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At least 253 records · Page 14

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NASA NTRS1990

Cryogenic temperature effects on sting-balance deflections in the National Transonic Facility

An investigation was conducted at the National Transonic Facility (NTF) to document the change in sting-balance deflections from ambient to cryogenic temperatures. Space limitations in some NTF models do not allow the use of on-board angle of attack instrumentation. In order to obtain angle of attack data, pre-determined sting-balance bending data must be combined with arc sector angle measurements. Presently, obtaining pretest sting-balance data requires several cryogenic cycles and cold loadings over a period of several days. A method of reducing the calibration time required is to obtain only ambient temperature sting-balance bending data and correct for changes in material properties at cryogenic temperatures. To validate this method, two typical NTF sting-balance combinations were tested. The test results show excellent agreement with the predicted values and the repeatability of the data was 0.01 degree.

Popernack, Thomas G., Jr.↗

NASA NTRS1989

On-line frequency domain information for control of a flexible-link robot with varying payload

Experimental results are given for the endpoint position control of a single-link, very flexible robot arm carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew-angle commanded position. Fast, simple, and efficient frequency-domain schemes are used for online controller gain adjustment within an effective scheduling framework. Only endpoint acceleration and motor shaft angle measurements are utilized in relatively simple control laws where the appropriate gains have been scheduled as correlated to modal frequency information corresponding to a varying, unknown payload.

Yurkovich, Stephen↗

NASA NTRS1990

A discrete-time adaptive control scheme for robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Tarokh, M.↗

NASA NTRS1991

High power arcjet

The activities of the High Power Arcjet Project (HIPARC) from August 1990 to January 1991 are discussed. In this period the HIPARC thruster was ignited for the first time. Power levels up to 140 kW with a mass flow rate of 300 mg/s hydrogen were reached. Specific impulse values of more than 1300 s were shown to be possible. Tests were performed with the baseline thruster version only, which has a 6 mm throat diameter and a conical nozzle with a 20 degree half angle. Measurement data summing up all tests carried out until now is included. All measuring methods are described, including a check on possible error sources.

Goelz, T. M.↗

NASA NTRS1990

Contact angle determination procedure and detection of an invisible surface film

The contact angle value, i.e., the tangent angle of liquid resting on a planar solid surface, is a basic parameter which can be applied to a wide range of applications. The goal is to provide a basic understanding of the contact angle measurement technique and to present a simple illustration that can be applied as a quality control method; namely, detection of a surface contaminant which exists on a surface that appears clean to the unaided eye. The equipment and experimental procedures are detailed.

Meyer, G.↗

NASA NTRS1990

Decentralized digital adaptive control of robot motion

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

Tarokh, M.↗

NASA NTRS1991

Coherent backscatter model for the unusual radar reflectivity of icy satellites

The coherent backscatter model is investigated experimentally by means of an analog to examine the nature of the radar reflectivity of icy satellites. The laboratory analog involves the examination of He-Ne laser light with a wavelength of 0.633 microns reflected from 0.497-micron polystyrene beads suspended in water. A photomultiplier and a polarizing filter are employed to observe the radar at phase angles greater than zero which are extrapolated to infer observation at zero phase angle. The polarization angles measured at optical frequencies are found to be equivalent to those observed in the radar data. The results suggest that the regoliths of the icy satellites consist of matrices of small complex refractive indices which contain scatterers separated by distances of the order of a wavelength. The experiment explains the high reflectivity of Jupiter's icy satellites which results in the observation of narrow opposition-effects peaks at optical frequencies.

Hapke, Bruce↗

NASA NTRS1992

Instability and transition in three-dimensional supersonic boundary layers

Linear stability of three-dimensional flow past a 5 deg semi-vertex sharp cone at 2 deg incidence in Mach 3.5 free-stream is studied. Computed laminar mean flow profiles along the leeward line of symmetry are highly inflectional and, hence, much more unstable than the profiles along the windward line of symmetry. Accordingly, transition occurs much earlier along the leeward line both in the present calculations (based upon eN approach) and in the experiments of King (1991) performed in NASA Langley 'quiet' tunnel. Boundary-layer transition in the region between the two symmetry lines is influenced by the crossflow generated due to the angle of attack and, as a consequence, it progressively moves upstream with increasing azimuthal angle measured from the windward line. The computed transition front is qualitatively similar to the experimental results, although some differences remain.

Malik, M. R.↗

NASA NTRS1954

Smoke Study of Nozzle Secondary Flows in a Low-speed Turbine

Still and motion pictures were made of boundary-layer and wake secondary-flow phenomena visualized by smoke. Two annular cascades of turbine nozzles were used, both designed for constant discharge angle but differing in blade shape and suction-surface velocity distribution. Flows were similar to those obtained with pressure and angle measurements at near-sonic airspeeds. Boundary-layer cross-channel and trailing-edge radial flows caused vortices and an accumulation of low-momentum air at the hub, which may affect flow in following blade rows. Motion of a downstream rotor blade row produced pulsations in trailing-edge radial flow. The motion-picture supplement may be obtained on loan from NACA Headquarters, Washington, D.C.

