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At least 289 records · Page 16

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NASA NTRS1989

The effects of atmospheric turbulence on precision optical measurements used for antenna-pointing compensation

Blind pointing of the Deep Space Network (DSN) 70-meter antennas can be improved if distortions of the antenna structure caused by unpredictable environmental loads can be measured in real-time, and the resulting boresight shifts evaluated and incorporated into the pointing control loops. The measurement configuration of a proposed pointing compensation system includes an optical range sensor that measures distances to selected points on the antenna surface. The effect of atmospheric turbulence on the accuracy of optical distance measurements and a method to make in-situ determinations of turbulence-induced measurement errors are discussed.

Nerheim, N.↗

NASA NTRS1988

A study of coronal bright points at 20 cm wavelength

The paper presents the results of a study of coronal bright points observed at 20 cm with the VLA on a day when the sun was exceptionally quiet. Microwave maps of bright points were obtained using data for the entire observing period of 5 hours, as well as for shorter periods of a few minutes. Most bright points, especially those appearing in the full-period maps, appear to be associated with small bipolar structures on the photospheric magnetogram. Overlays of bright point (BP) maps on the Ca(+) K picture, show that the brightest part of BP tends to lie on the boundary of a supergranulation network.

Nitta, N.↗

NASA NTRS1988

Coronal bright points in microwaves

An excellent map of the quiet sun showing coronal bright points at 20-cm wavelength was produced using the VLA on February 13, 1987. The locations of bright points (BPs) were studied relative to features on the photospheric magnetogram and Ca K spectroheliogram. Most bright points appearing in the full 5-hour synthesized map are associated with small bipolar structures on the photospheric magnetogram; and the brightest part of a BP tends to lie on the boundary of a supergranulation network. The bright points exhibit rapid variations in intensity superposed on an apparently slow variation.

Kundu, M. R.↗

NASA NTRS1988

CETF Space Station payload pointing system design and analysis feasibility study

The expected pointing performance of an attached payload coupled to the Critical Evaluation Task Force Space Station via a payload pointing system (PPS) is determined. The PPS is a 3-axis gimbal which provides the capability for maintaining inertial pointing of a payload in the presence of disturbances associated with the Space Station environment. A system where the axes of rotation were offset from the payload center of mass (CM) by 10 in. in the Z axis was studied as well as a system having the payload CM offset by only 1 inch. There is a significant improvement in pointing performance when going from the 10 in. to the 1 in. gimbal offset.

Smagala, Tom↗

NASA NTRS1989

Completing the forward kinematic calibration of open loop manipulators when single point position sensors are used

Single-point sensors can measure the position of one point fixed to a manipulator's end effector. When single-point sensors have been used for calibration, it has not been possible to calibrate the orientation of the tool. Furthermore, it can be difficult to calibrate the sensor system. Results in the literature seldom provide a complete kinematic calibration of the manipulator. Presented here is a technique that enables single-point sensors to gather sufficient information to complete kinematic calibration. In addition, the method can reduce the burden of calibrating the sensor system.

Everett, Louis J.↗

NASA NTRS1989

Three-point correlations of galaxy clusters

A relation between two- and three-point correlation functions similar to that of galaxies is presently established by estimating the irreducible angular three-point correlation function of Abell clusters in distance classes 5 and 6, for Galactic latitudes below 40 deg. The shape of the three-point correlation function is fully consistent with the quadratic scaling law found by Groth and Peebles (1977) for galaxies. The three-point correlation function is inconsistent with the expectations from biasing.

Toth, Gabor↗

NASA NTRS1989

End-point control of a two-link manipulator with a very flexible forearm - Issues and experiments

For mechanical manipulators, a logical sensor location is at the manipulator end-point where tasks are performed. Unfortunately, when bending flexibility exists between an end-point sensor and a joint actuator, stability and performance are achieved only through sophisticated control design. Some of the issues involved in utilizing end-point sensing for two-link flexible manipulators are addressed. A modeling technique that properly represents the foreshortening of a flexible link undergoing deflections is presented. In order to realize fully the advantages of the assumed-modes modeling method, mode shapes are selected that allow a low-order model to be used effectively for simulation and control purposes. A nonlinear controller, incorporating state feedback and a constant-gain extended Kalman filter driven by end-point measurements, is designed and compared to a conventional proportional-plus-derivative controller that uses collocated sensors. Results from implementing these controllers on the experimental Stanford multilink flexible manipulator are given.

Oakley, Celia M.↗

NASA NTRS1988

Space telescope pointing control

The Space Telescope pointing control system is designed to meet the fine pointing performance of 0.007 arc-sec stability, maneuver the telescope 90 deg in 18 min, or less, and provide the capability for deployment from, and retrieval by, the space shuttle. The pointing control system objectives are met using fine guidance sensors for attitude information, reaction wheel assemblies sized to provide both the torque required for pointing, and magnetometers and magnetic torquers for momentum management. A digital computer is used to calculate the control law, attitude reference, momentum management law, and command generator. The command generator shapes the acceleration and incremental angle commands to the control system to limit structural mode excitation. The control techniques are briefly discussed.

Dougherty, Hugh↗

NASA NTRS1990

Verification of floating-point software

Floating point computation presents a number of problems for formal verification. Should one treat the actual details of floating point operations, or accept them as imprecisely defined, or should one ignore round-off error altogether and behave as if floating point operations are perfectly accurate. There is the further problem that a numerical algorithm usually only approximately computes some mathematical function, and we often do not know just how good the approximation is, even in the absence of round-off error. ORA has developed a theory of asymptotic correctness which allows one to verify floating point software with a minimum entanglement in these problems. This theory and its implementation in the Ariel C verification system are described. The theory is illustrated using a simple program which finds a zero of a given function by bisection. This paper is presented in viewgraph form.

