Search NASA⌕ Search

SEARCH · Search NASA

Results for “thermal mass”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 181 records · Page 10

640 x 480 MWIR and LWIR camera system developments

The performance of a 640 x 480 PtSi, 3,5 microns (MWIR), Stirling cooled camera system with a minimum resolvable temperature of 0.03 is considered. A preliminary specification of a full-TV resolution PtSi radiometer was developed using the measured performance characteristics of the Stirling cooled camera. The radiometer is capable of imaging rapid thermal transients from 25 to 250 C with better than 1 percent temperature resolution. This performance is achieved using the electronic exposure control capability of the MOS focal plane array (FPA). A liquid nitrogen cooled camera with an eight-position filter wheel has been developed using the 640 x 480 PtSi FPA. Low thermal mass packaging for the FPA was developed for Joule-Thomson applications.

Tower, J. R.↗

Monolithic catalytic igniters

Catalytic igniters offer the potential for excellent reliability and simplicity for use with the diergolic bipropellant oxygen/hydrogen as well as with the monopropellant hydrazine. State-of-the-art catalyst beds - noble metal/granular pellet carriers - currently used in hydrazine engines are limited by carrier stability, which limits the hot-fire temperature, and by poor thermal response due to the large thermal mass. Moreover, questions remain with regard to longevity and reliability of these catalysts. In this work, Ultramet investigated the feasibility of fabricating monolithic catalyst beds that overcome the limitations of current catalytic igniters via a combination of chemical vapor deposition (CVD) iridium coatings and chemical vapor infiltration (CVI) refractory ceramic foams. It was found that under all flow conditions and O2:H2 mass ratios tested, a high surface area monolithic bed outperformed a Shell 405 bed. Additionally, it was found that monolithic catalytic igniters, specifically porous ceramic foams fabricated by CVD/CVI processing, can be fabricated whose catalytic performance is better than Shell 405 and with significantly lower flow restriction, from materials that can operate at 2000 C or higher.

La Ferla, R.↗

Adiabatic charging of nickel-hydrogen batteries

Battery management during prelaunch activities has always required special attention and careful planning. The transition from nickel-cadium to nickel-hydrogen batteries, with their high self discharge rate and lower charge efficiency, as well as longer prelaunch scenarios, has made this aspect of spacecraft battery management even more challenging. The AXAF-I Program requires high battery state of charge at launch. The use of active cooling, to ensure efficient charging, was considered and proved to be difficult and expensive. Alternative approaches were evaluated. Optimized charging, in the absence of cooling, appeared promising and was investigated. Initial testing was conducted to demonstrate the feasibility of the 'Adiabatic Charging' approach. Feasibility was demonstrated and additional testing performed to provide a quantitative, parametric data base. The assumption that the battery is in an adiabatic environment during prelaunch charging is a conservative approximation because the battery will transfer some heat to its surroundings by convective air cooling. The amount is small compared to the heat dissipated during battery overcharge. Because the battery has a large thermal mass, substantial overcharge can occur before the cells get too hot to charge efficiently. The testing presented here simulates a true adiabatic environment. Accordingly the data base may be slightly conservative. The adiabatic charge methodology used in this investigation begins with stabilizing the cell at a given starting temperature. The cell is then fully insulated on all sides. Battery temperature is carefully monitored and the charge terminated when the cell temperature reaches 85 F. Charging has been evaluated with starting temperatures from 55 to 75 F.

Lurie, Chuck↗

Turbomachinery Design Quality Checks to Avoid Friction Induced Structural Failure

