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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 217 records · Page 12

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NASA NTRS1989

The effects of seasonal and latitudinal earth infrared radiance variations on ERBS attitude control

Analysis performed in the Flight Dynamics Facility by the Earth Radiation Budget Satellite (ERBS) Attitude Determination Support team illustrates the pitch attitude control motion and roll attitude errors induced by Earth infrared (IR) horizon radiance variations. IR scanner and inertial reference unit (IRU) pitch and roll flight data spanning 4 years of the ERBS mission are analyzed to illustrate the changes in the magnitude of the errors on time scales of the orbital period, months, and seasons. The analysis represents a unique opportunity to compare prelaunch estimates of radiance-induced attitude errors with flight measurements. As a consequence of this work the following additional information is obtained: an assessment of an average model of these errors and its standard deviation, a measurement to determine and verify previously proposed corrections to the current Earth IR radiance data base, and the possibility of a mean motion model derived from flight data in place of IRU data for ERBS fine attitude determination.

Phenneger, M. C.↗

NASA NTRS1989

Inverse dynamics of a 3 degree of freedom spatial flexible manipulator

A technique is presented for solving the inverse dynamics and kinematics of 3 degree of freedom spatial flexible manipulator. The proposed method finds the joint torques necessary to produce a specified end effector motion. Since the inverse dynamic problem in elastic manipulators is closely coupled to the inverse kinematic problem, the solution of the first also renders the displacements and rotations at any point of the manipulator, including the joints. Furthermore the formulation is complete in the sense that it includes all the nonlinear terms due to the large rotation of the links. The Timoshenko beam theory is used to model the elastic characteristics, and the resulting equations of motion are discretized using the finite element method. An iterative solution scheme is proposed that relies on local linearization of the problem. The solution of each linearization is carried out in the frequency domain. The performance and capabilities of this technique are tested through simulation analysis. Results show the potential use of this method for the smooth motion control of space telerobots.

Bayo, Eduardo↗

NASA NTRS1990

A line-of-sight performance criterion for controller design of a proposed laboratory model

A line-of-sight performance criterion is derived for a proposed Controls Structures Interaction model, and its many uses in the control design process for fine pointing control are illustrated. A linearized line-of-sight (LOS) criterion is used for direct controller design and as a performance measure to judge different control methodologies. Numerical simulation results are shown where the three approaches: linear quadratic Gaussian theory, robust eigensystem assignment, and local velocity feedback are used for vibration control. Results indicate that the linear quadratic Gaussian controller, which incorporates a linearized LOS weighting matrix directly, yields good performance without wasting energy to control motions that have no influence on the LOS.

Lim, Kyong B.↗

NASA NTRS1990

A solution adaptive grid procedure for an upwind parabolized flow solver

A solution adaptive grid procedure based on an error equi-distribution scheme is developed and applied to a Parabolized Navier-Stokes solver. An improved method for selecting weighting functions is introduced which involves normalizing a combination of flowfield gradients and curvature of a number of dependent variables and then selecting the largest at each point. The scheme re-distributes grid points line-by-line, with grid point motion controlled by forces analogous to tensional and torsional spring forces with the spring constants set equal to the weighting functions. Torsional terms are functions of the grid point positions along neighboring grid lines and provide grid smoothness and stability. A grid-fitting scheme is introduced for external flows in which the number of grid points in the freestream are reduced to a minimum. Results for several problems are presented to demonstrate the improvements obtainable with the solution adaptive grid procedure.

Harvey, Albert D.↗

NASA NTRS1990

The effects of seasonal and latitudinal earth infrared radiance variations on ERBS attitude control

Phenneger, M.↗

NASA NTRS1991

Reducing Water/Hull Drag By Injecting Air Into Grooves

Proposed technique for reduction of friction drag on hydrodynamic body involves use of grooves and combinations of surfactants to control motion of layer on surface of such body. Surface contains many rows of side-by-side, evenly spaced, longitudinal grooves. Dimensions of grooves and sharpnesses of tips in specific case depends on conditions of flow about vessel. Requires much less air than does microbubble-injection method.

Reed, Jason C.↗

NASA NTRS1992

Orbital Welding Head Held By Robot

Orbital welding head positioned by robot controls motion and voltage of arc-welding torch mounted in head. New head encircles part at torch end, and held and manipulated by robot arm at opposite end. Entire welding operation automated. Useful for operations in hazardous environments.

Gangl, Kenneth J.↗

NASA NTRS1992

Systematic Disturbance Of Optimal Rotational Trajectory

Algorithm introduces systematic disturbance into otherwise optimal rotation of body from prescribed initial to prescribed final orientation. Disturbance introduced as deviation of actual axis of rotation from optimal one, like wobble of top. Algorithm effects rotational transformations and solves differential equations necessary to compute disturbed trajectory. Devised for use with motion-control program and three-dimensional computer-graphical display to study ability of observers to distinguish between optimal and suboptimal rotational trajectories.

