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At least 235 records · Page 13

Age-related changes in human posture control: Motor coordination tests

Postural responses to support surface displacements were measured in 214 normal human subjects ranging in age from 7 to 81 years. Motor tests measured leg muscle Electromyography (EMG) latencies, body sway, and the amplitude and timing of changes in center of pressure displacements in response to sudden forward and backward horizontal translations of the support surface upon which the subjects stood. There were small increases in both EMG latencies and the time to reach the peak amplitude of center of pressure responses with increasing age. The amplitude of center of pressure responses showed little change with age if the amplitude measures were normalized by a factor related to subject height. In general, postural responses to sudden translations showed minimal changes with age, and all age related trends which were identified were small relative to the variability within the population.

Peterka, R. J.↗

Knowledge Base for Distributed Spacecraft Mission Design Using the Trade-Space Analysis Tool for Constellations (TAT-C)

Opportunities for multi-point measurements, greater revisit frequency, failure robustness, and improved cost effectiveness motivate consideration of Distributed Spacecraft Missions (DSMs) for future Earth science missions. However, careful analysis is required to assess the distributed sensing capabilities of a constellation compared to more mature monolithic spacecraft while also considering other important dimensions such as cost and risk. The large combinatorial DSM design space limits existing mission analysis tools and exploration methods which emphasize monolithic design variables. The Trade-space Analysis Tool for Constellations (TAT-C) under development at Goddard seeks to enumerate and evaluate alternative mission architectures to minimize cost and maximize scientific return for pre-defined goals during pre-phase A analysis.Similar to other model-centric engineering efforts, efficient data management is a significant challenge for DSM mission analysis. In TAT-C, a Knowledge Base (KB) is envisioned as a cumulative central repository of information and meta-information about DSMs. Initial KB concepts store related data for reuse within or across mission analyses; however, over time, the KB is envisioned to be an important layer to coordinate actions of both human analysts and automated design agents to search a large design space for desirable mission alternatives. Preliminary KB research builds on a modern web technology stack to provide the following functionality: 1) storage of trade-space search requests which set requirements and constraints for DSM concepts, 2) storage of analysis results which quantify performance metrics for evaluated DSM concepts, 3) a RESTful application programming interface (API) for scripted access to data from TAT-C modules, 4) web-based graphical user interface (GUI) for manual access to underlying data, and 5) access control and management restrictions relevant to data protection and security. These efforts have culminated in a prototype KB used by the research team during TAT-C development to assess opportunities for future work.

Pattern Recognition↗

A demonstration of an intelligent control system for a reusable rocket engine

An Intelligent Control System for reusable rocket engines is under development at NASA Lewis Research Center. The primary objective is to extend the useful life of a reusable rocket propulsion system while minimizing between flight maintenance and maximizing engine life and performance through improved control and monitoring algorithms and additional sensing and actuation. This paper describes current progress towards proof-of-concept of an Intelligent Control System for the Space Shuttle Main Engine. A subset of identifiable and accommodatable engine failure modes is selected for preliminary demonstration. Failure models are developed retaining only first order effects and included in a simplified nonlinear simulation of the rocket engine for analysis under closed loop control. The engine level coordinator acts as an interface between the diagnostic and control systems, and translates thrust and mixture ratio commands dictated by mission requirements, and engine status (health) into engine operational strategies carried out by a multivariable control. Control reconfiguration achieves fault tolerance if the nominal (healthy engine) control cannot. Each of the aforementioned functionalities is discussed in the context of an example to illustrate the operation of the system in the context of a representative failure. A graphical user interface allows the researcher to monitor the Intelligent Control System and engine performance under various failure modes selected for demonstration.