A unique configuration of the P&W SSME Alternate Fuel Turbopump turbine disk/blade assembly, combined with a severe thermal environment, resulted in several structural anomalies that were driven by frictional contact forces. Understanding the mechanics of these problems provides new quality checks for future turbo machinery designs. During development testing in 1997 of the SSME alternate fuel turbopump at Stennis Space Center, several potentially serious problems surfaced with the turbine disk/blade assembly that had not been experienced in extensive earlier testing. Changes to the operational thermal environment were noted based on analytical prediction of modifications that affected performance and on stationary thermal measurements adjacent to the rotor assembly. A detailed structural investigation was required to reveal the mechanism of distress induced by the change. The turbine disk experienced cracking in several locations due to increased thermal gradient induced stress during start and shutdown transients. This was easily predictable using standard analysis procedures and expected once the thermal environment was characterized. What was not expected was the curling of a piston ring used for blade axial retention in the disk, indentation of the axial face of the blade attachment by a spacer separating the first and second stage blades, and most significantly, galling and cracking of the blade root attachment that could have resulted in blade release. Past experience, in gas turbine environments, set a precedent of never relying on friction for help and to evaluate it only in specific instances where it was obvious that it would degrade capability. In each of the three cases above, friction proved to be a determining factor that pushed the components into an unsatisfactory mode of operation. The higher than expected temperatures and rapid thermal transients combined with friction to move beyond past experience. The turbine disk/blade assembly configuration contributed to the potential for these problems to occur by limiting the radial deflection from thermals and centrifugal loading. The cooled solid bore configuration was chosen to improve rotordynamic stability by limiting the length of rotor overhang while still protecting the roller bearing by maintaining zero slope under the inner race. During a start transient, the rim area of the disk heats rapidly and expands axially and circumferentially and requires corresponding radial and axial growth of the disk to maintain relative positioning of the disk, blades, spacers and retainer rings. The stiffness, large thermal mass, and bore cooling flow combine to severely limit the disk rim radial growth which results in the potential for relative movement between these parts. Friction then becomes a player in the determination of component stress.

Moore, Jerry H.↗

Thermal Analysis of the X-38 Aft Fin During Re-Entry

This document contains the details of the thermal analysis of the X-38 aft fin during re-entry. This analysis was performed in order to calculate temperature response of the aft fin components. This would be provided as input to a structural analysis and would also define the operating environment for the electromechanical actuator (EMA). The calculated structural temperature response would verify the performance of the thermal protection system (TPS). The geometric representation of the aft fin was derived from an I-DEAS finite element model that was used for structural analysis. The thermal mass network model was derived from the geometric representation.

Hong, Andrew E.↗

Access Accommodation Study

A new mission payload concept for the International Space Station (ISS) called ACCESS (Advanced Cosmic-ray Composition Experiment for Space Station) has undergone a preliminary study which is now complete, and its results are published here. The mission holds the promise for answering many of the outstanding astrophysical questions associated with Galactic cosmic rays and their role in our Galaxy. ACCESS science goals include measurement of the rare ultra-high energy and ultra-heavy components of cosmic radiation which have not been analyzed previously above the Earth's atmosphere. The critical resource made available by the ISS is collection factor (area x exposure time), as much as 10,000 square meters-sr-days for a four-year stay on-orbit. This will allow ACCESS to go beyond balloon-borne detectors and take the science of cosmic-ray observation to the threshold of space. The ACCESS instrument, consisting of a charge module, a transition radiation detector, and a calorimeter, should make valuable measurements of nuclei throughout the periodic table up to 1015 eV. The concept, options, mission plan, and accommodation issues for such an ISS payload are summarized. This includes the carrier, ISS Site, mass, thermal control, power, data and operations. The study demonstrates that the ISS, as a stable science platform at the threshold of space, makes improved cosmic-ray ACCESS possible at the turn of the century.

Wilson, Thomas L.↗

High Frequency Low Amplitude Temperature Oscillations in Loop Heat Pipe Operation

