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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 235 records · Page 13

Computer Control For Ion Engines

Computer system controls start-up, steady-state operation, throttling, and shutdown of pair of xenon-ion propulsion engines. Controls direction of thrust of each engine through operation of gimbal stepping motors. Controls valves in propellant-storage and propellant-distribution system. Control software establishes and maintains efficient, stable operation over entire range of operating variables, and throttles engines to any point within range. Computer operates power supplies, valves, and flow controllers of two ion engines, ion-neutralizer subsystem, and other equipment. Designed for use in interplanetary flight, system adaptable to industrial use in ion-beam deposition of thin films.

Brophy, John R.↗

Pump and Flow Control Subassembly of Thermal Control Subsystem for Photovoltaic Power Module

The pump and flow control subassembly (PFCS) is an orbital replacement unit (ORU) on the Space Station Freedom photovoltaic power module (PVM). The PFCS pumps liquid ammonia at a constant rate of approximately 1170 kg/hr while providing temperature control by flow regulation between the radiator and the bypass loop. Also, housed within the ORU is an accumulator to compensate for fluid volumetric changes as well as the electronics and firmware for monitoring and control of the photovoltaic thermal control system (PVTCS). Major electronic functions include signal conditioning, data interfacing and motor control. This paper will provide a description of each major component within the PFCS along with performance test data. In addition, this paper will discuss the flow control algorithm and describe how the nickel hydrogen batteries and associated power electronics will be thermally controlled through regulation of coolant flow to the radiator.

Motil, Brian↗

Next-Generation Maneuvering System with Control-Moment Gyroscopes for Extravehicular Activities Near Low-Gravity Objects

Looking ahead to the human exploration of Mars, NASA is planning for exploration of near-Earth asteroids and the Martian moons. Performing tasks near the surface of such low-gravity objects will likely require the use of an updated version of the Manned Maneuvering Unit (MMU) since the surface gravity is not high enough to allow astronauts to walk, or have sufficient resistance to counter reaction forces and torques during movements. The extravehicular activity (EVA) Jetpack device currently under development is based on the Simplified Aid for EVA Rescue (SAFER) unit and has maneuvering capabilities to assist EVA astronauts with their tasks. This maneuvering unit has gas thrusters for attitude control and translation. When EVA astronauts are performing tasks that require ne motor control such as sample collection and equipment placement, the current control system will re thrusters to compensate for the resulting changes in center-of-mass location and moments of inertia, adversely affecting task performance. The proposed design of a next-generation maneuvering and stability system incorporates control concepts optimized to support astronaut tasks and adds control-moment gyroscopes (CMGs) to the current Jetpack system. This design aims to reduce fuel consumption, as well as improve task performance for astronauts by providing a sti er work platform. The high-level control architecture for an EVA maneuvering system using both thrusters and CMGs considers an initial assessment of tasks to be performed by an astronaut and an evaluation of the corresponding human-system dynamics. For a scenario in which the astronaut orbits an asteroid, simulation results from the current EVA maneuvering system are compared to those from a simulation of the same system augmented with CMGs, demonstrating that the forces and torques on an astronaut can be significantly reduced with the new control system actuation while conserving onboard fuel.

Carpenter, Michele↗

The Effects of Spaceflight and Head Down Tilt Bed Rest on Neurocognitive Performance: Extent, Longevity, and Neural Bases

Spaceflight effects on gait, balance, & manual motor control have been well studied; some evidence for cognitive deficits. Rodent cortical motor & sensory systems show neural structural alterations with spaceflight. specific Aims: Aim 1-Identify changes in brain structure, function, and network integrity as a function of head down tilt bed rest and spaceflight, and characterize their time course. Aim 2-Specify relationships between structural and functional brain changes and performance and characterize their time course.

Seidler, Rachael D.↗

The Effects of Spaceflight on Neurocognitive Performance: Extent, Longevity, and Neural Bases

Spaceflight effects on gait, balance, & manual motor control have been well studied; some evidence for cognitive deficits. Rodent cortical motor & sensory systems show neural structural alterations with spaceflight. We found extensive changes in behavior, brain structure & brain function following 70 days of HDBR. Specific Aim: Aim 1-Identify changes in brain structure, function, and network integrity as a function of spaceflight and characterize their time course. Aim 2-Specify relationships between structural and functional brain changes and performance and characterize their time course.

