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The attached manipulator system (AMS) is to simulate and demonstrate zero-g shuttle manipulator cargo handling operations. It is not the design or development of the shuttle attached manipulator system (SAMS); however, every effort is being made, to insure that the AMS will be functionally similar to the SAMS.
The use of a movable mass control system to stabilize an arbitrarily tumbling asymmetric vehicle about the maximum inertia axis is considered. A first-order gradient optimization technique is used to minimize angular velocity components along the intermediate and minimum inertia axes. This method permits a wide range of initial guesses for mass position history. Motion of the control mass is along a linear track fixed in the vehicle. The control variable is taken as mass acceleration with respect to body coordinates. Motion is limited to defined quantities and a penalty function is used to insure a given range of positions. Numerical solutions of the optimization equations verify that minimum time detumbling is achieved with the largest permissible movable mass, length of linear track, and positions of the mass on the two coordinates perpendicular to the linear motion.
The equations of motion necessary to compute the transient response of multi-mass flexible rotors are formulated to include unbalance, rotor acceleration, and flexible damped nonlinear bearing stations. A method of calculating the unbalance response of flexible rotors from a modified Myklestad-Prohl technique is discussed in connection with the method of solution for the transient response. Several special cases of simplified rotor-bearing systems are presented and analyzed for steady-state response, stability, and transient behavior. These simplified rotor models produce extensive design information necessary to insure stable performance to elastic mounted rotor-bearing systems under varying levels and forms of excitation. The nonlinear journal bearing force expressions derived from the short bearing approximation are utilized in the study of the stability and transient response of the floating bush squeeze damper support system. Both rigid and flexible rotor models are studied, and results indicate that the stability of flexible rotors supported by journal bearings can be greatly improved by the use of squeeze damper supports. Results from linearized stability studies of flexible rotors indicate that a tuned support system can greatly improve the performance of the units from the standpoint of unbalanced response and impact loading. Extensive stability and design charts may be readily produced for given rotor specifications by the computer codes presented in this analysis.
The basic characteristics of the air transportation industry are outlined and it is shown how they affect financing requirements and patterns of production. The choice of financial timing is imperative in order to get the best interest rates available and to insure a fair return to investors. The fact that the industry cannot store its products has a fairly major effect on the amount of equipment to purchase, the amount of capital investment required, and the amount of return required to offset industry depriciation.
Given a desired three-axis reorientation, it is well known that there are, in general, twelve possible sequences of three successive rotations about orthogonal axes which will perform the reorientation. The present paper determines whether the maneuver can or cannot be accomplished with three successive rotations aobut arbitrary (not necessarily orthogonal) axes. This result is then employed to derive conditions on the axes which insure that every rotation may be so generated. The associated angles of all the possible three-legged slews are exhibited by a closed analytical procedure which requires no assumptions concerning the degree of nonorthogonality nor any approximations. The classical orthogonal case (Euler angles) is then an immediate consequence as a special case of the generalized solution.
Helium ions were produced in an electron bombardment ion source and directed into a gas cell containing carbon dioxide. A Wien filter placed between the ion source and the gas cell insured that only singly charged helium ions reached the cell. The spectrum obtained for the bombardment of carbon dioxide with the helium ions at 1200 eV is shown in a graph. Prominent features of the lower spectrum are two atomic lines at 3889 and 4471 A.
The operation of VTOL aircraft in the city-center environment will require complex landing-approach trajectories that insure adequate clearance from other traffic and obstructions and provide the most direct routing for efficient operations. As part of a larger program to develop the necessary technology base, a flight investigation was undertaken to study the problems associated with manual and automatic control of steep, decelerating instrument approaches and landings. The study employed a three-cue flight director driven by control laws developed and refined during manual-control studies and subsequently applied to the automatic approach problem. The validity of this approach was demonstrated by performing the first automatic approach and landings to a predetermined spot ever accomplished with a helicopter. The manual-control studies resulted in the development of a constant-attitude deceleration profile and a low-noise navigation system.
A satellite experiment to test the predicted relativistic precession of a gyroscope moving through a gravitational field has been under development at Stanford University for a number of years. The instruments will be located in a liquid helium bath to insure dimensional stability and to permit using superconducting types of circuitry for readout of the gyro orientation. Heat leaks in the system cause the helium to boil and the resultant helium gas is used for attitude control. The principal subject of the paper is the design and experimental evaluation of an electromagnetically actuated differential thrustor which was built and tested at Stanford University. The results are unique because most propulsion systems operate on-off in order to utilize propellant efficiently. In this case, the gas must flow continually to provide cooling, and the requirements are primarily for low power, small volume, and high reliability.