The operating temperature of a loop heat pipe (LHP) with a single evaporator is governed by the compensation chamber (CC) temperature, which in turn is a finction of the evaporator power, condenser sink temperature, and ambient temperature. As the operating condition changes, the CC temperature will change during the transient but eventually reach a new steady temperature. Under certain conditions, however, the LHP never really reaches a true steady state, but instead displays an oscillatory behavior. This paper presents a study on the oscillation of the loop operating temperature with amplitudes on the order of one degree Kelvin and frequencies on the order of 10(exp -1) to 10(exp -2) Hertz. The source of the high frequency temperature oscillation is the fast movement of the vapor front in the condenser section, which usually occurs when the vapor front is near the condenser inlet or the condenser outlet. At these locations, the vapor front is unable to find a stable position for the given operating conditions, and will move back and forth. The movement of the vapor front causes the movement of the liquid in the condenser and the liquid line, leading to oscillations of the CC and the loop temperatures. Factors that affect the vapor front movement include evaporator power, condenser sink temperature, body forces and whether or the CC temperature is actively controlled. As long as there are no large thermal masses attached to the evaporator, the loop can self adjust rather quickly and the vapor front will move rapidly around the condenser inlet or outlet, leading to high frequency temperature oscillations. The amplitude of temperature oscillation is usually the largest in the liquid line, up to 20 degrees Kelvin in many cases, but diminishes to less than one degree Kelvin in the CC. Furthermore, the high frequency temperature oscillation can occur at any CC temperature when the right combination of the evaporator power and condenser sink temperature prevails.

Ku, Jentung↗

Thermal Vacuum Testing of a Novel Loop Heat Pipe Design for the Swift BAT Instrument

An advanced thermal control system for the Burst Alert Telescope on the Swift satellite has been designed and an engineering test unit (ETU) has been built and tested in a thermal vacuum chamber. The ETU assembly consists of a propylene loop heat pipe, two constant conductance heat pipes, a variable conductance heat pipe (VCHP), which is used for rough temperature control of the system, and a radiator. The entire assembly was tested in a thermal vacuum chamber at NASA/GSFC in early 2002. Tests were performed with thermal mass to represent the instrument and with electrical resistance heaters providing the heat to be transferred. Start-up and heat transfer of over 300 W was demonstrated with both steady and variable condenser sink temperatures. Radiator sink temperatures ranged from a high of approximately 273 K, to a low of approximately 83 K, and the system was held at a constant operating temperature of 278 K throughout most of the testing. A novel LHP temperature control methodology using both temperature-controlled electrical resistance heaters and a small VCHP was demonstrated. This paper describes the system and the tests performed and includes a discussion of the test results.

Ottenstein, Laura↗

A Large Aperture Fabry-Perot Tunable Filter Based On Micro Opto Electromechanical Systems Technology

A research and development effort sponsored by the NASA Goddard Spaceflight Center (GSFC) is focused on applying Micro Opto Electromechanical Systems (MOEMS) technology to create a miniature Fabry-Perot tunable etalon for space and ground-based near infrared imaging spectrometer applications. Unlike previous devices developed for small-aperture telecommunications systems, the GSFC research is directed toward a novel 12 - 40 mm aperture for astrophysical studies, including emission line imaging of galaxies and nebulae, and multi-spectral redshift surveys in the 1.1 - 2.3 micron wavelength region. The MOEMS design features integrated electrostatic scanning of the 11-micron optical gap, and capacitance micrometry for closed loop control of parallelism within a 10-nm tolerance. The low thermal mass and inertia inherent in MOEMS devices allows for rapid cooling to the proposed 30 K operating temperature, and high frequency response. Achieving the proposed 6-nm aperture flatness (with an effective finesse of 50) represents the primary technical challenge in the current 12-mm prototype.

Greenhouse, Matt↗

Power Management and Distribution Trades Studies for a Deep-Space Mission Scientific Spacecraft

As part of NASA's Project Prometheus, the Nuclear Systems Program, NASA GRC performed trade studies on the various Power Management and Distribution (PMAD) options for a deep-space scientific spacecraft which would have a nominal electrical power requirement of 100 kWe. These options included AC (1000Hz and 1500Hz and DC primary distribution at various voltages. The distribution system efficiency, reliability, mass, thermal, corona, space radiation levels and technology readiness of devices and components were considered. The final proposed system consisted of two independent power distribution channels, sourced by two 3-phase, 110 kVA alternators nominally operating at half-rated power. Each alternator nominally supplies 50kWe to one half of the ion thrusters and science modules but is capable of supplying the total power re3quirements in the event of loss of one alternator. This paper is an introduction to the methodology for the trades done to arrive at the proposed PMAD architecture. Any opinions expressed are those of the author(s) and do not necessarily reflect the views of Project Prometheus.

