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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 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Stability analysis of position and force control problems for robot arms

Stability issues involving the control of a robot arm under the influence of external forces are discussed. Several different scenarios are considered: position control with the external force as an unmodeled disturbance, compliant control for a bounded external force in some subspace, and compliant control for a force due to the interaction with an environment whose dynamical behavior can be modeled. In each of these cases, a stability analysis using the Lyapunov method is presented. An explanation of instability is put forth for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved with the integral force feedback.

Wen, John T.↗
NASA NTRS1990

Stability analysis of position and force control problems for robot arms

A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available. An explanation of instability is given for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved via the integral force feedback.

Wen, John T.↗
NASA NTRS1991

Magnetic forces in high-Tc superconducting bearings

In September 1987, researchers at Cornell levitated a small rotor on superconducting bearings at 10,000 rpm. In April 1989, a speed of 120,000 rpm was achieved in a passive bearing with no active control. The bearing material used was YBa2Cu307. There is no evidence that the rotation speed has any significant effect on the lift force. Magnetic force measurements between a permanent rare-earth magnet and high T(sub c) superconducting material versus vertical and lateral displacements were made. A large hysteresis loop results for large displacements, while minor loops result for small displacements. These minor loops seem to give a slope proportional to the magnetic stiffness, and are probably indicative of flux pinning forces. Experiments of rotary speed versus time show a linear decay in a vacuum. Measurements of magnetic dipole over a high-T(sub c) superconducting disc of YBCO show that the lateral vibrations of levitated rotors were measured which indicates that transverse flux motion in the superconductor will create dissipation. As a result of these force measurements, an optimum shape for the superconductor bearing pads which gives good lateral and axial stability was designed. Recent force measurements on melt-quench processed superconductors indicate a substantial increase in levitation force and magnetic stiffness over free sintered materials. As a result, application of high-T(sub c) superconducting bearings are beginning to show great promise at this time.

Moon, F. C.↗
NASA NTRS1992

Force analysis of magnetic bearings with power-saving controls

Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. For most operating conditions, the existence of the bias current requires more power than alternative methods that do not use conventional bias. Two such methods are examined which diminish or eliminate bias current. In the typical bias control scheme it is found that for a harmonic control force command into a voltage limited transconductance amplifier, the desired force output is obtained only up to certain combinations of force amplitude and frequency. Above these values, the force amplitude is reduced and a phase lag occurs. The power saving alternative control schemes typically exhibit such deficiencies at even lower command frequencies and amplitudes. To assess the severity of these effects, a time history analysis of the force output is performed for the bias method and the alternative methods. Results of the analysis show that the alternative approaches may be viable. The various control methods examined were mathematically modeled using nondimensionalized variables to facilitate comparison of the various methods.

Johnson, Dexter↗
NASA NTRS1990

Cloud radiative forcing variability during FIFE

The present study evaluates a set of radiative flux surface measurements, concomitant with other meteorological observations, so as to derive the cloud radiative forcing at the surface. The forcing is analyzed in terms of variability and relation to other meteorological parameters. Both SW and LW cloud forcings show a very large temporal variability due to the changing cloudiness and to measurements and computational uncertainties. No dominant correlation between either components of the cloud radiative forcing and cloudiness were found using sky camera data. This is explained by the fact that forcings are a function not only of cloudiness but also of cloud liquid water content and cloud base height. Surface cloud radiative forcing showed a rather large diurnal cycle with a minimum at local noon for the LW component and two pronounced minima at sunrise and sunset for the SW component.

Breon, Francois-Marie↗
NASA NTRS1992

Natural transition from rate to force control of a manipulator

A method for teleoperator control which offers advantages over previous techniques is demonstrated. In the new method, a fundamental variable exchanged between the master and slave is the rate of change in position and force. An inherent capability of the control scheme is demonstrated for transition between control methods based on environmental constraints in a manner natural to the operator. Specifically, rate control of a manipulator makes the transition to force-force control when a force-reflecting hand controller is used with a local force accommodation algorithm running on the remote manipulator. The transition from rate to force occurs when contact is made with the environment.

Harrison, F. W.↗
NASA NTRS1992

Motion and force control of multiple robotic manipulators

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗
NASA NTRS1993

Remote Robot Control With High Force-Feedback Gain

Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.

