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This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuator and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.
This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuators and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.
It has been proposed that a vestibular reflex originating in the otolith organs and other body graviceptors modulates sympathetic activity during changes in posture with regard to gravity. To test this hypothesis, we selectively stimulated otolith and body graviceptors sinusoidally along different head axes in the coronal plane with off-vertical axis rotation (OVAR) and recorded sympathetic efferent activity in the peroneal nerve (muscle sympathetic nerve activity, MSNA), blood pressure, heart rate, and respiratory rate. All parameters were entrained during OVAR at the frequency of rotation, with MSNA increasing in nose-up positions during forward linear acceleration and decreasing when nose-down. MSNA was correlated closely with blood pressure when subjects were within +/-90 degrees of nose-down positions with a delay of 1.4 s, the normal latency of baroreflex-driven changes in MSNA. Thus, in the nose-down position, MSNA was probably driven by baroreflex afferents. In contrast, when subjects were within +/-45 degrees of the nose-up position, i.e., when positive linear acceleration was maximal along the naso-ocipital axis, MSNA was closely related to gravitational acceleration at a latency of 0.4 s. This delay is too short for MSNA changes to be mediated by the baroreflex, but it is compatible with the delay of a response originating in the vestibular system. We postulate that a vestibulosympathetic reflex, probably originating mainly in the otolith organs, contributes to blood pressure maintenance during forward linear acceleration. Because of its short latency, this reflex may be one of the earliest mechanisms to sustain blood pressure upon standing.
The Earth's climate is changing rapidly. In some respects, the rate of change is outpacing the predictions of only a few years ago. The challenge to Earth Science is to put forward credible projections of possible future climates so that the public and policy makers can make science-based decisions about energy development strategies. Models, observations and experiments all play strong roles in improving knowledge and increasing confidence in our predictions. The models have progressed from simple, coarse-resolution descriptions of atmospheric dynamics and physics only twenty years ago, to full-up Earth System models (ESMs) that include complete descriptions of the oceans and cryosphere. It has been convincingly argued that such complexity - the construction of realistic "toy" Earth's - is necessary to address the complex processes involved in climate change, including not only the physical atmosphere, oceans and cryosphere, but also the carbon cycle - both its natural and anthropogenic components - and the biosphere. Observations, particularly satellite observations, have more or less kept pace with the demands of the modelers, being able to observe progressively more and different facets of the Earth system, but the global satellite fleet is in need of an overhaul very soon. Lastly, field experiments and process studies confront the models with facts and allow us to develop more sophisticated and accurate satellite data algorithms. The challenges facing our relatively small Earth and planetary science communities are considerable and the stakes are significant. The stakeholders, now numbering 7 billion but soon to be 10 billion, will be relying on our results and capabilitie's to guide them into the future.
In rural Alaskan communities personal health is threatened by energy costs and limited access to clean water, wastewater management, and adequate nutrition. Fuel-‐based energy systems are significant factors in determining local accessibility to clean water, sanitation and food. Increasing fuel costs induce a scarcity of access and impact residents' health. The University of Alaska Fairbanks (UAF) School of Natural Resources and Agricultural Sciences (SNRAS), NASA's Ames Research Center, and USDA Agricultural Research Service (ARS) have joined forces to develop high‐efficiency, low‐energy consuming techniques for water treatment and food production in rural circumpolar communities. Methods intended for exploration of space and establishment of settlements on the Moon or Mars will ultimately benefit Earth's communities in the circumpolar north. The initial phase of collaboration is completed. Researchers from NASA Ames Research Center and SNRAS, funded by the USDA‐ARS, tested a simple, reliable, low-energy sewage treatment system to recycle wastewater for use in food production and other reuse options in communities. The system extracted up to 70% of the water from sewage and rejected up to 92% of ions in the sewage with no carryover of toxic effects. Biological testing showed that plant growth using recovered water in the nutrient solution was equivalent to that using high‐purity distilled water. With successful demonstration that the low energy consuming wastewater treatment system can provide safe water for communities and food production, the team is ready to move forward to a full‐scale production testbed. The SNRAS/NASA team (including Alaska students) will design a prototype to match water processing rates and food production to meet rural community sanitation needs and nutritional preferences. This system would be operated in Fairbanks at the University of Alaska through SNRAS. Long‐term performance will be validated and operational needs of the system determined. The testbed will be a part of the university education and operator training program. The "Forgotten Alaska" has long awaited this technology to augment the traditional
We have developed a computer-controlled bioreactor system to study various aspects of microbially-mediated nitrogen cycling. The system has been used to investigate methods for controlling microbial denitrification (the dissimilatory reduction of nitrate to N2O and N2) in hydroponic plant growth chambers. Such chambers are key elements of advanced life support systems being designed for use on long duration space missions, but nitrogen use efficiency in them is reduced by denitrification. Control software architecture was designed which permits the heterogeneous control of system hardware using traditional feedback control, and quantitative and qualitative models of various system features. Model-based feed forward control entails prediction of future systems in states and automated regulation of system parameters to achieve desired and avoid undesirable system states. A bacterial growth rate model based on the classic Monod model of saturation kinetics was used to evaluate the response of several individual denitrifying species to varying environmental conditions. The system and models are now being applied to mixed microbial communities harvested from the root zone of a hydroponic growth chamber. The use of a modified Monod organism interaction model was evaluated as a means of achieving more accurate description of the dynamic behavior of the communities. A minimum variance parameter estimation routine was also' used to calibrate the constant parameters in the model by iterative evaluation of substrate (nitrate) uptake and growth kinetics. This representation of processes and interactions aids in the formulation of control laws. The feed forward control strategy being developed will increase system autonomy, reduce crew intervention and limit the accumulation of undesirable waste products (NOx).