Musgrave, Jeffrey L.↗

Optimal Routing and Control of Multiple Agents Moving in a Transportation Network and Subject to an Arrival Schedule and Separation Constraints

We address the problem of navigating a set of moving agents, e.g. automated guided vehicles, through a transportation network so as to bring each agent to its destination at a specified time. Each pair of agents is required to be separated by a minimal distance, generally agent-dependent, at all times. The speed range, initial position, required destination, and required time of arrival at destination for each agent are assumed provided. The movement of each agent is governed by a controlled differential equation (state equation). The problem consists in choosing for each agent a path and a control strategy so as to meet the constraints and reach the destination at the required time. This problem arises in various fields of transportation, including Air Traffic Management and train coordination, and in robotics. The main contribution of the paper is a model that allows to recast this problem as a decoupled collection of problems in classical optimal control and is easily generalized to the case when inertia cannot be neglected. Some qualitative insight into solution behavior is obtained using the Pontryagin Maximum Principle. Sample numerical solutions are computed using a numerical optimal control solver.

Sadovsky, A. V.↗

Position Sensor Integral with a Linear Actuator

A noncontact position sensor has been designed for use with a specific two-dimensional linear electromagnetic actuator. To minimize the bulk and weight added by the sensor, the sensor has been made an integral part of the actuator: that is to say, parts of the actuator structure and circuitry are used for sensing as well as for varying position. The actuator (see Figure 1) includes a C-shaped permanent magnet and an armature that is approximately centered in the magnet gap. The intended function of the actuator is to cause the permanent magnet to translate to, and/or remain at, commanded x and y coordinates, relative to the armature. In addition, some incidental relative motion along the z axis is tolerated but not controlled. The sensor is required to measure the x and y displacements from a nominal central position and to be relatively insensitive to z displacement. The armature contains two sets of electromagnet windings oriented perpendicularly to each other and electrically excited in such a manner as to generate forces in the x,y plane to produce the required motion. Small sensor excitation coils are mounted on the pole tips of the permanent magnet. These coils are excited with a sine wave at a frequency of 20 kHz. This excitation is transformer-coupled to the armature windings. The geometric arrangement of the excitation coils and armature windings is such that the amplitudes of the 20-kHz voltages induced in the armature windings vary nearly linearly with x and y displacements and do not vary significantly with small z displacements. Because the frequency of 20 kHz is much greater than the maximum frequency characteristic of the actuation signals applied to the armature windings, there is no appreciable interference between actuator and sensor functions of the armature windings.

Howard, David E.↗

Corrigendum: New Form of Kane's Equations of Motion for Constrained Systems

A correction to the previously published article "New Form of Kane's Equations of Motion for Constrained Systems" is presented. Misuse of the transformation matrix between time rates of change of the generalized coordinates and generalized speeds (sometimes called motion variables) resulted in a false conclusion concerning the symmetry of the generalized inertia matrix. The generalized inertia matrix (sometimes referred to as the mass matrix) is in fact symmetric and usually positive definite when one forms nonminimal Kane's equations for holonomic or simple nonholonomic systems, systems subject to nonlinear nonholonomic constraints, and holonomic or simple nonholonomic systems subject to impulsive constraints according to Refs. 1, 2, and 3, respectively. The mass matrix is of course symmetric when one forms minimal equations for holonomic or simple nonholonomic systems using Kane s method as set forth in Ref. 4.

Roithmayr, Carlos M.↗

Test Methodology Development for Experimental Structural Assessment of ASC Planar Spring Material for Long-Term Durability

A vibration-based testing methodology has been developed that will assess fatigue behavior of the metallic material of construction for the Advanced Stirling Convertor displacer (planar) spring component. To minimize the testing duration, the test setup is designed for base-excitation of a multiplespecimen arrangement, driven in a high-frequency resonant mode; this allows completion of fatigue testing in an accelerated period. A high performance electro-dynamic exciter (shaker) is used to generate harmonic oscillation of cantilever beam specimens, which are clasped on the shaker armature with specially-designed clamp fixtures. The shaker operates in closed-loop control with dynamic specimen response feedback provided by a scanning laser vibrometer. A test coordinator function synchronizes the shaker controller and the laser vibrometer to complete the closed-loop scheme. The test coordinator also monitors structural health of the test specimens throughout the test period, recognizing any change in specimen dynamic behavior. As this may be due to fatigue crack initiation, the test coordinator terminates test progression and then acquires test data in an orderly manner. Design of the specimen and fixture geometry was completed by finite element analysis such that peak stress does not occur at the clamping fixture attachment points. Experimental stress evaluation was conducted to verify the specimen stress predictions. A successful application of the experimental methodology was demonstrated by validation tests with carbon steel specimens subjected to fully-reversed bending stress; high-cycle fatigue failures were induced in such specimens using higher-than-prototypical stresses

