greater than 700 C) and a low growth rate (less than 0.5 microns/hour). Producing negligible interdiffusion, the low growth temperature and rate also produced negligible pinholes in the CoSi2 layers. For the first time, a stack of three p-n junctions connected by two 10(exp -5) Ohm-cm CoSi2 layers was achieved, meeting the high conversion efficiency requirement. This process can now be optimized for high growth rate to form a practical converter with 10 p-n junctions in the stack.

Lu, Hamilton↗
NASA NTRS1992

Application of high-precision two-way ranging to Galileo Earth-1 encounter navigation

The application of precision two-way ranging to orbit determination with relatively short data arcs is investigated for the Galileo spacecraft's approach to its first Earth encounter (December 8, 1990). Analysis of previous S-band (2.3-GHz) ranging data acquired from Galileo indicated that under good signal conditions submeter precision and 10-m ranging accuracy were achieved. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. A range data filtering technique, in which explicit modeling of range measurement bias parameters for each station pass is utilized, is shown to largely remove the systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle-finding capabilities of the data. The accuracy of the Galileo orbit solutions obtained with S-band Doppler and precision ranging were found to be consistent with simple theoretical calculations, which predicted that angular accuracies of 0.26-0.34 microrad were achievable. In addition, the navigation accuracy achieved with precision ranging was marginally better than that obtained using delta-differenced one-way range (delta DOR), the principal data type that was previously used to obtain spacecraft angular position measurements operationally.

Pollmeier, V. M.↗