Grunwald, Arthur J.↗

NASA NTRS1990

A Petri-net coordination model for an intelligent mobile robot

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

Wang, F.-Y.↗

NASA NTRS1992

Phase-field model for isothermal phase transitions in binary alloys

A new phase field model is described which models isothermal phase transitions between ideal binary alloy solution phases. Equations are developed for the temporal and spatial variation of the phase field, which describes the identity of the phase, and of the composition. An asymptotic analysis, as the gradient energy coefficient of the phase field becomes small, was conducted. From the analysis, it is shown that the model recovers classical sharp interface models of this situation when the interfacial layers are thin, and they show how to relate the parameters appearing in the phase field model to material and growth parameters in real systems. Further, three stages of temporal evolution are identified: the first corresponding to interfacial genesis which occurs very rapidly; the second to interfacial motion controlled by the local energy difference across the interface and diffusion; the last taking place on a long time scale in which curvature effects are important and which correspond to Ostwald ripening. The results of the numerical calculations are presented.

Wheeler, A. A.↗

NASA NTRS1992

A high-fidelity batch simulation environment for integrated batch and piloted air combat simulation analysis

A batch air combat simulation environment known as the Tactical Maneuvering Simulator (TMS) is presented. The TMS serves as a tool for developing and evaluating tactical maneuvering logics and to evaluate the tactical implications of perturbations to aircraft performance or supporting systems. The TMS is capable of simulating air combat between any number of engagement participants, with practical limits imposed by computer memory and processing power. Aircraft are modeled using equations of motion, control laws, aerodynamics and propulsive characteristics, and databases representative of a modern high-performance aircraft with and without thrust-vectoring capability are included. A Tactical Autopilot is implemented in the aircraft simulation model to convert guidance commands issued by computerized maneuvering logics in the form of desired angle-of-attack and wind axis-bank angle into inputs to the inner-loop control augmentation system of the aircraft.

Goodrich, Kenneth H.↗

NASA NTRS1992

CTOS course

The topics are presented in viewgraph form and include the following: a Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) Testbed Operating System (CTOS) overview; CTOS tasks and applications; building and sending CTOS messages; message data management; X-window input/output; CTOS configuration; CTOS startup; advanced tools and services; motion control systems (MCS), vision services system (VSS), and Petri Net (PN) controllers; and exercises.

Lefebvre, D. R.↗

NASA NTRS1991

A berthing and fastening strategy for orbital replacement units

Research in the area of berthing of Orbital Replacement Units (ORU's) at the GSFC consists of two major parts. First, we concentrate on the development of a comprehensive fastening strategy that can provide both mechanical as well as electrical connection to the ORU. Second, our efforts in robot collision avoidance and motion planning have led to the development of a state-of-the-art capacitive proximity sensor with associated motion control algorithms. These efforts combine to produce a system that allows safe and reliable machine assisted berthing. Although our main emphasis was on berthing of ORU's, we believe that some of our results can also be applied to docking.

Vranish, John↗

NASA NTRS1993

A high-fidelity, six-degree-of-freedom batch simulation environment for tactical guidance research and evaluation

A batch air combat simulation environment, the tactical maneuvering simulator (TMS), is presented. The TMS is a tool for developing and evaluating tactical maneuvering logics, but it can also be used to evaluate the tactical implications of perturbations to aircraft performance or supporting systems. The TMS can simulate air combat between any number of engagement participants, with practical limits imposed by computer memory and processing power. Aircraft are modeled using equations of motion, control laws, aerodynamics, and propulsive characteristics equivalent to those used in high-fidelity piloted simulations. Data bases representative of a modern high-performance aircraft with and without thrust-vectoring capability are included. To simplify the task of developing and implementing maneuvering logics in the TMS, an outer-loop control system, the tactical autopilot (TA), is implemented in the aircraft simulation model. The TA converts guidance commands by computerized maneuvering logics from desired angle of attack and wind-axis bank-angle inputs to the inner loop control augmentation system of the aircraft. The capabilities and operation of the TMS and the TA are described.