fatigue testing machines↗

Advanced High-Temperature Engine Materials Technology Progresses

The objective of the Advanced High Temperature Engine Materials Technology Program (HITEMP) is to generate technology for advanced materials and structural analysis that will increase fuel economy, improve reliability, extend life, and reduce operating costs for 21st century civil propulsion systems. The primary focus is on fan and compressor materials (polymer-matrix composites--PMC's), compressor and turbine materials (superalloys, and metal-matrix and intermetallic-matrix composites--MMC's and IMC's) and turbine materials (ceramic-matrix composites--CMC's). These advanced materials are being developed by in-house researchers and on grants and contracts. NASA considers this program to be a focused materials and structures research effort that builds on our base research programs and supports component-development projects. HITEMP is coordinated with the Advanced Subsonic Technology (AST) Program and the Department of Defense/NASA Integrated High-Performance Turbine Engine Technology (IHPTET) Program. Advanced materials and structures technologies from HITEMP may be used in these future applications. Recent technical accomplishments have not only improved the state-of-the-art but have wideranging applications to industry. A high-temperature thin-film strain gage was developed to measure both dynamic and static strain up to 1100 C (2000 F). The gage's unique feature is that it is minimally intrusive. This technology, which received a 1995 R&D 100 Award, has been transferred to AlliedSignal Engines, General Electric Company, and Ford Motor Company. Analytical models developed at the NASA Lewis Research Center were used to study Textron Specialty Materials' manufacturing process for titanium-matrix composite rings. Implementation of our recommendations on tooling and processing conditions resulted in the production of defect free rings. In the Lincoln Composites/AlliedSignal/Lewis cooperative program, a composite compressor case is being manufactured with a Lewis-developed matrix, VCAP. The compressor case, which will reduce weight by 30 percent and costs by 50 percent, is scheduled to be engine tested in the near future.

Source record↗

ISRU-Based Robotic Construction Technologies For Lunar And Martian Infrastructures

Economically viable and reliable building systems and tool sets are being sought, examined and tested for extraterrestrial infrastructure buildup. This project utilizes a unique architecture weaving the robotic building construction technology with designs for assisting rapid buildup of initial operational capability Lunar and Martian bases. The project intends to develop and test methodologies to construct certain crucial infrastructure elements in order to evaluate the merits, limitations and feasibility of adapting and using such technologies for extraterrestrial application. High priority infrastructure elements suggested by our NASA advisors to be considered include landing pads and aprons, roads, blast walls and shade walls, thermal and micrometeorite protection shields and dust-free platforms utilizing the well-known insitu resource utilization (ISRU) strategy. Current extraterrestrial settlement buildup philosophy holds that in order to minimize the materials needed to be flown in, at great transportation costs, strategies that maximize the use of locally available resources must be adopted. Tools and heavy equipment flown as cargo from Earth are proposed to build required infrastructure to support future missions and settlements on the Moon and Mars. Several unique systems including the Lunar Electric Rover, the unpressurized Chariot rover, the versatile light-weight crane and Tri-Athlete cargo transporter as well as the habitat module mockups and a new generation of spacesuits are undergoing coordinated tests at NASAs D-RATS. This project intends to draw up a detailed synergetic plan to utilize these maturing systems coupled with modern robotic fabrication technologies based primarily on 3D Printing, tailored for swift and reliable Lunar and Martian infrastructure development. This project also intends to increase astronaut safety, improve buildup performance, ameliorate dust interference and concerns, and reduce time-to-commission, all in an economic manner. The goal stated in our Phase I proposal was a high fidelity demonstration at D-RATS to be conducted at the conclusion of the Phase II study. In the course of the Phase I study, however, it became clear that such demonstration was neither possible (due to the maximum Phase II budget limitation and the cost of NASA assets and related overhead expenses to support such demonstrations), nor necessary (due to NASA's low TRL expectation of Phase II results). These important facts were revealed to us only after interacting with the NIAC administrators and meetings with potential future partners at JPL and KSC. Accordingly, it was decided by the team that in order to make best use of resources we should investigate novel directions in the adaptation of our fabrication technologies by using in-house laboratories and to produce truly useful technologies and data, and then proceed with high fidelity demonstration at a later opportunity when sufficient resources become available. Furthermore, we have recognized that in addition to our building scale 3D printing technology called Contour Crafting, variations of some of our other fabrication technologies under development are suitable for construction of infrastructure elements such as regolith based ceramic tiles and hence we have decided to include some related preliminary research in this Phase II proposal.