Seidler, Rachael D.↗

The Effect of Spaceflight on the Ultrastructure of the Cerebellum

In weightlessness, astronauts and cosmonauts may experience postural illusions as well as motion sickness symptoms known as the space adaptation syndrome. Upon return to Earth, they have irregularities in posture and balance. The adaptation to microgravity and subsequent re-adaptation to Earth occurs over several days. At the cellular level, a process called neuronal plasticity may mediate this adaptation. The term plasticity refers to the flexibility and modifiability in the architecture and functions of the nervous system. In fact, plastic changes are thought to underlie not just behavioral adaptation, but also the more generalized phenomena of learning and memory. The goal of this experiment was to identify some of the structural alterations that occur in the rat brain during the sensory and motor adaptation to microgravity. One brain region where plasticity has been studied extensively is the cerebellar cortex-a structure thought to be critical for motor control, coordination, the timing of movements, and, most relevant to the present experiment, motor learning. Also, there are direct as well as indirect connections between projections from the gravity-sensing otolith organs and several subregions of the cerebellum. We tested the hypothesis that alterations in the ultrastructural (the structure within the cell) architecture of rat cerebellar cortex occur during the early period of adaptation to microgravity, as the cerebellum adapts to the absence of the usual gravitational inputs. The results show ultrastructural evidence for neuronal plasticity in the central nervous system of adult rats after 24 hours of spaceflight. Qualitative studies conducted on tissue from the cerebellar cortex (specifically, the nodulus of the cerebellum) indicate that ultrastructural signs of plasticity are present in the cerebellar zones that receive input from the gravity-sensing organs in the inner ear (the otoliths). These changes are not observed in this region in cagematched ground control animals. The specific changes include the formation of lamellar bodies, profoundly enlarged Purkinje cell mitochondria, the presence of inter-neuronal cellular protrusions in the molecular layer, and signs of degeneration in the distal dendrites of the Purkinje cells. Since these morphologic signs are not apparent in the control animals, they are not likely to be due to caging or tissue processing effects. The particular nature of the structural alterations in the nodulus, most notably the formation of lamellar bodies and the presence of degeneration, further suggests that excitotoxicity (damaging overstimulation of neurons) may play a role in the short-term neural response to spaceflight. These findings suggest a structural basis for the neuronal and synaptic plasticity accompanying the central nervous system response to altered gravity and help identify the cellular bases underlying the vestibular abnormalities experienced by astronauts during periods of adaptation and re-adaptation to different gravitational forces. Also, since the short- and long-term changes in neural structure occurring during such periods of adaptation resemble the neuronal alterations that occur in some neurologic disorders such as stroke, these findings may offer guidance in the development of strategies for rehabilitation and treatment of such disorders.

Holstein, Gay R.↗

The 34-meter antenna drive control system

Detailed definitions of the baseline antenna drive and control/instrumentation equipment for 34 meter antennas included in Network Consolidation Program of the Deep Space Network are presented. The overall antenna control and monitor system and its interfaces with other higher level control and monitor equipment is described. Explicit descriptions of the antenna axis drive motors and motor controllers, the axis angle encoding systems, and miscellaneous antenna located components are presented, and related to system functional and performance requirements. Some potential alternates to the baseline system configuration are described and discussed.

Source record↗

Pointing and tracking control for freedom's Solar Dynamic modules and vibration control of freedom

A control strategy is presented for pointing particular modules of flexible multibody space structures while simultaneously attenuating structural vibrations. The application that is addressed is the planned Space Station Freedom in a growth configuration with Solar Dynamic (SD) module. A NASTRAN model of Freedom is used to demonstrate the control strategy. Two cases of SD concentrator fine-pointing controller bandwidths are studied with examples. The effect of limiting the controller motor torques to realistic baseline values is examined. SD pointing and station vibration control is accomplished during realistic disturbances due to aerodynamic drag, Shuttle docking, and Shuttle reaction control system plume impingement on SD. Gravity gradient induced torques on SD are relatively small and pseudo-steady.