Four scenarios of present day Antarctic ice sheet mass change are developed from comprehensive reviews of the available glaciological and oceanographic evidence. The gridded scenarios predict widely varying contributions to secular sea level change xi ranging from -1.1 to 0.45 mm/yr, and predict polar motion m and time-varying low-degree gravitational coefficients J(sub l) that differ significantly from earlier estimates. A reasonably linear relationship between the rate of sea level change from Antarctica xi(sub A) and the predicted Antarctic J(sub l) is found for the four scenarios. This linearity permits a series of forward models to be constructed that incorporate the effects of ice mass changes in Antarctica, Greenland, and distributed smaller glaciers, as well as postglacial rebound (assuming the ICE-3G deglaciation history), with the goal of obtaining optimum reconciliation between observed constraints on J(sub l) and sea level rise xi. Numerous viable combinations of lower mantle viscosity and hydrologic sources are found that safely "observed" in the range of 1 to 2-2.5 mm/yr and observed J(sub l) for degrees 2, 3, and 4. In contrast, rates of global sea level rise above 2.5 mm/yr are inconsistent with available J(sub l) observations. The successful composite models feature a pair of lower mantle viscosity solutions arising from the sensitivity of J(sub l) to glacial rebound. The paired values are well separated at xi = 1 mm/yr, but move closer together as xi is increased, and, in fact, merge around xi = 2 - 2.5 mm/yr, revealing an intimate relation between xi and preferred lower mantle viscosity. This general pattern is quite robust and persists for different J(sub l) solutions, for variations in source assumptions, and for different styles of lower mantle viscosity stratification. Tighter J(sub l) constraints for l greater than 2 may allow some viscosity stratification schemes and source assumptions to be excluded in the future. For a given total observed xi the sea level rise from Antarctica xi(sub A) is tightly constrained and ranges from 0 to + 1 mr/yr (corresponding to an ablating ice sheet) as estimates of xi are raised from 1 to 2.5 mm/yr. However, when the degree 3 zonal harmonic constraint is removed, the solutions show little sensitivity to Antarctic mass balance, emphasizing the need for a well determined odd-degree secular zonal harmonic for determining polar ice mass balance.
A coupled rotor/fuselage helicopter analysis with the important effects of blade torsional flexibility, unsteady aerodynamics, and forward flight is presented. Using this mathematical model, a nominal configuration is selected that experiences an air resonance instability throughout most of its flight envelope. A simple multivariable compensator using conventional swashplate inputs and a single body roll rate measurement is then designed. The controller design is based on a linear estimator in conjunction with optimal feedback gains, and the design is done in the frequency domain using the Loop Transfer Recovery method. The controller is shown to suppress the air resonance instability throughout wide range helicopter loading conditions and forward flight speeds.
The forward position and velocity kinematics for the redundant eight-degree-of-freedom Advanced Research Manipulator 2 (ARM2) are presented. Inverse position and velocity kinematic solutions are also presented. The approach in this paper is to specify two of the unknowns and solve for the remaining six unknowns. Two unknowns can be specified with two restrictions. First, the elbow joint angle and rate cannot be specified because they are known from the end-effector position and velocity. Second, one unknown must be specified from the four-jointed wrist, and the second from joints that translate the wrist, elbow joint excluded. There are eight solutions to the inverse position problem. The inverse velocity solution is unique, assuming the Jacobian matrix is not singular. A discussion of singularities is based on specifying two joint rates and analyzing the reduced Jacobian matrix. When this matrix is singular, the generalized inverse may be used as an alternate solution. Computer simulations were developed to verify the equations. Examples demonstrate agreement between forward and inverse solutions.