Kimnach, Greg L.↗

Development of Particulates and Aerosols Research

During the past year several accomplishments were made for both the Particulate Matter Characterization and Measurement System, (PMCMS) and PAGEMS projects. The PAGEMS focus is to measure particulate emissions as a function of combustor parameters such as inlet temperature, inlet pressure and fuel air ratio. These measurements are used to evaluate combustor performance in hopes of correlating particulate emissions with engine conditions. These measurements have taken place at in-house NASA combustor facilities and off-site facilities. Ths work is unique because particulate measurements at high- pressure conditions are not commonly made. Some calibration of the PAGEMS instrumentation was done as well as minor modifications to the PAGEMS plumbing setup. These led to measurement improvements. The instrumentation and measurement process for PAGEMS was assessed and new instruments such as a thermodenuder, thermal mass flow meters and a cyclone separator were purchased to improve the PAGEMS instrumentation and measurement process. A worksheet was created to simulate varying inlet conditions to the DMA. This worksheet allows the user to assess the error in the measurements when certain conditions exist. Two technical papers were written with the PAGEMS team for the EXCAVATE field project. A paper was also reviewed for an in house publication. Also data was processed and analyzed for another field project (PAX) and will be part of a third PAGEMS paper. Accomplishments were also made with the PMCMS project. The calibration of the radial differential mobility analyzer, (RDMA) in the particle sizing system in the PMCMS was completed and provided satisfactory results. The voltages used for the RDMA depending on the particle of interest were corrected. The measurement capability of the PMCMS was increased by replacing the MetOne CPC with a TSI CPC. Lastly, assistance was provided to three college summer students with calibration of their particulate equipment and Monica Rivera shared her understanding of the aerosol technology with them. She also provided input for their end of the summer presentations. And attended the Aviation and Particle Emissions workshop. This workshop brought together experts in the aircraft particulate emissions field. As a result Ms. Rivera made two significant contacts with academia (UMR) and government (WPAFB) which could lead to future collaboration. She also attended the Aerosol and Particle Measurement Class held at the University of Minnesota. This class refreshed her particulate knowledge and introduced her to new aerosol applications and technology. Furthermore at the class contacts were made with private industry (TSI) and government (WPAFB). Ms. Rivera also enhanced her education by taking an in-house class on aircraft design and operation.

DeWitt, Kenneth↗

Thermal Model Correlation for Mars Reconnaissance Orbiter

The Mars Reconnaissance Orbiter (MRO) launched on August 12, 2005 and began aerobraking at Mars in March 2006. In order to save propellant, MRO used aerobraking to modify the initial orbit at Mars. The spacecraft passed through the atmosphere briefly on each orbit; during each pass the spacecraft was slowed by atmospheric drag, thus lowering the orbit apoapsis. The largest area on the spacecraft, most affected by aeroheating, was the solar arrays. A thermal analysis of the solar arrays was conducted at NASA Langley Research Center to simulate their performance throughout the entire roughly 6-month period of aerobraking. A companion paper describes the development of this thermal model. This model has been correlated against many sets of flight data. Several maneuvers were performed during the cruise to Mars, such as thruster calibrations, which involve large abrupt changes in the spacecraft orientation relative to the sun. The data obtained from these maneuvers allowed the model to be well-correlated with regard to thermal mass, conductive connections, and solar response well before arrival at the planet. Correlation against flight data for both in-cruise maneuvers and drag passes was performed. Adjustments made to the model included orientation during the drag pass, solar flux, Martian surface temperature, through-array resistance, aeroheating gradient due to angle of attack, and aeroheating accommodation coefficient. Methods of correlation included comparing the model to flight temperatures, slopes, temperature deltas between sensors, and solar and planet direction vectors. Correlation and model accuracy over 400 aeroheating drag passes were determined, with overall model accuracy better than 5 C.