Quinn, Roger D.↗

Closed Loop Control Compact Exercise Device for Use on MPCV

Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. To combat spaceflight physiological deconditioning, astronauts will use resistive and aerobic exercise regimens for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the mass and volume available for an exercise device in the next generation of spacecraft is limited. Therefore, compact exercise device prototypes are being developed for human in the loop evaluations. The NASA Human Research Program (HRP) is managing Advanced Exercise Concepts (AEC) requirements development and candidate technology maturation for all exploration mission profiles from Multi-Purpose Crew Vehicle (MPCV) exploration missions (e.g., EM-2, up to 21 day) to Mars Transit (up to 1000 day) missions. Numerous technologies have been considered and evaluated against HRP-approved functional requirements and include flywheel, pneumatic and closed-loop microprocessor-controlled motor driven power plants. Motor driven technologies offer excellent torque density and load accuracy characteristics as well as the ability to create custom mechanical impedance (the dynamic relationship between force and velocity) and custom load versus position exercise algorithms. Further, closed-loop motor-driven technologies offer the ability to monitor exercise dose parameters and adapt to the needs of the crewmember for real time optimization of exercise prescriptions. A simple proportional-integral-derivative (PID) controller is demonstrated in a prototype motor driven exercise device with comparison to resistive static and dynamic load set points and aerobic work rate targets. The resistive load term in the algorithm includes a constant force component (Fcmg) as well as inertial component (Fima) and a discussion of system tuning is presented in terms of addressing key functional requirements and human interfaces. The device aerobic modality is modelled as a rowing exercise using ground data sets obtained from Concept 2 rowers as well as competitive rowing1. A discussion of software and electronic implementations are presented which demonstrate unique approaches to meeting the constrained mass, volume and power requirements of the MPCV. . In addition to utilizing traditional PID control, controllers utilizing state feedback with gains solved using a Linear Quadratic Regulator will be developed. Controllability and observability will be utilized to investigate the need for state measurement in the design. As the control system directly interacts with human test subjects, robust methods such as H-infinity are also being investigated.1. Kleshnev V. Biomechanics. In: Rowing, Handbook of Sports Medicine and Science. ed. by Secher N., Voliantis S. IOC Medical Commission, Blackwell Pub. pp. 22-34, 2007

microgravity↗

Closed-Loop Control of Active Nematic Flows

Stabilizing and shaping autonomous flows of active fluids is a fundamental challenge and a prerequisite for applications. We embed a light-responsive microtubule-based nematic in a proportional-integral control loop that adjusts the applied light intensity in response to real-time measurements of the spatially averaged flow speed. The self-regulating hardware-software-wetware system maintains a target flow speed against external or internal perturbations, including protein aging and aggregation, sample-to-sample variability, and temperature variation. Varying the controller’s gains reveals antagonistic roles between feedback and intrinsic processes, leading to nontrivial dynamics observed in fluctuation spectra. In particular, oscillations emerge from the interplay between the controller, motor binding kinetics, and active hydrodynamic relaxation. Accounting for the underlying binding timescale, our coarse-grained model and nematohydrodynamics simulations corroborate these observations. This work provides insight into the coupled dynamics of controlled active matter, laying the foundation for spatiotemporal patterning of active stress to generate and stabilize new dynamical configurations.

Active nematics↗

The 3-D vision system integrated dexterous hand

Most multifingered hands use a tendon mechanism to minimize the size and weight of the hand. Such tendon mechanisms suffer from the problems of striction and friction of the tendons resulting in a reduction of control accuracy. A design for a 3-D vision system integrated dexterous hand with motor control is described which overcomes these problems. The proposed hand is composed of three three-jointed grasping fingers with tactile sensors on their tips, a two-jointed eye finger with a cross-shaped laser beam emitting diode in its distal part. The two non-grasping fingers allow 3-D vision capability and can rotate around the hand to see and measure the sides of grasped objects and the task environment. An algorithm that determines the range and local orientation of the contact surface using a cross-shaped laser beam is introduced along with some potential applications. An efficient method for finger force calculation is presented which uses the measured contact surface normals of an object.

