A logarithmic converter
Logarithmic signal converter with parallel circuits arrangement for large dynamic range operation
Caron, P.↗
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Dynamic sealing principles
The fundamental principles governing dynamic sealing operation are discussed. Different seals are described in terms of these principles. Despite the large variety of detailed construction, there appear to be some basic principles, or combinations of basic principles, by which all seals function, these are presented and discussed. Theoretical and practical considerations in the application of these principles are discussed. Advantages, disadvantages, limitations, and application examples of various conventional and special seals are presented. Fundamental equations governing liquid and gas flows in thin film seals, which enable leakage calculations to be made, are also presented. Concept of flow functions, application of Reynolds lubrication equation, and nonlubrication equation flow, friction and wear; and seal lubrication regimes are explained.
Zuk, J.↗
Dynamic sealing principles
The fundamental principles governing dynamic sealing operation are discussed. Different seals are described in terms of these principles. Despite the large variety of detailed construction, there appear to be some basic principles, or combinations of basic principles, by which all seals function. They are: (1) selection and control of seal geometry, (2) control of leakage fluid properties, and (3) control of forces acting on leakage fluids. Theoretical and practical considerations in the application of these principles are discussed. Advantages, disadvantages, limitations, and application examples of various conventional and special seals are presented. Fundamental equations governing liquid and gas flows in thin-film seals, which enable leakage calculations to be made, are also presented.
Zuk, J.↗
Simulation use in the development and validation of HiMAT flight software
The use of real time simulation in the development and validation of flight software for the highly maneuverable aircraft technology (HiMAT) remotely piloted research vehicle is described. Four simulations are interfaced with varying amounts of actual flight hardware to produce dynamic system operation.
Myers, A.↗
A review of utility issues for the integration of wind electric generators
A review of issues and concerns of the electric utility industry for the integration of wind electric generation is offered. The issues have been categorized in three major areas: planning, operations, and dynamic interaction. Representative studies have been chosen for each area to illustrate problems and to alleviate some concerns. The emphasis of this paper is on individual large wind turbines (WTs) and WT arrays for deployment at the bulk level in a utility system.
Reddoch, T. W.↗
Performance of the coned-face end seal with regard to energy conservation
The effects of face coning on seal performance are evaluated with particular regard to the energy saving potential of convex conedface end seals as indicated by torque reduction. Experiments were conducted using a conventional carbon flat-face pusher-type seal, a coned-face pusher-type seal, coned-face bellows-type seal, and a modified coned-face pusher-type seal intended for dynamically unstable operation, with shaft rotation at up to 8000 rpm, pressures of up to 2758 kPa, and a petroleum-based turbine oil as lubricant. Torque at the seal interface is found to be reduced by 42% when the standard flat-face seal is replaced by a coned seal, although the leakage of the cone-face seal was 11 times greater. Reduction of seal balance from 76.1 to 51.3% resulted in an additional 44% reduction in torque, although at the expense of excessive leakage, but did not produce unstable operation. Face temperatures were reduced by 33-56 C and wear was also reduced greatly on the cone face seals. Seal performance is noted to be in agreement with analytical calculations.
Sehnal, J.↗
Hydraulic induced instability on a vertical service
The case history contained provides insight toward the mechanical and hydraulic behavior of a vertical pump. It clearly demonstrates the need for measurements on the rotor at or near the impeller area. The results are reported of an analysis on a service water pump. This pump is typical of the water pumps used throughout the power generation industry. Although little is known of the mechanical behavior of vertical pumps because of difficulty in modeling the rotor system, recent developments in the application of submersible proximity transducers have made possible the measurement of pump dynamics under operating conditions. The purpose of this study was to determine the proper selection and installation of vibration-monitoring transducers as well as to measure the effects of imbalance, misalignment, and hydraulics on the performance and reliability of vertical pumps. In addition, the cause of shaft failures on this pump was to be determined.
Bosmans, R. F.↗
Identification of salt-alloy combinations for thermal energy storage applications in advanced solar dynamic power systems
Thermodynamic calculations based on the available data for flouride salt systems reveal that a number of congruently melting compositions and eutectics exist which have the potential to meet the lightweight, high energy storage requirements imposed for advanced solar dynamic systems operating between about 1000 and 1400 K. Compatibility studies to determine suitable containment alloys to be used with NaF-22CaF2-13MgF2, NaF-32CaF2, and NaF-23MgF2 have been conducted at the eutectic temperature + 25 K for each system. For these three NaF-based eutectics, none of the common, commercially available high temperature alloys appear to offer adequate corrosion resistance for a long lifetime; however mild steel, pure nickel and Nb-1Zr could prove useful. These latter materials suggest the possibility that a strong, corrosion resistant, nonrefractory, elevated temperature alloy based on the Ni-Ni3Nb system could be developed.