Short time creep and creep recovery were investigated by means of the endochronic theory of viscoplasticity. It is shown that the constitutive equations for constant-strain-rate stress-strain behavior, creep, creep recovery, and stress relaxation can all ber derived from the general constitutive equation by imposing appropriate constraints. In this unified approach, the effect of strain-hardening is naturally accounted for when describing creep and creep recovery. The theory predicts with reasonable accuracy the creep and creep recovery behaviors for Aluminum 1100-0 at 150 C. It was found that the strain-rate history at prestraining stage affects the subsequent creep. A critical stress was also established for creep recovery. The theory predicts a forward creep for creep recovery stress greater than the critical stress. For creep recovery stress less than the critical stress, the theory then predicts a normal strain recovery.
The effects of free-stream unit Reynolds number, angle of attack, and nose shape on the aerothermal environment of a 3-ft basediameter, 12.5 deg half-angle cone were investigated in the Langley 8-foot high temperature tunnel at Mach 6.7. The average total temperature was 3300 R, the freestream unit Reynolds number ranged from 400,000 to 1,400,000 per foot, and the angle of attack ranged from 0 deg to 10 deg. Three nose configurations were tested on the cone: a 3-in-radius tip, a 1-in-radius tip on an ogive frustum, and a sharp tip on an ogive frustum. Surface-pressure and cold-wall heating-rate distributions were obtained for laminar, transitional temperature in the shock layer were obtained. The location of the start of transition moved forward both on windward and leeward sides with increasing free-stream Reynolds numbers, increasing angle of attack, and decreasing nose bluntness.
The OLYMPUS and ACTS satellites both provide opportunities for 10 to 30 GHz propagation measurements. The spacecraft are sufficiently alike that OLYMPUS can be used to test some prototype ACTS equipment and experiments. Data are particularly needed on short term signal behavior and in support of uplink power control and adaptive forward error correction (FEC) techniques. The Virginia Tech Satellite Communications Group has proposed a set of OLYMPUS experiments including attenuation and fade rate measurements, data communications, uplink power control, rain scatter interference, and small-scale site diversity operation. A digital signal processing receiver for the OLYMPUS and ACTS beacon signals is being developed.
The control system of NASA's Orbital Maneuvering Vehicle (OMV) will employ range/range-rate radar, a forward command link, and a compressed video return link. The video data is compressed by sampling every sixth frame of data; a rate of 5 frames/sec is adequate for the OMV docking speeds. Further axial compression is obtained, albeit at the expense of spatial resolution, by averaging adjacent pixels. The remaining compression is achieved on the basis of differential pulse-code modulation and Huffman run-length encoding. A concatenated error-correction coding system is used to protect the compressed video data stream from channel errors.
A series of unbraked (freely rolling) taxi tests were conducted at the Langley landing-loads track with a 32 x 8.8, type 7, 22-ply-rating ribbed-tread aircraft tire to obtain data on tire retardation forces developed during rolling in both slush and water. The forward speeds of the tests ranged from 59 to 104 knots. Tire inflation pressures of 350 and 115 pounds per square inch were used. Results indicated a parabolic increase of retardation force with increasing forward velocity for both slush- and water-covered runway surfaces. The retardation force was found to increase approximately linearly with increasing water depth. Drag coefficients appropriate to the equations used are presented. Calculations made to determine the effect of slush on the take-off distance of a jet transport are in agreement with data obtained from an actual take-off in slush for this airplane. This is an interim report which deals with the effect of slush on the acceleration and the ground-run distance of airplanes during take-off.