Kofskey, Milton G↗

NASA NTRS1994

Estimating Elevation Angles From SAR Crosstalk

Scheme for processing polarimetric synthetic-aperture-radar (SAR) image data yields estimates of elevation angles along radar beam to target resolution cells. By use of estimated elevation angles, measured distances along radar beam to targets (slant ranges), and measured altitude of aircraft carrying SAR equipment, one can estimate height of target terrain in each resolution cell. Monopulselike scheme yields low-resolution topographical data.

Freeman, Anthony↗

NASA NTRS1991

Navigation of military and space unmanned ground vehicles in unstructured terrains

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Lescoe, Paul↗

NASA NTRS1992

Acquisition, pointing and tracking performance of the Hubble Space Telescope fine guidance sensors

The three fine guidance sensors (FGSs) on board the HST have been operated extensively since the observatory was launched in April, 1990. The FGSs, each capable of measuring angles as small as 0.003 arcsec, provide required fine pointing information to the HST's pointing control system and are intended to serve as astrometry instruments. On-orbit data have shown that the acquisition, pointing and tracking performance of the FGSs in most cases meets, and of these sometimes exceeds, requirements. The versatility of the FGS digital control electronics to adapt to the unexpected conditions imposed on the sensors by the telescope spherical aberration and by solar panel jitter is discussed. There is encouragement from both on-orbit tests and analytical studies that the FGSs can accommodate the current telescope characteristics. Improvements to guide star acquisitions within the FGSs and to target acquisitions within science instruments have been accomplished with the internal distortion calibration of each FGS and with the alignment calibration between sensors. Techniques used in the calibration process and the resulting improvements in acquisitions are presented.

Eaton, David J.↗

NASA NTRS1994

Statistical survey of pitch angle distributions in core (0-50 eV) ions from Dynamics Explorer 1: Outflow in the auroral zone, polar cap, and cusp

Core (0-50 eV) ion pitch angle measurements from the retarding ion mass spectrometer on Dynamics Explorer 1 are examined with respect to magnetic disturbance, invariant latitude, magnetic local time, and altitude for ions H(+), He(+), O(+), M/Z = 2 (D(+) or He(++)), and O(++). Included are outflow events in the auroral zone, polar cap, and cusp, separated into altitude regions below and above 3 R(sub E). In addition to the customary division into beam, conic, and upwelling distributions, the high-latitude observations fall into three categories corresponding to ion bulk speeds that are (1) less than, (2) comparable to, or (3) faster than that of the spacecraft. This separation, along with the altitude partition, serves to identify conditions under which ionospheric source ions are gravita- tionally bound and when they are more energetic and able to escape to the outer magnetosphere. Features of the cleft ion fountain inferred from single event studies are clearly identifiable in the statistical results. In addition, it is found that the dayside pre-noon cleft is a dayside afternoon cleft, or auroral zone, becomes an additional source for increased activity. The auroral oval as a whole appears to be a steady source of escape velocity H(+), a steady source of escape velocity He(+) ions for the dusk sector, and a source of escape velocity heavy ions for dusk local times primarily during increased activity. The polar cap above the auroral zone is a consistent source of low-energy ions, although only the lighter mass particles appear to have sufficient velocity, on average, to escape to higher altitudes. The observations support two concepts for outflow: (1) The cleft ion fountain consists of ionospheric plasma of 1-20 eV energy streaming upward into the magnetosphere where high-latitude convection electric fields cause poleward dispersion. (2) The auroral ion fountain involves field-aligned beams which flow out along auroral latitude field lines; and, in addition, for late afternoon local times, they experience additional acceleration such that the ion energy distribution tends to exceed the detection range of the instrument (greater than 50-60 eV).

Giles, B. L.↗

NASA NTRS1996

Comparison of Extravehicular Mobility Unit (EMU) suited and unsuited isolated joint strength measurements

In this study the strength of subjects suited in extravehicular mobility units (EMU's) - or Space Shuttle suits - was compared to the strength of unsuited subjects. The authors devised a systematic and complete data set that characterizes isolated joint torques for all major joints of EMU-suited subjects. Six joint motions were included in the data set. The joint conditions of six subjects were compared to increase our understanding of the strength capabilities of suited subjects. Data were gathered on suited and unsuited subjects. Suited subjects wore Class 3 or Class 1 suits, with and without thermal micrometeoroid garments (TMG's). Suited and unsuited conditions for each joint motion were compared. From this the authors found, for example, that shoulder abduction suited conditions differ from each other and from the unsuited condition. A second-order polynomial regression model was also provided. This model, which allows the prediction of suited strength when given unsuited strength information, relates the torques of unsuited conditions to the torques of all suited conditions. Data obtained will enable computer modeling of EMU strength, conversion from unsuited to suited data, and isolated joint strength comparisons between suited and unsuited conditions at any measured angle. From these data mission planners and human factors engineers may gain a better understanding of crew posture, and mobility and strength capabilities. This study also may help suit designers optimize suit strength, and provide a foundation for EMU strength modeling systems.