Goodrich, Kenneth H.↗

NASA NTRS1993

Space marching calculations about hypersonic configurations using a solution-adaptive mesh algorithm

A solution-adaptive marching algorithm is developed and applied to a three-dimensional parabolized Navier-Stokes equation solver. The resulting algorithm obtains accurate solutions by using a spatial-marching/adaptive grid procedure. The adaptation step redistributes grid points line by line in both crossflow directions, with grid point motion controlled by forces analogous to tensional and torsional spring forces with the tensional force proportional to the error measure or weighting functions. The solution-adaptive marching procedure is applied to the hypersonic flow about two generic aircraft configurations. The first of these is an all-body-type geometry with elliptical cross sections and is studied at angles of attack of 0.5, and 15 deg. The second geometry is a generic blended-wing-body design. Results are presented that demonstrate the improvements in flowfield resolution obtainable with the solution-adaptive marching procedure over conventional fixed grid techniques. Computed pitot pressure profiles obtained using the solution-adaptive algorithm show improved agreement with experimental data compared to predictions obtained using a fixed grid.

Harvey, Albert D.↗

NASA NTRS1989

A dual-armed free flyer

This summary presents the main conclusions and results of the design studies conducted by a group of 13 students at the University of Maryland. The students, all participants in the spring 1989 course ENEE418 in the Electrical Engineering Department, met weekly in a two-hour class to discuss and evaluate design alternatives. The main problem considered was the design and control of a planar testbed simulating a free-flying space robot for applications in satellite servicing. This project grew out of the 1988 class where a dual-armed free flyer (DAFF) was designed and partially built. This year, a group of six students continued the development of the DAFF, achieving computer-controlled motion of the DAFF's arms. All fabrication and testing of the DAFF is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. While the work related to the design and development of the DAFF is the main subject of the report, it should be noted that other students in the ENEE418 class have investigated additional issues related to manipulation in space. For example, one group studied a new parallel linkage based manipulator for fine motion applications such as in assembly operations in space. They investigated the mechanism's kinematics, its reachable workspace, and precision of applying forces and torques. In yet another project, a student set out to measure and map the friction characteristics of the actuators used in the Modular Dextrous Hand, which has been recently developed in the Intelligent Servosystems Laboratory. The results are expected to help compensate for this friction, which is a highly nonlinear disturbance and presents significant problems in high-precision, low-speed operations. This summary continues with the discussion of the results obtained by the group of students who have been working on developing the DAFF testbed.

Beck, D.↗

NASA NTRS1993

The star identification, pointing and tracking system of UVSTAR, an attached payload instrument system for the Shuttle Hitchhiker-M platform

We describe an algorithm for star identification and pointing/tracking of a spaceborne electro-optical system and simulation analyses to test the algorithm. The algorithm will be implemented in the guiding system of UVSTAR, a spectrographic telescope for observations of astronomical and planetary sources operating in the 500-1250 A waveband at approximately 1 A resolution. The experiment is an attached payload and will fly as a Hitchhiker-M payload on the Shuttle. UVSTAR includes capabilities for independent target acquisition and tracking. The spectrograph package has internal gimbals that allow angular movement of plus or minus 3 deg from the central position. Rotation about the azimuth axis (parallel to the Shuttle z axis) and elevation axis (parallel to the Shuttle x axis) will actively position the field of view to center the target of interest in the fields of the spectrographs. The algorithm is based on an on-board catalog of stars. To identify star fields, the algorithm compares the positions of stars recorded by the guiding imager to positions computed from the on-board catalog. When the field has been identified, its position within the guiding imager field of view can be used to compute the pointing corrections necessary to point to a target of interest. In tracking mode, the software uses the past history to predict the quasi-periodic attitude control motions of the shuttle and sends pointing commands to cancel the motion and stabilize UVSTAR on the target. The guiding imager (guider) will have an 80-mm focal length and f/1.4 optics giving a field of view of 6 deg x 4.5 deg using a 385 x 288 pixel intensified CCD. It will be capable of providing high accuracy (better than 2 arc-sec) attitude determination from coarse (6 deg x 4.5 deg) initial knowledge of the pointing direction; and of pointing toward the target. It will also be capable of tracking at the same high accuracy with a processing time of less than a few hundredths of a second.

Decarlo, Francesco↗

NASA NTRS1994

Robotic NDE inspection of advanced solid rocket motor casings

The Advanced Solid Rocket Motor program determined the need to inspect ASRM forgings and segments for potentially catastrophic defects. To minimize costs, an automated eddy current inspection system was designed and manufactured for inspection of ASRM forgings in the initial phases of production. This system utilizes custom manipulators and motion control algorithms and integrated six channel eddy current data acquisition and analysis hardware and software. Total system integration is through a personal computer based workcell controller. Segment inspection demands the use of a gantry robot for the EMAT/ET inspection system. The EMAT/ET system utilized similar mechanical compliancy and software logic to accommodate complex part geometries. EMAT provides volumetric inspection capability while eddy current is limited to surface and near surface inspection. Each aspect of the systems are applicable to other industries, such as, inspection of pressure vessels, weld inspection, and traditional ultrasonic inspection applications.

Mcneelege, Glenn E.↗