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NASA NTRS2020

Feasibility Study of SDAS Instrumentation's Ability to Identify Mobile Launcher (ML)/Crawler-Transporter (CT) Modes During Rollout Operations

The Space Launch System (SLS) and its Mobile Launcher (ML) will be transported to the launch pad via the Crawler-Transporter (CT) system. Rollout (i.e., transportation) loads produce structural loads on the integrated SLS/Orion Multi-Purpose Crew Vehicle (MPCV) launch vehicle which are of a concern with respect to fatigue. As part of the risk reduction process and in addition to the modal building block test approach that has been adopted by the SLS Program, acceleration data will be obtained during rollout for use in modal parameter estimation. There are several occurrences where the ML/CT will be transported either into the Vertical Assembly Building (VAB) or to the launch pad and back without the SLS stack as part of the Kennedy Space Center (KSC) Exploration Ground Systems (EGS) Integrated Test and Checkout (ITCO). NASA KSC EGS has instrumentation installed on both the ML and CT to record data during rollout, at the launch pad, and during liftoff. The EGS instrumentation on the ML, which includes accelerometers, is referred to as the Sensor Data Acquisition System (SDAS). The EGS instrumentation on the CT, which also includes accelerometers, is referred to as the CT Data Acquisition System (CTDAS). The forces and accelerations applied to the ML and CT during a rollout event will be higher than any of the planned building block modal tests. This can be very beneficial in helping identify nonlinear behavior in the structure. Developing modal parameters from the same test hardware in multiple boundary conditions and under multiple levels of excitation is a key step in developing a well correlated FEM. The purpose of this study was three fold. First, determine the target modes of the ML/CT in its rollout configuration. Second, determine if the test degrees of freedom (DOF) corresponding to the layout of the SDAS/CTDAS accelerometers (i.e. position and orientation) is sufficient to identify the target modes. Third, determine if the Generic Rollout Forcing Functions (GRFF's) is sufficient for identifying the ML/CT target modes accounting for variations in CT speed, modal damping, and sensor/ambient background noise levels. The finding from the first part of this study identified 28 target modes of the ML/CT rollout configuration based upon Modal Effective Mass Fractions (MEFF) and engineering judgement. The finding from the second part of this study showed that the SDAS/CTDAS accelerometers (i.e. position and orientation) are able to identify a sufficient number of the target modes to support model correlation of the ML/CT FEM. The finding from the third part of this study confirms the GRFFs sufficiently excite the ML/CT such that varying quantities of the defined target modes should be able to be extracted when utilizing an Experimental Modal Analysis (EMA) Multi-Input Multi-Output (MIMO) analysis approach. An EMA analysis approach was used because Operational Modal Analysis (OMA) tools were not available and the GRFFs were sufficiently uncorrelated. Two key findings from this third part of the study are that the CT speed does not show a significant impact on the ability to extract the modal parameters and that keeping the ambient background noise observed at each accelerometer location at or below 30 µgrms is essential to the success of this approach.

Winkel, James P.↗

NASA NTRS1983

Aerodynamic coefficient identification package dynamic data accuracy determinations: Lessons learned

The errors in the dynamic data output from the Aerodynamic Coefficient Identification Packages (ACIP) flown on Shuttle flights 1, 3, 4, and 5 were determined using the output from the Inertial Measurement Units (IMU). A weighted least-squares batch algorithm was empolyed. Using an averaging technique, signal detection was enhanced; this allowed improved calibration solutions. Global errors as large as 0.04 deg/sec for the ACIP gyros, 30 mg for linear accelerometers, and 0.5 deg/sec squared in the angular accelerometer channels were detected and removed with a combination is bias, scale factor, misalignment, and g-sensitive calibration constants. No attempt was made to minimize local ACIP dynamic data deviations representing sensed high-frequency vibration or instrument noise. Resulting 1sigma calibrated ACIP global accuracies were within 0.003 eg/sec, 1.0 mg, and 0.05 deg/sec squared for the gyros, linear accelerometers, and angular accelerometers, respectively.