Whittenberger, J. D.↗
Position and force control of coordinated multiple arms
A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.
Hayati, Samad A.↗
A task control architecture for autonomous robots
An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.
Simmons, Reid↗
Vertical velocities within a Cirrus cloud from Doppler lidar and aircraft measurements during FIRE: Implications for particle growth
A large and comprehensive data set taken by the NOAA CO2 Doppler lidar, the NCAR King Air, and rawinsondes on 31 October 1986 during the FIRE (First ISCCP Regional Experiment) field program which took place in Wisconsin are presented. Vertical velocities are determined from the Doppler lidar data, and are compared with velocities derived from the aircraft microphysical data. The data are used for discussion of particle growth and dynamical processes operative within the cloud.
Gultepe, Ismail↗
Comparison of force and tactile feedback for grasp force control in telemanipulation
The comparative efficacy of using direct force feedback or a simple vibrotactile display to convey changes in the intensity of remote grasp force relayed from a robotic end effector is examined. The findings show that a simple vibrotactile cue, in the absence of direct force feedback, is effective in signaling abrupt changes in remote grasp force regardless of magnitude, and when changes in force are not too slow or protracted in nature (i.e., ramp time less than 2 s). In cases where the operator must dynamically tract and respond to slow but large variations in grasp force, the comparatively crude vibrotactile display would prove helpful; but would not be as effective as that of a direct contact force display. Immediate applications and utility of current generation and near-term prototype tactile displays are discussed.
Wiker, Steven F.↗
Progress of magnetic suspension systems and magnetic bearings in the USSR
This paper traces the development and progress of magnetic suspension systems and magnetic bearings in the USSR. The paper describes magnetic bearings for turbomachines, magnetic suspension systems for vibration isolation, some special measuring devices, wind tunnels, and other applications. The design, principles of operation, and dynamic characteristics of the system are presented.
Kuzin, A. V.↗
Properties of pure nickel after long term exposures to LiOH and vacuum at 775 K
The solid to liquid phase transformation of LiOH at 744.3 K is considered to be an ideal candidate thermal energy storage (TES) mechanism for a Rankine heat engine based solar dynamic system operating at approximately 682 K. While pure nickel is thought to be a suitable containment material for LiOH, long term containment is of concern because molten hydroxides are usually corrosive. Two commercially pure nickel alloys, Ni-200 and Ni-201, were exposed to molten LiOH, its vapor, and vacuum at 775 K for periods ranging from 50 to 5000 h, and simple mechanical property measurements (77 to 900 K tensile and 750 K creep rupture) of exposed alloys were undertaken. The mechanical property test procedures are described and tabular lists of the test data are presented.
Whittenberger, J. D.↗
Neural net controller for inlet pressure control of rocket engine testing
Many dynamic systems operate in select operating regions, each exhibiting characteristic modes of behavior. It is traditional to employ standard adjustable gain proportional-integral-derivative (PID) loops in such systems where no apriori model information is available. However, for controlling inlet pressure for rocket engine testing, problems in fine tuning, disturbance accommodation, and control gains for new profile operating regions (for research and development) are typically encountered. Because of the capability of capturing I/O peculiarities, using NETS, a back propagation trained neural network is specified. For select operating regions, the neural network controller is simulated to be as robust as the PID controller. For a comparative analysis, the higher order moment neural array (HOMNA) method is used to specify a second neural controller by extracting critical exemplars from the I/O data set. Furthermore, using the critical exemplars from the HOMNA method, a third neural controller is developed using NETS back propagation algorithm. All controllers are benchmarked against each other.