In space exploration missions, the coordinated use of spacecraft as communication relays increases the efficiency of the endeavors. To conduct trade-off studies of the performance and resource usage of different communication protocols and network designs, JPL designed a comprehensive extendable tool, the Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE). The design and development of MACHETE began in 2000 and is constantly evolving. Currently, MACHETE contains Consultative Committee for Space Data Systems (CCSDS) protocol standards such as Proximity-1, Advanced Orbiting Systems (AOS), Packet Telemetry/Telecommand, Space Communications Protocol Specification (SCPS), and the CCSDS File Delivery Protocol (CFDP). MACHETE uses the Aerospace Corporation s Satellite Orbital Analysis Program (SOAP) to generate the orbital geometry information and contact opportunities. Matlab scripts provide the link characteristics. At the core of MACHETE is a discrete event simulator, QualNet. Delay Tolerant Networking (DTN) is an end-to-end architecture providing communication in and/or through highly stressed networking environments. Stressed networking environments include those with intermittent connectivity, large and/or variable delays, and high bit error rates. To provide its services, the DTN protocols reside at the application layer of the constituent internets, forming a store-and-forward overlay network. The key capabilities of the bundling protocols include custody-based reliability, ability to cope with intermittent connectivity, ability to take advantage of scheduled and opportunistic connectivity, and late binding of names to addresses. In this presentation, we report on the addition of MACHETE models needed to support DTN, namely: the Bundle Protocol (BP) model. To illustrate the use of MACHETE with the additional DTN model, we provide an example simulation to benchmark its performance. We demonstrate the use of the DTN protocol and discuss statistics gathered concerning the total time needed to simulate numerous bundle transmissions
This presentation describes a new forecasting tool developed for and is currently being tested by NASA s Space Radiation Analysis Group (SRAG) at JSC, which is responsible for the monitoring and forecasting of radiation exposure levels of astronauts. The new software tool is designed for the empirical forecasting of M and X-class flares, coronal mass ejections, as well as solar energetic particle events. Its algorithm is based on an empirical relationship between the various types of events rates and a proxy of the active region s free magnetic energy, determined from a data set of approx.40,000 active-region magnetograms from approx.1,300 active regions observed by SOHO/MDI that have known histories of flare, coronal mass ejection, and solar energetic particle event production. The new tool automatically extracts each strong-field magnetic areas from an MDI full-disk magnetogram, identifies each as an NOAA active region, and measures a proxy of the active region s free magnetic energy from the extracted magnetogram. For each active region, the empirical relationship is then used to convert the free magnetic energy proxy into an expected event rate. The expected event rate in turn can be readily converted into the probability that the active region will produce such an event in a given forward time window. Descriptions of the datasets, algorithm, and software in addition to sample applications and a validation test are presented. Further development and transition of the new tool in anticipation of SDO/HMI is briefly discussed.
Introduction: An intranasal gel dosage formulation of scopolamine (INSCOP) was developed for the treatment of Space Motion Sickness (SMS).The bioavailability and pharmacokinetics (PK) was evaluated using data collected in Phase II IND protocols. We reported earlier statistically significant gender differences in PK parameters of INSCOP at a dose level of 0.4 mg. To identify covariates that influence PK parameters of INSCOP, we examined population covariates of INSCOP PK model for 0.4 mg dose. Methods: Plasma scopolamine concentrations versus time data were collected from 20 normal healthy human subjects (11 male/9 female) after a 0.4 mg dose. Phoenix NLME was employed for PK analysis of these data using gender, body weight and age as covariates for model selection. Model selection was based on a likelihood ratio test on the difference of criteria (-2LL). Statistical significance for base model building and individual covariate analysis was set at P less than 0.05{delta(-2LL)=3.84}. Results: A one-compartment pharmacokinetic model with first-order elimination best described INSCOP concentration ]time profiles. Inclusion of gender, body weight and age as covariates individually significantly reduced -2LL by the cut-off value of 3.84(P less than 0.05) when tested against the base model. After the forward stepwise selection and backward elimination steps, gender was selected to add to the final model which had significant influence on absorption rate constant (ka) and the volume of distribution (V) of INSCOP. Conclusion: A population pharmacokinetic model for INSCOP has been identified and gender was a significant contributing covariate for the final model. The volume of distribution and Ka were significantly higher in males than in females which confirm gender-dependent pharmacokinetics of scopolamine after administration of a 0.4 mg dose.
NASA’s human exploration program is currently working towards landing astronauts on the surface of the Moon by 2024, close the lunar South Pole. To guarantee astronaut safety and maximize science data return, NASA is in the process of defining the communication architecture that will support all astronaut activities from launch to surface operations. Of particular interest to this paper are links from the lunar surface back to Earth without any intermediate relays. We show that the system geometry is such that antennas on the landing system will need to be pointed at low elevation angles, thus potentially causing multi-path fading effects not typically encountered in space communications. This paper is organized in three parts. First, we characterize the multi-path fading effects expected in links between the lunar South Pole and Earth and show that for moderate data rates (less than 1 Mbps) the links suffer from slow fading. We then show that for this operations regime the performance of forward error correction schemes is significantly worse for traditional Additive White Gaussian Noise channels. Finally, we investigate multi-copy mechanisms to mitigate the effects of fading, most notably repetition schemes and Automatic Repeat Request.