Heck, M. L.↗

NASA NTRS1987

Requirements for improved modeling of the orbital atmosphere

Satellite accelerometer data are available for seven time periods during the period 1974 to the present. All seasons and latitudes up to 83 deg are covered. Deviations between the accelerometer data and current models are greatest for high geographic latitudes and high geomagnetic index, although about a 15 percent standard deviation persists between the models and the accelerometer data even at low latitudes and geomagnetically quiet times. Accelerometer data give density times the ballistic coefficient and it is therefore necessary to estimate the time-line of the ballistic coefficient in order to obtain density.

Marcos, Frank A.↗

NASA NTRS1989

Airplane-Acceleration Display For Low-Gravity Research

Bar-graph display facilitates precise control of trajectories. Overall display system includes accelerometer block, power-supply-and-interface box, thrust-axis display, and pitch-and-lateral-axes display. Accelerometer block includes three servoaccelerometers orthogonally mounted on adjustable triaxial base allowing fine alignment of accelerometers with respect to airplane. Accelerometer block and power-supply-and-interface box located near center of gravity of airplane in lugguage area. LED bar-graph displays take up less panel space and easier to align with axes represented. No moving parts and not subject to parallax. With help of display, pilot adheres to predetermined fraction of g, with minimal lateral acceleration.

Millis, Marc G.↗

NASA NTRS1989

A self diagnostic system for piezoelectric sensors

A technique for determining the mounting conditions of a piezoelectric accelerometer is presented. This technique electrically stimulates the piezoelectric element in the 'diagnostic' frequency band measuring the electrical frequency response characteristics across a capacitive load impedance. The diagnostic frequency band is tipically much higher than the operating bandwidth of the accelerometer. The resonant frequencies of the accelerometer are included in the diagnostic band. By monitoring the shift in these resonant frequencies, via electrical stimulation techniques, certain diagnostic conditions including mounting conditions can be determined. Experimental data from a compression mode accelerometer is used to demonstrate this technique.

Atherton, William J.↗

NASA NTRS1991

The microgravity environment of the Space Shuttle Columbia middeck during STS-32

Four hours of three-axis microgravity accelerometer data were successfully measured at the MA9F locker location in the Orbiter middeck of Columbia as part of the Microgravity Disturbances Experiment (MDE) on STS-32. These data were measured using the Honeywell In-Space Accelerometer, a small three-axis accelerometer that was hard-mounted onto the Fluid Experiment Apparatus to record the microgravity environment at the exact location of the MDE. Data were recorded during specific mission events such as Orbiter quiescent periods, crew exercise on the treadmill, and numerous Orbiter engine burns. Orbiter background levels were measured to be in the 3 x 10(exp -5) to 2 x 10(exp -4) G range, treadmill operations in the 6 x 10(exp -4) to 5 x 10(exp -3) G range, and Orbiter engine burns from 4 x 10(exp -3) to in excess of 1 x 10(exp -2) G. These data represent some of the first microgravity accelerometer data ever recorded in the middeck area of the Orbiter.

Dunbar, Bonnie J.↗

NASA NTRS1993

Emerging technologies in microguidance and control

Employing recent advances in microfabrication, the Charles Stark Draper Laboratory has developed inertial guidance instruments of very small size and low cost. Microfabrication employs the batch processing techniques of solid state electronics, such as photolithography, diffusion, and etching, to carve mechanical parts. Within a few years, microfabricated gyroscopes should perform in the 10 to 100 deg/h range. Microfabricated accelerometers have demonstrated performance in the 50 to 500 microgravity range. These instruments will result in not only the redesign of conventional military products, but also new applications that could not exist without small, inexpensive sensors and computing. Draper's microfabricated accelerometers and gyroscopes will be described and test results summarized. Associated electronics and control issues will also be addressed. Gimballed, vibrating gyroscopes and force rebalance accelerometers constructed from bulk silicon, polysilicon surface-machined tuning fork gyroscopes, and quartz resonant accelerometers and gyroscopes are examined. Draper is pursuing several types of devices for the following reasons: to address wide ranges of performance, to realize construction in a flat pack, and to lessen the risks associated with emerging technologies.