Hoover, Doug N.↗

NASA NTRS1991

Dynamic and control assessment of the Space Station Freedom payload pointing system

An analysis of the proposed Space Station Freedom Payload Pointing System (PPS) was performed to assess its dynamic payload pointing capability in the dynamic environment of the Space Station Freedom (SSF). In addition, the stability and control the the SSF was examined to verify the capability of its control devices to accommodate the impact of PPS operations. An analysis of the PPS ability to provide continuous, accurate pointing was performed and compared to the program requirements specified in the 1988 Program Definition and Requirement Document (PDRD). Results indicated that the PPS was not able to perform within the program requirements during the worst case scenario of a shuttle hard docking maneuver to the port side SSF docking adapter. The PPS maintained marginal pointing accuracy during crew treadmill activity. The Space Station attitude control system easily accommodated all PPS operations simulated. The PPS caused a negligible impact on the SSF's control environment.

Shannon, David T., Jr.↗

NASA NTRS1991

Initial pointing calibrations for the DSS 13 34-meter beam-waveguide antenna

The beam pointing of the Deep Space Station (DSS) 13 beam-waveguide antenna at the Goldstone Venus site was calibrated during the postconstruction performance testing period from Jul. 1990 through Jan. 1991. The pointing calibrations were based on errors measured on radio sources at both the Cassegrain and centerline beam-waveguide focal points. The blind pointing performance goal of 5.0 mdeg, 3-sigma at Ka-band (32 GHz) was demonstrated to be met for low (less than 10 mph) wind conditions.

Alvarez, L. S.↗

NASA NTRS1989

Effects of the ephemeris error on effective pointing for a spaceborne SAR

Both Magellan SAR data acquisition and image processing require the knowledge of both the ephemeris (spacecraft position and velocity) and the radar pointing direction. Error in the knowledge of the radar pointing direction results in a loss of SNR in the image product. An error in the ephemeris data has a similar effect. To facilitate SNR performance analysis, an effective pointing error is defined to characterize the effect of the ephemeris error. A systematic approach to relate the ephemeris error to the effective pointing errors is described. Result of this analysis has led to a formal accuracy requirement levied on the Magellan navigation system.

Jin, Michael Y.↗

NASA NTRS1991

Hubble Space Telescope pointing control system: Designed for performance and mission operations

The Hubble Space Telescope was designed to be an orbiting astronomical observatory which could be operated in the same manner as ground based observatories. The design drivers for the pointing control system's hardware and software were the requirements of an absolute pointing accuracy of 4.8E-8 radians and pointing stability (jitter) of 3.4E-8 radians. Of comparable importance was the objective of providing a flexible command methodology and structure to enable seven day operational planning employing stored program command and real time command capability. The pointing control system hardware, software, safemode control schemes, ground system monitoring capability, and in-orbit results are reviewed.

Bradley, A.↗

NASA NTRS1992

Structure of the magnetopause current layer at the subsolar point

Attention is given to a 1D electromagnetic particle simulation model developed for the magnetopause current layer between the shocked solar wind and the dipole magnetic field at the subsolar point, which was extended to include the IMF in the solar wind. Interaction of the solar wind with the vacuum dipole field as well as the dipole field filled with a low-density magnetospheric plasma are investigated. The width and structure of the magnetopause current layer are found to differ markedly depending on the direction of the IMF. When the IMF is pointing southward, the current layer between the solar wind and the dipole field is narrow, and the magnetic field has a single ramp structure caused by the reflection of the solar wind at that point. The current layer becomes several times wider and the magnetic field develops a multiple ramp structure when the IMF is northward. Comparisons of these simulation results with the recent spacecraft data of the magnetopause crossing near the subsolar point are provided.

Okuda, H.↗

NASA NTRS1991

A vision-based end-point control for a two-link flexible manipulator

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Obergfell, Klaus↗

NASA NTRS1993

An efficient method to compute microlensed light curves for point sources

We present a method to compute microlensed light curves for point sources. This method has the general advantage that all microimages contributing to the light curve are found. While a source moves along a straight line, all micro images are located either on the primary image track or on the secondary image tracks (loops). The primary image track extends from - infinity to + infinity and is made of many sequents which are continuously connected. All the secondary image tracks (loops) begin and end on the lensing point masses. The method can be applied to any microlensing situation with point masses in the deflector plane, even for the overcritical case and surface densities close to the critical. Furthermore, we present general rules to evaluate the light curve for a straight track arbitrary placed in the caustic network of a sample of many point masses.

Witt, Hans J.↗

NASA NTRS1993

Pointing and figure control system for a space-based far-IR segmented telescope

A pointing and figure control system for two space-based far-IR telescopes, the 10-20 m Large Deployable Reflector and the 3.6 m Submillimeter Intermediate Mission, is described. The figure maintenance control system is designed to counter the optical elements translational and rotational changes induced by long-term thermal drifts that the support structure may experience. The pointing system applies optical truss to telescope pointing; a laser metrology system is used to transfer pointing informaton from an external fine guidance sensor to the telescope optical boresight, defined by the primary mirror, secondary mirror, and focal plane assembly.

Lau, Kenneth↗

NASA NTRS1934

A complete tank test of a flying-boat hull with a pointed step -N.A.C.A. Model No. 22

The results of a complete tank test of a model of a flying-boat hull of unconventional form, having a deep pointed step, are presented in this note. The advantage of the pointed-step type over the usual forms of flying-boat hulls with respect to resistance at high speeds is pointed out. A take-off example using the data from these tests is worked out, and the results are compared with those of an example in which the test data for a hull of the type in general use in the United States are applied to a flying boat having the same design specifications. A definite saving in take-off run is shown by the pointed-step type.

Shoemaker, James M↗