A full order adaptive observer is described for observing the state of a single-input single-output observable continuous differential system with unknown parameters. Convergence of the observer states to those of the system is accomplished by directly changing the parameters of the observer using an adaptive law based upon Lyapunov stability theory. Observer eigenvalues may be freely chosen. Some restriction is placed upon the system input in that it must be sufficiently rich in frequencies in order to insure convergence.
Although it is generally accepted that the use of adhesives in the assembly of hybrid microcircuits offers advantages over other bonding methods, there currently does not exist a set of guidelines for the selection of adhesives which will insure that hybrid microcircuits assembled with them will meet the long use-life, high-reliability requirements of electronic equipment for space applications. This study was directed to the identification of the properties of electrically insulative adhesives that potentially could cause problems in such an application, and to the development of evaluation tests to quantify these properties and thus form the basis for establishing suitable guidelines and, ultimately, specifications. Bond strength, outgassing after cure, and corrosivity were selected for detailed attention since they are considered to be especially critical. Introductory discussion includes enumeration and brief comments on the properties of adhesives considered to be important for the proposed application, a general review of polymeric types of adhesives, and identification of the major types of adhesives commercially available and specifically designed for microelectronic use. The specific tests developed to evaluate bond strength, outgassing after cure, and corrosivity are discussed in detail, and comparative results obtained for selected adhesives representative of the major types are given.
Four registered channels (0.2 to 4, 6.5 to 7, 10 to 11, and 20 to 23 microns) of the Nimbus 3 Medium Resolution Infrared Radiometer (MRIR) were used to study 24-hr changes in the structure of an extratropical cyclone during a 6-day period in May 1969. Use of a stereographic-horizon map projection insured that the storm was mapped with a single perspective throughout the series and allowed the convenient preparation of 24-hr difference maps of the infrared radiation fields. Single-channel and multispectral analysis techniques were employed to establish the positions and vertical slopes of jetstreams, large cloud systems, and major features of middle and upper tropospheric circulation. Use of these techniques plus the difference maps and continuity of observation allowed the early detection of secondary cyclones developing within the circulation of the primary cyclone. An automated, multispectral cloud-type identification technique was developed, and comparisons that were made with conventional ship reports and with high-resolution visual data from the image dissector camera system showed good agreement.
A series of impact tests are described and data presented which characterize the operation of the capacitor-type micrometeoroid flux detectors used on the Meteoroid Technology Satellite (MTS). Capacitor-type detectors with silicon dioxide dielectric thickness of 0.4 and 1.0 microns were tested in the micrometeoroid impact simulator at the Langley Research Center, a 4-MV Van de Graaff electrostatic accelerator. The carbonyl iron projectiles were from 0.5 to 5.0 microns in diameter with velocities from 4 to 10.0 km/sec. The detector bias voltage was varied from -20 to -60 V; some tests were at detector temperatures of 90 C to -100 C; and the angle of impact varied from 0 deg to 75 deg from the normal to the detector. These tests showed that: (1) the detector operation is reliable when the bias voltage is greater than 30 V; (2) after an impact the detector returns to its original condition with an insignificant loss of active area; and (3) the sensitivity of the detector is inversely proportional to the detector thickness. The test results suggest a theoretical model in which the signal is an arc triggered by the impacting projectile, and the detector bias voltage must be high enough to insure that an arc will form.
The results from two low-speed wind tunnel tests of the Boeing 727-200 airplane as configured with the NASA refan JT8D-109 turbofan engines are presented. The objective of these tests was to determine the effects of the refan installation on the low-speed stability and control characteristics of the 727 airplane. Four side nacelle locations were tested to insure that aerodynamic interactions of the nacelles and empennage would be optimized. The optimum location was judged to be the same as that of the production JT8D-9 engines; the current production engine mounts can be used for this location. Some small changes in the basic airplane characteristics are attributable to the refan nacelles. The flaps up longitudinal and lateral-directional stability are both slightly increased for low angles of attack and sideslip respectively. The longitudinal stability at stall is improved for both the flaps up and landing flap configurations. The high attitude characteristics of the basic airplane are not significantly altered by the refan nacelle installation. Directional control capability is not affected by the refan nacelles.