Weinberg, Marc S.↗

NASA NTRS1994

Acceleration recorder and playback module

The present invention is directed to methods and apparatus relating to an accelerometer electrical signal recorder and playback module. The recorder module may be manufactured in lightweight configuration and includes analog memory components to store data. Signal conditioning circuitry is incorporated into the module so that signals may be connected directly from the accelerometer to the recorder module. A battery pack may be included for powering both the module and the accelerometer. Timing circuitry is included to control the time duration within which data is recorded or played back so as to avoid overloading the analog memory components. Multiple accelerometer signal recordings may be taken simultaneously without analog to digital circuits, multiplexing circuitry or software to compensate for the effects of multiplexing the signals.

Bozeman, Richard J., Jr.↗

NASA NTRS1997

Robot Position Sensor Fault Tolerance

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

Aldridge, Hal A.↗

NASA NTRS1996

Acceleration Recorder and Playback Module

Bozeman, Richard J., Jr.↗

NASA NTRS2002

International Space Station Increment-2 Microgravity Environment Summary Report

This summary report presents the results of some of the processed acceleration data, collected aboard the International Space Station during the period of May to August 2001, the Increment-2 phase of the station. Two accelerometer systems were used to measure the acceleration levels during activities that took place during the Increment-2 segment. However, not all of the activities were analyzed for this report due to time constraints, lack of precise information regarding some payload operations and other station activities. The National Aeronautics and Space Administration sponsors the Microgravity Acceleration Measurement System and the Space Acceleration Microgravity System to support microgravity science experiments, which require microgravity acceleration measurements. On April 19, 2001, both the Microgravity Acceleration Measurement System and the Space Acceleration Measurement System units were launched on STS-100 from the Kennedy Space Center for installation on the International Space Station. The Microgravity Acceleration Measurement System unit was flown to the station in support of science experiments requiring quasi-steady acceleration measurements, while the Space Acceleration Measurement System unit was flown to support experiments requiring vibratory acceleration measurement. Both acceleration systems are also used in support of vehicle microgravity requirements verification. The International Space Station Increment-2 reduced gravity environment analysis presented in this report uses acceleration data collected by both sets of accelerometer systems: 1) The Microgravity Acceleration Measurement System, which consists of two sensors: the Orbital Acceleration Research Experiment Sensor Subsystem, a low frequency range sensor (up to 1 Hz), is used to characterize the quasi-steady environment for payloads and the vehicle, and the High Resolution Accelerometer Package, which is used to characterize the vibratory environment up to 100 Hz. 2) The Space Acceleration Measurement System, which is a high frequency sensor, measures vibratory acceleration data in the range of 0.01 to 300 Hz. This summary report presents analysis of some selected quasisteady and vibratory activities measured by these accelerometers during Increment-2 from May to August 20, 2001.

Jules, Kenol↗

NASA NTRS2002

International Space Station Increment-3 Microgravity Environment Summary Report

This summary report presents the results of some of the processed acceleration data measured aboard the International Space Station during the period of August to December 2001. Two accelerometer systems were used to measure the acceleration levels for the activities that took place during Increment-3. However, not all of the activities were analyzed for this report due to time constraint and lack of precise timeline information regarding some payload operations and station activities. The National Aeronautics and Space Administration sponsors the Microgravity Acceleration Measurement System and the Space Acceleration Microgravity System to support microgravity science experiments which require microgravity acceleration measurements. On April 19, 2001, both the Microgravity Acceleration Measurement System and the Space Acceleration Measurement System units were launched on STS-100 from the Kennedy Space Center for installation on the International Space Station. The Microgravity Acceleration Measurement System unit was flown to the station in support of science experiments requiring quasi-steady acceleration measurements, while the Space Acceleration Measurement System unit was flown to support experiments requiring vibratory acceleration measurement. Both acceleration systems are also used in support of the vehicle microgravity requirements verification. The International Space Station Increment-3 reduced gravity environment analysis presented in this report uses acceleration data collected by both sets of accelerometer systems: (1) The Microgravity Acceleration Measurement System, which consists of two sensors: the Orbital Acceleration Research Experiment Sensor Subsystem, a low frequency range sensor (up to 1 Hz), is used to characterize the quasi-steady environment for payloads and vehicle, and the High Resolution Accelerometer Package, which is used to characterize the vibratory environment up to 100 Hz. (2) The Space Acceleration Measurement System, which is a high frequency sensor, measures vibratory acceleration data in the range of 0.01 to 400 Hz. This summary report presents analysis of some selected quasi-steady and vibratory activities measured by these accelerometers during Increment-3 from August to December, 2001.