Extraterrestrial↗

Near-Net Forging Technology Demonstration Program

Significant advantages in specific mechanical properties, when compared to conventional aluminum (Al) alloys, make aluminum-lithium (Al-Li) alloys attractive candidate materials for use in cryogenic propellant tanks and dry bay structures. However, the cost of Al-Li alloys is typically five times that of 2219 aluminum. If conventional fabrication processes are employed to fabricate launch vehicle structure, the material costs will restrict their utilization. In order to fully exploit the potential cost and performance benefits of Al-Li alloys, it is necessary that near-net manufacturing methods be developed to off-set or reduce raw material costs. Near-net forging is an advanced manufacturing method that uses elevated temperature metal movement (forging) to fabricate a single piece, near-net shape, structure. This process is termed 'near-net' because only a minimal amount of post-forge machining is required. The near-net forging process was developed to reduce the material scrap rate (buy-to-fly ratio) and fabrication costs associated with conventional manufacturing methods. The goal for the near-net forging process, when mature, is to achieve an overall cost reduction of approximately 50 percent compared with conventional manufacturing options for producing structures fabricated from Al-Li alloys. This NASA Marshall Space Flight Center (MSFC) sponsored program has been a part of a unique government / industry partnership, coordinated to develop and demonstrate near-net forging technology. The objective of this program was to demonstrate scale-up of the near-net forging process. This objective was successfully achieved by fabricating four integrally stiffened, 170- inch diameter by 20-inch tall, Al-Li alloy 2195, Y-ring adapters. Initially, two 2195 Al-Li ingots were converted and back extruded to produce four cylindrical blockers. Conventional ring rolling of the blockers was performed to produce ring preforms, which were then contour ring rolled to produce 'contour preforms'. All of the contour preforms on this first-of-a-kind effort were imperfect, and the ingot used to fabricate two of the preforms was of an earlier vintage. As lessons were learned throughout the program, the tooling and procedures evolved, and hence the preform quality. Two of the best contour preforms were near- net forged to produce a process pathfinder Y-ring adapter and a 'mechanical properties pathfinder' Y-ring adapter. At this point, Lockheed Martin Astronautics elected to procure additional 2195 aluminum-lithium ingot of the latest vintage, produce two additional preforms, and substitute them for older vintage material non-perfectly filled preforms already produced on this contract. The existing preforms could have been used to fulfill the requirements of the contract.

Hall, I. Keith↗

On the geodetic applications of simultaneous range-differencing to LAGEOS

The possibility of improving the accuracy of geodetic results by use of simultaneously observed ranges to Lageos, in a differencing mode, from pairs of stations was studied. Simulation tests show that model errors can be effectively minimized by simultaneous range differencing (SRD) for a rather broad class of network satellite pass configurations. The methods of least squares approximation are compared with monomials and Chebyshev polynomials and the cubic spline interpolation. Analysis of three types of orbital biases (radial, along- and across track) shows that radial biases are the ones most efficiently minimized in the SRC mode. The degree to which the other two can be minimized depends on the type of parameters under estimation and the geometry of the problem. Sensitivity analyses of the SRD observation show that for baseline length estimations the most useful data are those collected in a direction parallel to the baseline and at a low elevation. Estimating individual baseline lengths with respect to an assumed but fixed orbit not only decreases the cost, but it further reduces the effects of model biases on the results as opposed to a network solution. Analogous results and conclusions are obtained for the estimates of the coordinates of the pole.