Kim, Won S.↗
NASA NTRS1993

Multiple degree-of-freedom force and moment measurement for static propulsion testing using magnetic suspension technology

Innovative Information Systems (IIS), Inc. is in the process of designing and fabricating a high bandwidth force and moment measuring device (i.e. the Magnetic Thruster Test Stand). This device will use active magnetic suspension to allow direct measurements of the forces and torques generated by the rocket engines of the missile under test. The principle of operation of the Magnetic Thruster Test Stand (MTTS) is based on the ability to perform very precise, high bandwidth force and position measurements on an object suspended in a magnetic field. This ability exists due to the fact that the digital servo control mechanism that performs the magnetic suspension uses high bandwidth (10 kHz) position data (via an eddy-current proximity sensor) to determine the amount of force required to maintain stable suspension at a particular point. This force is converted into required electromagnet coil current, which is then output to a current amplifier driving the coils. A discussion of how the coil current and magnetic gap distance (the distance between the electromagnet and the object being suspended) is used to determine the forces being applied from the suspended assembly is presented.

Stuart, Keith↗
NASA NTRS1992

Determination of forces in a magnetic bearing actuator - Numerical computation with comparison to experiment

Calculations of the forces exerted on a journal by a magnetic bearing actuator are presented, along with comparisons to experimentally measured forces. The calculations are based on two-dimensional solutions for the flux distribution in the metal parts and free space, using finite but constant permeability in the metals. Above a relative permeability of 10,000 the effects of changes in permeability are negligible, but below 10,000 decreases in permeability cause significant decreases in the force. The calculated forces are shown to depend on the metal permeability more strongly when the journal is displaced from its centered position. The predicted forces in the principal attractive direction are in good agreement with experiment when a relatively low value of permeability is chosen. The forces measured normal to the axis of symmetry when the journal is displaced from that axis, however, are significantly higher than predicted by theory, even with a value of relative permeability larger than 5000. These results indicate a need for further work including nonlinear permeability distributions.

Knight, J. D.↗
NASA NTRS1992

Some unsteady fluid forces on pump impellers

Special analyses of all the forces and moments acting on a typical centrifugal pump impeller/volute combination are presented. These exhibit shaft frequencies, blade passing frequencies, and beat frequencies associated with a whirl motion imposed on the shaft in order to measure rotordynamic forces. Among other features the unsteady thrust was found to contain a surprisingly large blade passing harmonic. While previous studies have explored the magnitudes of the steady fluid-induced radial forces and the fluid-induced rotordynamic forces for this typical centrifugal pump impeller/volute combination, this paper presents information on the steady bending moments and rotordynamic moments due to the fluid flow. These imply certain axial locations for the lines of action of the radial and rotordynamic forces. Data on the lines of action are presented and allow inferences on the sources of the forces.

Miskovish, R. S.↗
NASA NTRS1992

Pilot investigation - Nominal crew induced forces in zero-g

This report presents pilot-study data of test subject forces induced by intravehicular activities such as push-offs and landings with both hands and feet. Five subjects participated in this investigation. Three orthogonal force axes were measured in the NASA KC-135 research aircraft's 'zero-g' environment. The largest forces were induced during vertical foot push-offs, including one of 534 newtons (120 lbs). The mean vertical foot push-off was 311 newtons (70 lbs). The vertical hand push-off forces were also relatively large, including one of 267 newtons (60 lbs) with a mean of 151 newtons (34 lbs). These force magnitudes of these forces would result in a Shuttle gravity environment of about 1 x exp 10 -4 g's.

Klute, Glenn K.↗
NASA NTRS1936

Limitations of the Pilot in Applying Forces to Airplane Controls

Measurements were made to determine the relative maximum forces a pilot can exert on the controls of an airplane with the view of obtaining systematic data upon which to base the location of controls within the cockpit and the design of the control surfaces. A cockpit model of generous proportions, capable of being rotated to any attitude, was built with the location of the control stick and rudder pedals adjustable over a wide range of positions with respect to the seat. Besides measurements of maximum forces obtainable with various control locations and with the pilot in several attitudes, estimates of forces within the range normally encountered in flight were made to gain an indication of the accuracy of estimating control forces. The maximum aileron forces measured were of the order of 90 pounds, maximum elevator 200 pounds, and maximum rudder 450 pounds. The average forces applied with the controls in the neutral position for the various cockpit attitudes were of the order of 35, 95, and 400 pounds, respectively, for the ailerons, elevators, and rudder.