Maida, James C.↗

NASA NTRS1960

Flight Investigation of an Automatic Pitchup Control

A flight investigation of an automatic pitchup control has been conducted by the National Aeronautics and Space Administration at the Langley Research Center. The pitching-moment characteristics of a transonic fighter airplane which was subject to pitchup were altered by driving the stabilizer in accordance with a signal that was a function of a combination of the measured angle of attack and the pitching velocity. An angle-of-attack threshold control was used to preset the angle of attack at which the automatic pitchup-control system would begin to drive the stabilizer. No threshold control as such existed for the pitching-velocity signal. A summing linkage in series with the pilot's longitudinal control allowed the automatic pitchup-control system to drive the stabilizer 13.5 percent of the total stabilizer travel independently of the pilot's control. Tests were made at an altitude of 35,000 feet over a Mach number range of 0.80 to 0.90. Various gearings between the control and the sensing devices were investigated. The automatic system was capable of extending the region of positive stability for the test airplane to angles of attack above the basic-airplane pitchup threshold angle of attack. In most cases a limit-cycle oscillation about the airplane pitch axis occurred.

Hurt, George J., Jr.↗

NASA NTRS1998

Near Simultaneous Spectroscopic and Polarimetric Observations of Be Stars

Near simultaneous optical spectroscopic (on four nights) and linear continuum (B, V, R and I bands) polarimetric (on seven nights) observations of 29 Be stars were carried out during November - December 1993. The program Be stars displayed wavelength dependence of intrinsic polarizations with no frequency dependence of position angles. Measured values of linear intrinsic polarizations of these Be stars were all less than 1.6%. The Be and Be-shell stars displayed no clear distinction in their polarization values. Observed polarizations at B, V, R and I bands were compared with the theoretically computed linear polarization values of the program stars. It has been suggested that these observed polarizations indicate that the envelopes of the Be stars may have a range of oblateness. Early-type Be stars displayed relatively higher polarizations than the late-type ones. Full widths at half intensity maximum of H(sub alpha) profiles and the intrinsic linear continuum polarizations are closely correlated with the projected rotational velocities of the program stars. Photospheric-absorption-corrected equivalent widths of H(sub alpha), profiles [W((alpha)] and the radii of H(sub alpha) emitting envelopes (R(sub e)) are non-linearly correlated with the intrinsic continuum polarizations of these stars. However, W((alpha) and R(sub e) are linearly correlated. Detail discussion of these results are presented in this paper.

Ghosh, K. K.↗

NASA NTRS2000

Mars Exploration Architecture

The architecture of NASA's program of robotic Mars exploration missions received an intense scrutiny during the summer months of 1998. We present here the results of that scrutiny, and describe a list of Mars exploration missions which are now being proposed by the nation's space agency. The heart of the new program architecture consists of missions which will return samples of Martian rocks and soil back to Earth for analysis. A primary scientific goal for these missions is to understand Mars as a possible abode of past or present life. The current level of sophistication for detecting markers of biological processes and fossil or extant life forms is much higher in Earth-based laboratories than possible with remotely deployed instrumentation, and will remain so for at least the next decade. Hence, bringing Martian samples back to Earth is considered the best way to search for the desired evidence. A Mars sample return mission takes approximately three years to complete. Transit from Earth to Mars requires almost a single year. After a lapse of time of almost a year at Mars, during which orbital and surface operations can take place, and the correct return launch energy constraints are met, a Mars-to-Earth return flight can be initiated. This return leg also takes approximately one year. Opportunities to launch these 3-year sample return missions occur about every 2 years. The figure depicts schedules for flights to and from Mars for Earth launches in 2003, 2005, 2007 and 2009. Transits for less than 180 deg flight angle, measured from the sun, and more than 180 deg are both shown.

Jordan, James F.↗

NASA NTRS1988

Surveying System

Sunrise Geodetic Surveys are setting up their equipment for a town survey. Their equipment differs from conventional surveying systems that employ transit rod and chain to measure angles and distances. They are using ISTAC Inc.'s Model 2002 positioning system, which offers fast accurate surveying with exceptional signals from orbiting satellites. The special utility of the ISTAC Model 2002 is that it can provide positioning of the highest accuracy from Navstar PPS signals because it requires no knowledge of secret codes. It operates by comparing the frequency and time phase of a Navstar signal arriving at one ISTAC receiver with the reception of the same set of signals by another receiver. Data is computer processed and translated into three dimensional position data - latitude, longitude and elevation.

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