Trevino, Luis C.↗
The Impact of ENSO on Extratropical Low Frequency Noise in Seasonal Forecasts
This study examines the uncertainty in forecasts of the January-February-March (JFM) mean extratropical circulation, and how that uncertainty is modulated by the El Nino/Southern Oscillation (ENSO). The analysis is based on ensembles of hindcasts made with an Atmospheric General Circulation Model (AGCM) forced with sea surface temperatures observed during; the 1983 El Nino and 1989 La Nina events. The AGCM produces pronounced interannual differences in the magnitude of the extratropical seasonal mean noise (intra-ensemble variability). The North Pacific, in particular, shows extensive regions where the 1989 seasonal mean noise kinetic energy (SKE), which is dominated by a "PNA-like" spatial structure, is more than twice that of the 1983 forecasts. The larger SKE in 1989 is associated with a larger than normal barotropic conversion of kinetic energy from the mean Pacific jet to the seasonal mean noise. The generation of SKE due to sub-monthly transients also shows substantial interannual differences, though these are much smaller than the differences in the mean flow conversions. An analysis of the Generation of monthly mean noise kinetic energy (NIKE) and its variability suggests that the seasonal mean noise is predominantly a statistical residue of variability resulting from dynamical processes operating on monthly and shorter times scales. A stochastically-forced barotropic model (linearized about the AGCM's 1983 and 1989 base states) is used to further assess the role of the basic state, submonthly transients, and tropical forcing, in modulating the uncertainties in the seasonal AGCM forecasts. When forced globally with spatially-white noise, the linear model generates much larger variance for the 1989 base state, consistent with the AGCM results. The extratropical variability for the 1989 base state is dominanted by a single eigenmode, and is strongly coupled with forcing over tropical western Pacific and the Indian Ocean, again consistent with the AGCM results. Linear calculations that include forcing from the AGCM variance of the tropical forcing and submonthly transients show a small impact on the variability over the Pacific/North American region compared with that of the base state differences.
Schubert, Siegfried D.↗
Calibration of Gyros with Temperature Dependent Scale Factors
The general problem of gyro calibration can be stated as the estimation of the scale factors, misalignments, and drift-rate biases of the gyro using the on-orbit sensor measurements. These gyro parameters have been traditionally treated as temperature-independent in the operational flight dynamics ground systems at NASA Goddard Space Flight Center (GSFC), a scenario which has been successfully applied in the gyro calibration of a large number of missions. A significant departure from this is the Microwave Anisotropy Probe (MAP) mission where, due to the high thermal variations expected during the mission phase, it is necessary to model the scale factors as functions of temperature. This paper addresses the issue of gyro calibration for the MAP gyro model using a manufacturer-supplied model of the variation of scale factors with temperature. The problem is formulated as a least squares problem and solved using the Levenberg-Marquardt algorithm in the MATLAB(R) library function NLSQ. The algorithm was tested on simulated data with Gaussian noise for the quaternions as well as the gyro rates and was found to consistently converge close to the true values. Significant improvement in accuracy was noticed due to the estimation of the temperature-dependent scale factors as against constant scale factors.
Belur, Sheela V.↗
Spatial orientation of the vestibular system
1. A simplified three-dimensional state space model of visual vestibular interaction was formulated. Matrix and dynamical system operators representing coupling from the semicircular canals and the visual system to the velocity storage integrator were incorporated into the model. 2. It was postulated that the system matrix for a tilted position was a composition of two linear transformations of the system matrix for the upright position. One transformation modifies the eigenvalues of the system matrix while another rotates the pitch and roll eigenvectors with the head, while maintaining the yaw axis eigenvector approximately spatially invariant. Using this representation, the response characteristics of the pitch, roll, and yaw eye velocity were obtained in terms of the eigenvalues and associated eigenvectors. 3. Using OKAN data obtained from monkeys and comparing to the model predictions, the eigenvalues and eigenvectors of the system matrix were identified as a function of tilt to the side or of tilt to the prone positions, using a modification of the Marquardt algorithm. The yaw eigenvector for right-side-down tilt and for downward pitch cross-coupling was approximately 30 degrees from the spatial vertical. For the prone position, the eigenvector was computed to be approximately 20 degrees relative to the spatial vertical. For both side-down and prone positions, oblique OKN induced along eigenvector directions generated OKAN which decayed to zero along a straight line with approximately a single time constant. This was verified by a spectral analysis of the residual sequence about the straight line fit to the decaying data. The residual sequence was associated with a narrow autocorrelation function and a wide power spectrum. 4. Parameters found using the Marquardt algorithm were incorporated into the model. Diagonal matrices in a head coordinate frame were introduced to represent the direct pathway and the coupling of the visual system to the integrator. Model simulations predicted the behavior of yaw and pitch OKN and OKAN when the animal was upright, as well as the cross-coupling in the tilted position. The trajectories in velocity space were also accurately simulated. 5. There were similarities between the monkey eigenvectors and human perception of the spatial vertical. For side-down tilts and downward eye velocity cross-coupling, there was only an Aubert (A) effect. For upward eye velocity cross-coupling there were both Muller (E) and Aubert (A) effects. The mean of the eigenvectors for upward and downward eye velocities overlay human 1 x g perceptual data.(ABSTRACT TRUNCATED AT 400 WORDS).
NASA Discipline Neuroscience↗