Gough, M N↗
NASA NTRS1991

Force reflecting hand controller for manipulator teleoperation

A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

Bryfogle, Mark D.↗
NASA NTRS1994

Rotordynamic forces in labyrinth seals: Theory and experiment

A theoretical and experimental investigation of the aerodynamic forces generated by a single gland labyrinth seal executing a simultaneous spinning/whirling motion has been conducted. A lumped parameter model for a single gland seal with coupling to an upstream cavity with leakage is developed along with an appropriate solution technique. From this theory, it is shown that the presence of the upstream cavity can, in some cases, augment the cross-stiffness and direct damping by a factor of four. The parameters that govern the coupling are presented along with predictions on their influence. A simple uncoupled model is used to identify the mechanisms responsible for cross force generation. This reduced system is nondimensionalized and the physical significance of the reduced parameters is discussed. Closed form algebraic formulas are given for some simple limiting cases. It is also shown that the total cross-force predicted by the uncoupled model can be represented as the sum of an ideal component due to an inviscid flow with entry swirl and a viscous part due to the change in swirl created by friction inside the gland. The frequency dependent ideal part is solely responsible for the rotordynamic direct damping. The facility designed and built to measure these frequency dependent forces is described. Experimental data confirm the validity and usefulness of this ideal/viscous decomposition. A method for calculating the damping coefficients based on the force decomposition using only the static measurements is presented. Experimental results supporting the predicted cross force augmentation due to the effect of upstream coupling are presented.

Millsaps, Knox T.↗
NASA NTRS1994

Dynamic force response of spherical hydrostatic journal bearing for cryogenic applications

Hydrostatic Journal Bearings (HJB's) are reliable and resilient fluid film rotor support elements ideal to replace roller bearings in cryogenic turbomachinery. HJB' will be used for primary space-power applications due to their long lifetime, low friction and wear, large load capacity, large direct stiffness, and damping force coefficients. An analysis for the performance characteristics of turbulent flow, orifice compensated, spherical hydrostatic journal bearings (HJB's) is presented. Spherical bearings allow tolerance for shaft misalignment without force performance degradation and have also the ability to support axial loads. The spherical HJB combines these advantages to provide a bearing design which could be used efficiently on high performance turbomachinery. The motion of a barotropic liquid on the thin film bearing lands is described by bulk-flow mass and momentum equations. These equations are solved numerically using an efficient CFD method. Numerical predictions of load capacity and force coefficients for a 6 recess, spherical HJB in a LO2 environment are presented. Fluid film axial forces and force coefficients of a magnitude about 20% of the radial load capacity are predicted for the case analyzed. Fluid inertia effects, advective and centrifugal, are found to affect greatly the static and dynamic force performance of the bearing studied.

Sanandres, Luis↗
NASA NTRS1994

Simulation of Shuttle launch G forces and acoustic loads using the NASA Ames Research Center 20G centrifuge

The high cost and long times required to develop research packages for space flight can often be offset by using ground test techniques. This paper describes a space shuttle launch and reentry simulating using the NASA Ames Research Center's 20G centrifuge facility. The combined G-forces and acoustic environment during shuttle launch and landing were simulated to evaluate the effect on a payload of laboratory rates. The launch G force and acoustic profiles are matched to actual shuttle launch data to produce the required G-forces and acoustic spectrum in the centrifuge test cab where the rats were caged on a free-swinging platform. For reentry, only G force is simulated as the aero-acoustic noise is insignificant compared to that during launch. The shuttle G-force profiles of launch and landing are achieved by programming the centrifuge drive computer to continuously adjust centrifuge rotational speed to obtain the correct launch and landing G forces. The shuttle launch acoustic environment is simulated using a high-power, low-frequency audio system. Accelerometer data from STS-56 and microphone data from STS-1 through STS-5 are used as baselines for the simulations. This paper provides a description of the test setup and the results of the simulation with recommendations for follow-on simulations.

Shaw, T. L.↗
NASA NTRS1992

The psychophysical function for perceived gravitational-inertial force does not depend on the orientation of the otolith organs

It has generally been believed that the perceived intensity of a gravitational-inertial force depends on both the magnitude and orientation of the force with respect to the otolith organs, as does the elevator illusion. In this study, we examine the perceived intensity of Gz force and the elevator illusion as a function of the applied force and the orientation of the subject's head. Methods: Each of 7 male subjects was seated upright in a swinging chair mounted in the Ames 20-G Human Centrifuge while he set a visual target to his apparent horizon and judged the perceived intensity of Gz forces by cross-modal matches on a hand dynamometer. Plateau Gz levels were 1.00 1.25, 1.50, 2.00, 2.25, and 2.50; a 30 second ramp to plateau was used in all cases, and the duration of exposure at each plateau was 120 seconds. All measures were obtained both with the subject's head erect and pitched forward 30 degrees. Results: Although the elevator illusion changed with head orientation (F(6,60) = 7.56; p less than 0.001) the perceived intensity of Gz was essentially the same for both orientations of the head (F (6,60) = 0.61; p greater than 50). Conclusions: The results of this experiment suggest that the perceived intensity of gravitational-inertial force does not depend on otolith mechanisms in the same way as does the elevator illusion and that somesthetic, tactile, and other proprioceptive inputs are important for the psychophysical function.

Cohen, M.↗