Amundsen, Ruth M.↗

An Overview of High-Resolution, Non-Dispersive, Imaging Spectrometers for High-Energy Photons

High-resolution x-ray spectroscopy has become a powerful tool for studying the evolving universe. The grating spectrometers on the XMM and Chandra satellites initiated a new era in x-ray astronomy. Despite their successes, there is still need for instrumentation that can provide higher spectral resolution with high throughput in the Fe-K band and for extended sources. What is needed is a non-dispersive imaging spectrometer - essentially a 14-bit x-ray color camera. And a requirement for a nondispersive spectrometer designed to provide eV-scale spectral resolution is a temperature below 0.1 K. The required spectral resolution and the constraints of thermodynamics and engineering dictate the temperature regime nearly independently of the details of the sensor or the read-out technology. Low-temperature spectrometers can be divided into two classes - - equilibrium and non-equilibrium. In the equilibrium devices, or calorimeters, the energy is deposited in an isolated thermal mass and the resulting increase in temperature is measured. In the non-equilibrium devices, the absorbed energy produces quantized excitations that are counted to determine the energy. The two approaches have different strong points, and within each class a variety of optimizations have been pursued. I will present the basic fundamentals of operation and the details of the most successful device designs to date. I will also discuss how the measurement priorities (resolution, energy band, count rate) influence the optimal choice of detector technology.

Kilbourne, Caroline↗

Investigation of Long-Term Impacts of Urbanization when Considering Global Warming for a Coastal Tropical Region

The overachieving goal of this project is to gain a better understanding of the climate impacts caused by the combined effects of land cover and land use (LCLU) changes and increasing global concentrations of green house gases (GHG) in tropical coastal areas, regions where global, regional and local climate phenomena converge, taking as the test case the densely populated northeast region of the Caribbean island of Puerto Rico. The research uses an integrated approach of high-resolution remote sensing information linked to a high resolution Regional Atmospheric Modeling System (RAMS), which was employed to perform ensembles of climate simulations (combining 2-LCLU and 2-GHG concentration scenarios). Reconstructed agricultural maps are used to define past LCLU, and combined with reconstructed sea surface temperatures (SST) for the same period form the PAST climate scenario (1951-1956); while the PRESENT scenario (2000-2004) was additionally supported by high resolution remote sensing data (10-m-res). The climate reconstruction approach is validated with available observed climate data from surface weather stations for both periods of time simulated. The selection of the past and present climate scenarios considers large-scale biases (i.e. ENSO/NAO) as reflected in the region of interest. Direct and cross comparison of the results is allowing quantifying single, combined, and competitive effects. Results indicate that global GHG have dominant effects on minimum temperatures (following regional tendencies), while urban sprawl dominates maximum temperatures. To further investigate impacts of land use the Bowen Ratio and the thermal response number (TRN) are analyzed. The Bowen ratio indicates that forestation of past agricultural high areas have an overwhelmingly mitigation effect on increasing temperatures observed in different LCLU scenarios, but when abandoned agricultural lands are located in plains, the resulting shrub/grass lands produce higher surface temperatures. The TRN (J/m^2/degC) is a surface property defined as the ratio of the surface net radiation to the rate of change in surface temperature, expresses how those fluxes are reacting to radiant energy inputs. Natural vegetated surfaces have a greater TRN than urban and barren surfaces because the net radiation processed by them is mostly used for latent heat and thermal storage heat rather than sensible heat (heating the air). Significant changes in TRN were observed in the metropolitan area of San Juan for the two analyzed periods reflecting a reduction of this variable in the present from the past consistent with increasing in thermal mass, or intense urbanization.

Gonalez, Jorge E.↗

Thermal Spore Exposure Vessels

Thermal spore exposure vessels (TSEVs) are laboratory containers designed for use in measuring rates of death or survival of microbial spores at elevated temperatures. A major consideration in the design of a TSEV is minimizing thermal mass in order to minimize heating and cooling times. This is necessary in order to minimize the number of microbes killed before and after exposure at the test temperature, so that the results of the test accurately reflect the effect of the test temperature. A typical prototype TSEV (see figure) includes a flat-bottomed stainless-steel cylinder 4 in. (10.16 cm) long, 0.5 in. (1.27 cm) in diameter, having a wall thickness of 0.010 plus or minus 0.002 in. (0.254 plus or minus 0.051 mm). Microbial spores are deposited in the bottom of the cylinder, then the top of the cylinder is closed with a sterile rubber stopper. Hypodermic needles are used to puncture the rubber stopper to evacuate the inside of the cylinder or to purge the inside of the cylinder with a gas. In a typical application, the inside of the cylinder is purged with dry nitrogen prior to a test. During a test, the lower portion of the cylinder is immersed in a silicone-oil bath that has been preheated to and maintained at the test temperature. Test temperatures up to 220 C have been used. Because the spores are in direct contact with the thin cylinder wall, they quickly become heated to the test temperature.