Jules, Kenol↗

NASA NTRS2003

International Space Station Increment-4/5 Microgravity Environment Summary Report

This summary report presents the results of some of the processed acceleration data measured aboard the International Space Station during the period of December 2001 to December 2002. Unlike the past two ISS Increment reports, which were increment specific, this summary report covers two increments: Increments 4 and 5, hereafter referred to as Increment-4/5. Two accelerometer systems were used to measure the acceleration levels for the activities that took place during Increment-4/5. Due to time constraint and lack of precise timeline information regarding some payload operations and station activities, not a11 of the activities were analyzed for this report. The National Aeronautics and Space Administration sponsors the Microgravity Acceleration Measurement System and the Space Acceleration Microgravity System to support microgravity science experiments which require microgravity acceleration measurements. On April 19, 2001, both the Microgravity Acceleration Measurement System and the Space Acceleration Measurement System units were launched on STS-100 from the Kennedy Space Center for installation on the International Space Station. The Microgravity Acceleration Measurement System supports science experiments requiring quasi-steady acceleration measurements, while the Space Acceleration Measurement System unit supports experiments requiring vibratory acceleration measurement. The International Space Station Increment-4/5 reduced gravity environment analysis presented in this report uses acceleration data collected by both sets of accelerometer systems: The Microgravity Acceleration Measurement System, which consists of two sensors: the low-frequency Orbital Acceleration Research Experiment Sensor Subsystem and the higher frequency High Resolution Accelerometer Package. The low frequency sensor measures up to 1 Hz, but is routinely trimmean filtered to yield much lower frequency acceleration data up to 0.01 Hz. This filtered data can be mapped to arbitrary locations for characterizing the quasi-steady environment for payloads and the vehicle. The high frequency sensor is used to characterize the vibratory environment up to 100 Hz at a single measurement location. The Space Acceleration Measurement System, which deploys high frequency sensors, measures vibratory acceleration data in the range of 0.01 to 400 Hz at multiple measurement locations. This summary report presents analysis of some selected quasi-steady and vibratory activities measured by these accelerometers during Increment- 4/5 from December 2001 to December 2002.

Jules, Kenol↗

NASA NTRS2004

Test of the Equivalence Principle in an Einstein Elevator

The scientific goal of the experiment is to test the equality of gravitational and inertial mass (i.e., to test the Principle of Equivalence) by measuring the independence of the rate of fall of bodies from their compositions. The measurement is accomplished by measuring the relative displacement (or equivalently acceleration) of two falling bodies of different materials which are the proof masses of a differential accelerometer spinning about an horizontal axis to modulate a possible violation signal. A non-zero differential acceleration appearing at the signal frequency will indicate a violation of the Equivalence Principle. The goal of the experiment is to measure the Eotvos ratio og/g (differential acceleration/common acceleration) with a targeted accuracy that is about two orders of magnitude better than the state of the art (presently at several parts in 10(exp 13). The analyses carried out during this first grant year have focused on: (1) evaluation of possible shapes for the proof masses to meet the requirements on the higher-order mass moment disturbances generated by the falling capsule; (2) dynamics of the instrument package and differential acceleration measurement in the presence of errors and imperfections; (3) computation of the inertia characteristic of the instrument package that enable a separation of the signal from the dynamics-related noise; (4) a revised thermal analysis of the instrument package in light of the new conceptual design of the cryostat; (5) the development of a dynamic and control model of the capsule attached to the gondola and balloon to define the requirements for the leveling mechanism (6) a conceptual design of the leveling mechanism that keeps the capsule aligned before release from the balloon; and (7) a new conceptual design of the customized cryostat and a preliminary valuation of its cost. The project also involves an international cooperation with the Institute of Space Physics (IFSI) in Rome, Italy. The group at IFSI is in charge of prototyping the differential accelerometer and carrying out precursor laboratory measurements. During this grant year, our partners analyzed and then designed a new prototype of differential accelerometer that has several characteristics in common with the flight accelerometer at this point of the instrument development. The highlights of these activities are documented in a section of this report.