This program consisted of two separate though related phases. The initial phase was directed toward improving the mechanical and adhesive properties of the very highly fluorinated-polyurethane resin system derived from the hydroxyl-terminated polyperfluoropropylene oxide and 6-chloro-2,4,5-trifluoro-m-phenylene diisocyanate. Various new curing agents for this system were investigated, with the goal of providing a more thermally stable crosslink (cure) mechanism to provide wider applicability and fuller utilization of the outstanding oxygen resistance of the PFPO system. Complete resistance to liquid- and gaseous-oxygen impact at presures as high as 1035 N/sq cm were attained with the use of the PFPO resin castings. The second corollary phase was directed toward investigating the feasibility and optimization of the allophanate cured, urethane extended polymer derived from hydroxyl-terminated polyperfluoropropyleneoxide and 6-chloro-2,4,5-trifluoro-m-phenylene diisocyanate, as the adhesive system for use in a weld-bond configuration for liquid oxygen tankage. The synthesis and application procedures of the adhesive system to insure liquid oxygen compatibility (under 10 kg-m loading), and the development of procedures and techniques to provide high quality weld-bonded joint configurations were studied.
The lightning environment for design is defined and imposes the requirements that the design must satisfy to insure the protection of the space shuttle vehicle system from the direct and indirect effects of lightning. Specifications, criteria, and guidelines provide a practical and logical approach to the protection problems. Protection against the indirect effects of lightning is intimately involved with the electromagnetic compatibility and electromagnetic interference functions. While this document does not deal specifically with electromagnetic compatibility and electromagnetic interference, it does deal with the interactions between lightning protection measures and measures employed for electromagnetic compatibility and control of electromagnetic interference.
The application of solar energy to the energy crisis of the 70's and beyond is discussed in the context of energy consumption in the U.S., energy resources in the U.S., and the state-of-the-art of solar energy applications. Solar energy application concepts, such as solar farms (a term used to describe vast fields of concentrators collecting solar energy for the generation of steam to drive power turbines), an orbiting solar power station, and the conversion of solar energy into solar power for heating and cooling of individual buildings on the earth, are discussed. The report emphasizes the application of solar energy to the heating and cooling of buildings since this application seems to be more promising in the near term as far as research and development are concerned. The importance of initiating research and development on all solar application concepts is stressed as an important step in pursuing the use of solar energy. Immediate steps leading to the application of solar energy to heating and cooling of buildings are outlined to insure appreciable energy displacement through the use of solar energy by the year 2020.
During the time period of December 1970 to September 1971 an International Satllite Geodesy Experiment (ISAGEX) was conducted. Over fifty optical and laser tracking stations participated in the data gathering portion of this experiment. Data from some of the stations had not been previously available for dynamical orbit computations. With the recent availability of new data from the Astrosoviet, East European and other optical stations, orbital analyses were conducted to insure compatibility with the previously available laser data. These data have also been analyzed using dynamical orbital techniques for the estimation of estimation of geocentric coordinates for six camera stations (for Astrosoviet, two East European). Thirteen arcs of GEOS-1 and 2 observations between two and four days in length were used. The uncertainty in these new station values is considered to be about 20 meters in each coordinate. Adjustments to the previously available values were generally a few hundred meters. With these geocentric coordinates these data will now be used to supplement earth physics investigations during the ISAGEX.
The NASTRAN program package is one of the most important in terms of size and use in the COSMIC inventory at the University of Georgia. A brief history of the COSMIC facility as it relates to the NASTRAN program package is presented, followed by a discussion of the NASTRAN disseminations. COSMIC, which is the acronym for the Computer Software Management and Information Center, is operated by the University of Georgia's Computer Center under contract to NASA. The purpose of COSMIC is to make available to the public the computer software and documentation developed as part of the NASA program. It is, perhaps, best described as a clearinghouse for the NASA-sponsored computer software, although the functions specified under the contract go much further than simply duplicating the programs and documentation for distribution. A sizeable portion of the workscope involves screening the programs to insure that they are free of syntax errors, that all necessary subroutines are present, and that the documentation includes sufficiently detailed instructions to allow purchasers to install and operate the program or system.