Beaudet, Robert A.↗

Automated Cryocooler Monitor and Control System

A system was designed to automate cryogenically cooled low-noise amplifier systems used in the NASA Deep Space Network. It automates the entire operation of the system including cool-down, warm-up, and performance monitoring. The system is based on a single-board computer with custom software and hardware to monitor and control the cryogenic operation of the system. The system provides local display and control, and can be operated remotely via a Web interface. The system controller is based on a commercial single-board computer with onboard data acquisition capability. The commercial hardware includes a microprocessor, an LCD (liquid crystal display), seven LED (light emitting diode) displays, a seven-key keypad, an Ethernet interface, 40 digital I/O (input/output) ports, 11 A/D (analog to digital) inputs, four D/A (digital to analog) outputs, and an external relay board to control the high-current devices. The temperature sensors used are commercial silicon diode devices that provide a non-linear voltage output proportional to temperature. The devices are excited with a 10-microamp bias current. The system is capable of monitoring and displaying three temperatures. The vacuum sensors are commercial thermistor devices. The output of the sensors is a non-linear voltage proportional to vacuum pressure in the 1-Torr to 1-millitorr range. Two sensors are used. One measures the vacuum pressure in the cryocooler and the other the pressure at the input to the vacuum pump. The helium pressure sensor is a commercial device that provides a linear voltage output from 1 to 5 volts, corresponding to a gas pressure from 0 to 3.5 MPa (approx. = 500 psig). Control of the vacuum process is accomplished with a commercial electrically operated solenoid valve. A commercial motor starter is used to control the input power of the compressor. The warm-up heaters are commercial power resistors sized to provide the appropriate power for the thermal mass of the particular system, and typically provide 50 watts of heat. There are four basic operating modes. "Cool " mode commands the system to cool to normal operating temperature. "Heat " mode is used to warm the device to a set temperature near room temperature. "Pump " mode is a maintenance function that allows the vacuum system to be operated alone to remove accumulated contaminants from the vacuum area. In "Off " mode, no power is applied to the system.

Britcliffe, Michael J.↗

Seven Years of Permanent Running of MELFI-1 on Board the ISS and Utilisation of the Three MELFI Units Refrigeration Pool

The pool of three Minus Eighty Laboratory freezer for ISS (MELFI) units continues providing the scientific community with robust and permanent freezer and refrigeration capabilities for life science experiments on the International Space Station (ISS). Launched in 2006, the first unit will complete, by summer 2013, seven years of continuous operations without intervention on the internal Nitrogen gas cycle, while all necessary hardware and operations were initially planned for preventive maintenance every two years. This unit has demonstrated outstanding performance on orbit and proved the technical decisions made during the development program. Current utilization of MELFI units in the ISS is taking full benefit of the initial specifications, which allows for wide adaptations to cope with the mission scenario imposed by the life extension in orbit. The two other MELFI units, launched respectively in 2008 and 2009, are supporting the first unit providing additional conditioned volume necessary for the science on board, and also for preparing thermal mass used to protect the samples on their way down to earth. The MELFI pool is outfitted with all supporting hardware to allow for extended operation on orbit including preventive and corrective maintenance. The internal components were designed to allow for easy on board maintenance. Spare equipment was installed in the MELFI rack on ISS and specific maintenance means were developed which required crew training before the cold gas cycle could be accessed. The paper will present first how the design choices made for the initial missions are identifying features necessary for extended duration missions, and will then give highlights on the utilization of the MELFI refrigeration pool during the recent years in ISS.

Chegancas, Jean↗

Control Software for Piezo Stepping Actuators

A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

Shields, Joel F.↗