Shapiro, Irwin I.↗

NASA NTRS2005

Evaluation of Thermal Protection Tile Transmissibility for Ground Vibration Test

Transmissibility analyses and tests were conducted on a composite panel with thermal protection system foams to evaluate the quality of the measured frequency response functions. Both the analysis and the test results indicate that the vehicle dynamic responses are fully transmitted to the accelerometers mounted on the thermal protection system in the normal direction below a certain frequency. In addition, the in-plane motions of the accelerometer mounted on the top surface of the thermal protection system behave more actively than those on the composite panel due to the geometric offset of the accelerometer from the panel in the test set-up. The transmissibility tests and analyses show that the frequency response functions measured from the accelerometers mounted on the TPS will provide accurate vehicle responses below 120 Hz for frequency and mode shape identification. By confirming that accurate dynamic responses below a given frequency can be obtained, this study increases the confidence needed for conducting the modal testing, model correlation, and model updating for a vehicle installed with TPS. '

Chung, Y. T.↗

NASA NTRS2005

STS-107 Microgravity Environment Summary Report

This summary report presents the results of the processed acceleration data measured aboard the Columbia orbiter during the STS-107 microgravity mission from January 16 to February 1, 2003. Two accelerometer systems were used to measure the acceleration levels due to vehicle and science operations activities that took place during the 16-day mission. Due to lack of precise timeline information regarding some payload's operations, not all of the activities were analyzed for this report. However, a general characterization of the microgravity environment of the Columbia Space Shuttle during the 16-day mission is presented followed by a more specific characterization of the environment for some designated payloads during their operations. Some specific quasi-steady and vibratory microgravity environment characterization analyses were performed for the following payloads: Structure of Flame Balls at Low Lewis-number-2, Laminar Soot Processes-2, Mechanics of Granular Materials-3 and Water Mist Fire-Suppression Experiment. The Physical Science Division of the National Aeronautics and Space Administration sponsors the Orbital Acceleration Research Experiment and the Space Acceleration Measurement System for Free Flyer to support microgravity science experiments, which require microgravity acceleration measurements. On January 16, 2003, both the Orbital Acceleration Research Experiment and the Space Acceleration Measurement System for Free Flyer accelerometer systems were launched on the Columbia Space Transportation System-107 from the Kennedy Space Center. The Orbital Acceleration Research Experiment supported science experiments requiring quasi-steady acceleration measurements, while the Space Acceleration Measurement System for Free Flyer unit supported experiments requiring vibratory acceleration measurement. The Columbia reduced gravity environment analysis presented in this report uses acceleration data collected by these two sets of accelerometer systems: The Orbital Acceleration Research Experiment is a low frequency sensor, which measures acceleration up to 1 Hz, but the 1 Hz acceleration data is trimmean filtered to yield much lower frequency acceleration data up to 0.01 Hz. This filtered data can be mapped to other locations for characterizing the quasi-steady environment for payloads and the vehicle. The Space Acceleration Measurement System for Free Flyer measures vibratory acceleration in the range of 0.01 to 200 Hz at multiple measurement locations. The vibratory acceleration data measured by this system is used to assess the local vibratory environment for payloads as well as to measure the disturbance causes by the vehicle systems, crew exercise devices and payloads operation disturbances. This summary report presents analysis of selected quasi-steady and vibratory activities measured by these two accelerometers during the Columbia 16-day microgravity mission from January 16 to February 1, 2003.