Luo, Ren C.↗

Performance capabilities of a JPL dual-arm advanced teleoperation system

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Szakaly, Z. F.↗

Behavioral and Physiological Effects of Hindlimb Unloading in Rats

The overarching objective of this project was to identify changes in neural and biochemical systems of the central and peripheral nervous systems (the CNS and PNS) that are related to disruptions of functional motor responses, or motor control. The identification of neural and biochemical changes that are related to sensory-motor adaptation elicited as animals react to changes in the gravitational field was of particular interest. Thus, the major objective of this work was to study disruptions of motor responses that arise after (sic. due to) chronic exposure to altered gravity (G). To do this, parallel studies investigating changes in neural, sensory, and neuromuscular systems were conducted after animals (rats) experienced chronic exposure to conditions of altered-G. Conditions of altered-G included hyper-G produced by centrifugation, micro-G produced by orbital flight, and simulated micro-G produced by hind limb suspension. A second major interest was to examine the contribution of putative changes in sensory systems to disruptions of motor responses. To do this, motor responses and reflexes of rats were studied following chronic treatment with streptomycin sulfate (STP, an ototoxic chemical) to damage the vestibular hair cells.

Fox, Robert A.↗

Architecture for Control of the K9 Rover

Software featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan.

Bresina, John L.↗

Effect of Passive Horizontal Rotations and Vertical Oscillations on Dynamic Visual Acuity

Astronauts experience sensorimotor disturbances after long duration space flight. These crewmembers may need to egress the vehicle within a few minutes for safety and operational reasons in various sea state conditions following a water landing. Exposure to even low frequency motions induced by sea conditions surrounding a vessel can cause significant fine and gross motor control problems affecting critical functions. The objective of this study was to document human motor and visual performance during simulated wave motion in the 0.1 to 2.0 Hz range. We examined in 12 healthy subjects the changes in accuracy when performing a seated visual target acquisition task in which the location of target was offset vertically during horizontal full body rotation at an oscillating frequency of 0.8 Hz (peak velocity of 160 deg/s). The main finding was that the accuracy of performance degraded in 7 of 12 subjects when acquiring vertical targets at perturbing frequencies of 0.8 Hz in the horizontal plane by one step size. We also examined in a separate study on 12 healthy subjects seated dynamic visual acuity (DVA) task performance during vertical full body oscillations at perturbing frequencies of 2 Hz (peak to peak motion of 5 cm). The main finding was that DVA was significantly reduced when acquiring targets at perturbing oscillations at frequencies of 2 Hz in the vertical plane by approximately 1 chart line. Thus low frequencies of perturbations in the horizontal and vertical planes can cause decrement in visual performance.

Mulavara, Ajitkumar↗

A Methodology for Investigating Adaptive Postural Control

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of overt goals. It follows that an essential characteristic of postural behavior is the effective maintenance of the orientation and stability of the sensory and motor "platforms" (e.g., head or shoulders) over variations in the human, the environment and the task. This general skill suggests that individuals should be sensitive to the functional consequences of body configuration and stability. In other words, individuals should perceive the relation between configuration, stability, and performance so that they can adaptively control their interaction with the surroundings. Human-environment interactions constitute robust systems in that individuals can maintain the stability of such interactions over uncertainty about and variations in the dynamics of the interaction. Robust interactions allow individuals to adopt orientations and configurations that are not optimal with respect to purely energetic criteria. Individuals can tolerate variation in postural states, and such variation can serve an important function in adaptive systems. Postural variability generates stimulation which is "textured" by the dynamics of the human-environment system. The texture or structure in stimulation provides information about variation in dynamics, and such information can be sufficient to guide adaption in control strategies. Our method were designed to measure informative patterns of movement variability.

McDonald, P. V.↗

Power factor control system for ac induction motors

A power control circuit for an induction motor is disclosed in which a servo loop is used to control power input by controlling the power factor of motor operation. The power factor is measured by summing the voltage and current derived square wave signals.

Nola, F. J.↗

Sensorless Control of Permanent Magnet Machine for NASA Flywheel Technology Development

This paper describes the position sensorless algorithms presently used in the motor control for the NASA "in-house" development work of the flywheel energy storage system. At zero and low speeds a signal injection technique, the self-sensing method, is used to determine rotor position. At higher speeds, an open loop estimate of the back EMF of the machine is made to determine the rotor position. At start up, the rotor is set to a known position by commanding dc into one of the phase windings. Experimental results up to 52,000 rpm are presented.

Kenny, Barbara H.↗