Pablis, E. C.↗

Optimal Control Modification Adaptive Law for Time-Scale Separated Systems

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Nguyen, Nhan T.↗

Optimal Control Modification for Robust Adaptation of Singularly Perturbed Systems with Slow Actuators

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. The model matching conditions in the transformed time coordinate results in increase in the feedback gain and modification of the adaptive law.

Nguyen, Nhan T.↗

Optimal Control Modification for Time-Scale Separated Systems

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Adaptive Control↗

Experiments in thrusterless robot locomotion control for space applications

While performing complex assembly tasks or moving about in space, a space robot should minimize the amount of propellant consumed. A study is presented of space robot locomotion and orientation without the use of thrusters. The goal was to design a robot control paradigm that will perform thrusterless locomotion between two points on a structure, and to implement this paradigm on an experimental robot. A two arm free flying robot was constructed which floats on a cushion of air to simulate in 2-D the drag free, zero-g environment of space. The robot can impart momentum to itself by pushing off from an external structure in a coordinated two arm maneuver, and can then reorient itself by activating a momentum wheel. The controller design consists of two parts: a high level strategic controller and a low level dynamic controller. The control paradigm was verified experimentally by commanding the robot to push off from a structure with both arms, rotate 180 degs while translating freely, and then to catch itself on another structure. This method, based on the computed torque, provides a linear feedback law in momentum and its derivatives for a system of rigid bodies.

Jasper, Warren Joseph↗

TADPLOT program, version 2.0: User's guide

The TADPLOT Program, Version 2.0 is described. The TADPLOT program is a software package coordinated by a single, easy-to-use interface, enabling the researcher to access several standard file formats, selectively collect specific subsets of data, and create full-featured publication and viewgraph quality plots. The user-interface was designed to be independent from any file format, yet provide capabilities to accommodate highly specialized data queries. Integrated with an applications software network, data can be assessed, collected, and viewed quickly and easily. Since the commands are data independent, subsequent modifications to the file format will be transparent, while additional file formats can be integrated with minimal impact on the user-interface. The graphical capabilities are independent of the method of data collection; thus, the data specification and subsequent plotting can be modified and upgraded as separate functional components. The graphics kernel selected adheres to the full functional specifications of the CORE standard. Both interface and postprocessing capabilities are fully integrated into TADPLOT.

Hammond, Dana P.↗

Control theory based airfoil design using the Euler equations

This paper describes the implementation of optimization techniques based on control theory for airfoil design. In our previous work it was shown that control theory could be employed to devise effective optimization procedures for two-dimensional profiles by using the potential flow equation with either a conformal mapping or a general coordinate system. The goal of our present work is to extend the development to treat the Euler equations in two-dimensions by procedures that can readily be generalized to treat complex shapes in three-dimensions. Therefore, we have developed methods which can address airfoil design through either an analytic mapping or an arbitrary grid perturbation method applied to a finite volume discretization of the Euler equations. Here the control law serves to provide computationally inexpensive gradient information to a standard numerical optimization method. Results are presented for both the inverse problem and drag minimization problem.

Jameson, Antony↗

Derivation of the Data Reduction Equations for the Calibration of the Six-component Thrust Stand in the CE-22 Advanced Nozzle Test Facility

This paper documents the derivation of the data reduction equations for the calibration of the six-component thrust stand located in the CE-22 Advanced Nozzle Test Facility. The purpose of the calibration is to determine the first-order interactions between the axial, lateral, and vertical load cells (second-order interactions are assumed to be negligible). In an ideal system, the measurements made by the thrust stand along the three coordinate axes should be independent. For example, when a test article applies an axial force on the thrust stand, the axial load cells should measure the full magnitude of the force, while the off-axis load cells (lateral and vertical) should read zero. Likewise, if a lateral force is applied, the lateral load cells should measure the entire force, while the axial and vertical load cells should read zero. However, in real-world systems, there may be interactions between the load cells. Through proper design of the thrust stand, these interactions can be minimized, but are hard to eliminate entirely. Therefore, the purpose of the thrust stand calibration is to account for these interactions, so that necessary corrections can be made during testing. These corrections can be expressed in the form of an interaction matrix, and this paper shows the derivation of the equations used to obtain the coefficients in this matrix.

Wong, Kin C.↗