Jules, Kenol↗

NASA NTRS2006

International Space Station Increment-6/8 Microgravity Environment Summary Report November 2002 to April 2004

This summary report presents the analysis results of some of the processed acceleration data measured aboard the International Space Station during the period of November 2002 to April 2004. Two accelerometer systems were used to measure the acceleration levels for the activities that took place during Increment-6/8. However, not all of the activities during that period were analyzed in order to keep the size of the report manageable. The National Aeronautics and Space Administration sponsors the Microgravity Acceleration Measurement System and the Space Acceleration Measurement System to support microgravity science experiments that require microgravity acceleration measurements. On April 19, 2001, both the Microgravity Acceleration Measurement System and the Space Acceleration Measurement System units were launched on STS-100 from the Kennedy Space Center for installation on the International Space Station. The Microgravity Acceleration Measurement System unit was flown to the station in support of science experiments requiring quasi-steady acceleration measurements, while the Space Acceleration Measurement System unit was flown to support experiments requiring vibratory acceleration measurement. Both acceleration systems are also used in support of the vehicle microgravity requirements verification as well as in support of the International Space Station support cadre. The International Space Station Increment-6/8 reduced gravity environment analysis presented in this report uses acceleration data collected by both sets of accelerometer systems: 1. The Microgravity Acceleration Measurement System, which consists of two sensors: the Orbital Acceleration Research Experiment Sensor Subsystem, a low frequency range sensor (up to 1 Hz), is used to characterize the quasi-steady environment for payloads and vehicle, and the High Resolution Accelerometer Package, which is used to characterize the vibratory environment up to 100 Hz. 2. The Space Acceleration Measurement System measures vibratory acceleration data in the range of 0.01 to 400 Hz. This summary report presents analysis of some selected quasi-steady and vibratory activities measured by these accelerometers during Increment-6/8 from November 2002 to April 2004.

Jules, Kenol↗

NASA NTRS2013

Aligned Carbon Nanotube Tape for Sensor Applications

For this effort, will concentrate on three applications: Vibration Gyroscope utilizes piezoelectric properties of the tape and Coriolis effect Accelerometer utilizes the piezoresistive property Strain Gauge utilizes piezoresistive property Accelerometer and Strain Gauge can also utilize piezoelectric effect Test piezoelectric properties using facilities at the Microfabrication Laboratory (AMRDEC) . Enhance piezoelectric effect using polyvinylidine fluoride and P(VDF ]TrFE) which is readily polarizable .Spray matrix solution while winding fiber; Sandwich of CNT tape and PVDF film (DOE .Two Level) . Construct and test prototype vibration gyroscope . Construct and test prototype accelerometer using cantilever design . Test strain sensitivity of CNT tape against industrial strain gauge . Embed CNT tape in composite samples as well as on surface and test to failure (4 ]point bend) A piezoelectric device exhibits an electrical response from a mechanical applied stress. . A piezoelectric device has both capacitance and resistance properties in which by applying an electric field from a waveform will exert a mechanical stress that can be monitored for a response. . The typical waveform applied is a sinusoidal waveform of a defined voltage for a defined period. The defined voltage is driven from 0 volts to the positive defined volts then back to 0 and driven to negative defined volts then back to 0. . Example. Vmax set to 10V and period set to 10 ms. . Voltage will start at zero, go to 10 volts, return to zero, go to ]10 volts and return to zero during 10 ms. . Applying this electrical field to a DUT, the capacitance response and resistance response can be observed. CNT tape is easier to manufacture and cheaper than micromachining silicon or other ceramic piezoelectric used in gyroscopes and accelerometers CNT tape properties can be modified during manufacture for specific application CNT tape has enhanced mechanical and thermal properties in addition to unique electrical properties CNT tape as a strain gauge in Structural Health Monitoring will provide an excellent material to embed within composite structures

Tucker, Dennis S.↗