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Single-sensor control system maintains liquid hydrogen at a preselected desired level within a tank, regardless of boiloff. It calibrates output in percentage. Thus, when the fuel is at the desired level, the system output will indicate 100 percent regardless of what percent of tank capacity the fuel has reached.
A general algorithm is proposed which carries out the design process iteratively, starting at the top of the hierarchy and proceeding downward. Each subproblem is optimized separately for fixed controls from higher level subproblems. An optimum sensitivity analysis is then performed which determines the sensitivity of the subproblem design to changes in higher level subproblem controls. The resulting sensitivity derivatives are used to construct constraints which force the controlling subproblems into chosing their own designs so as to improve the lower levels subproblem designs while satisfying their own constraints. The applicability of the proposed algorithm is demonstrated by devising a four-level hierarchy to perform the simultaneous aerodynamic and structural design of a high-performance sailplane wing for maximum cross-country speed. Finally, the concepts discussed are applied to the two-level minimum weight structural design of the sailplane wing. The numerical experiments show that discontinuities in the sensitivity derivatives may delay convergence, but that the algorithm is robust enough to overcome these discontinuities and produce low-weight feasible designs, regardless of whether the optimization is started from the feasible space or the infeasible one.
The PLB, its cargo, and payload canister must satisfy the cleanliness requirements of visual clean (VC) level 1, 2, 3, or special as stated in NASA document SN-C-0005A. The specific level of cleanliness is chosen by the payload bay customer for their mission. During orbiter turnaround processing at KSC, the payload bay is exposed to the environments of the Orbiter Processing Facility (OPF) and the Payload Changeout Room (PCR). In supportive response to the orbiter payload bay/facility interface, it is necessary that the facility environment be controlled and monitored to protect the cleanliness/environmental integrity of the payload bay and its cargo. Techniques used to meet environmental requirements during orbiter processing are introduced.
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A series of simulation and flight investigations were undertaken to evaluate helicopter flying qualities and the effects of control system augmentation for nap-of-the-Earth (NOE) agility and instrument flying tasks. Handling quality factors common to both tasks were identified. Precise attitude control was determined to be a key requirement for successful accomplishment of both tasks. Factors that degraded attitude controllability were improper levels of control sensitivity and damping, and rotor system cross coupling due to helicopter angular rate and collective pitch input. Application of rate command, attitude command, and control input decouple augmentation schemes enhanced attitude control and significantly improved handling qualities for both tasks. The NOE agility and instrument flying handling quality considerations, pilot rating philosophy, and supplemental flight evaluations are also discussed.
Results from a series of simulation and flight investigations undertaken to evaluate helicopter flying qualities and the effects of control system augmentation for nap-of-the-earth (NOE) agility and instrument flying tasks were analyzed to assess handling-quality factors common to both tasks. Precise attitude control was determined to be a key requirement for successful accomplishment of both tasks. Factors that degraded attitude controllability were improper levels of control sensitivity and damping and rotor-system cross-coupling due to helicopter angular rate and collective pitch input. Application of rate-command, attitude-command, and control-input decouple augmentation schemes enhanced attitude control and significantly improved handling qualities for both tasks. NOE agility and instrument flying handling-quality considerations, pilot rating philosophy, and supplemental flight evaluations are also discussed.
The program objectives and requirements described in the preceding paragraphs emphasize mission demonstrations. Obtaining desired science or applications information is another type of program objective. The program requirements then state the need for specific data, usually specifying a particular instrument or instrument set; the operating conditions under which the data is to be obtained (e.g., orbit altitude, field of view, and pointing accuracy); and the data handling and use. Conversely, a new instrument may be conceived or created with the program objective to establish its use potential. The Multispectral Scanner employed in the Landsat program is an example.
The topics covered include the following: eye movement control; higher level eye movement control and Scanpath Theory; top-down robotic vision; and overall robotic control scheme.
Cells have evolved an autoregulatory mechanism to dampen variations in the concentration of tubulin monomer that is available to polymerize into microtubules (MTs), a process that is known as tubulin autoregulation. However, thermodynamic analysis of MT polymerization predicts that the concentration of free tubulin monomer must vary if MTs are to remain stable under different mechanical loads that result from changes in cell adhesion to the extracellular matrix (ECM). To determine how these seemingly contradictory regulatory mechanisms coexist in cells, we measured changes in the masses of tubulin monomer and polymer that resulted from altering cell-ECM contacts. Primary rat hepatocytes were cultured in chemically defined medium on bacteriological petri dishes that were precoated with different densities of laminin (LM). Increasing the LM density from low to high (1-1000 ng/cm2), promoted cell spreading (average projected cell area increased from 1200 to 6000 microns2) and resulted in formation of a greatly extended MT network. Nevertheless, the steady-state mass of tubulin polymer was similar at 48 h, regardless of cell shape or ECM density. In contrast, round hepatocytes on low LM contained a threefold higher mass of tubulin monomer when compared with spread cells on high LM. Furthermore, similar results were obtained whether LM, fibronectin, or type I collagen were used for cell attachment. Tubulin autoregulation appeared to function normally in these cells because tubulin mRNA levels and protein synthetic rates were greatly depressed in round cells that contained the highest level of free tubulin monomer. However, the rate of tubulin protein degradation slowed, causing the tubulin half-life to increase from approximately 24 to 55 h as the LM density was lowered from high to low and cell rounding was promoted. These results indicate that the set-point for the tubulin monomer mass in hepatocytes can be regulated by altering the density of ECM contacts and changing cell shape. This finding is consistent with a mechanism of MT regulation in which the ECM stabilizes MTs by both accepting transfer of mechanical loads and altering tubulin degradation in cells that continue to autoregulate tubulin synthesis.
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While performing complex assembly tasks or moving about in space, a space robot should minimize the amount of propellant consumed. A study is presented of space robot locomotion and orientation without the use of thrusters. The goal was to design a robot control paradigm that will perform thrusterless locomotion between two points on a structure, and to implement this paradigm on an experimental robot. A two arm free flying robot was constructed which floats on a cushion of air to simulate in 2-D the drag free, zero-g environment of space. The robot can impart momentum to itself by pushing off from an external structure in a coordinated two arm maneuver, and can then reorient itself by activating a momentum wheel. The controller design consists of two parts: a high level strategic controller and a low level dynamic controller. The control paradigm was verified experimentally by commanding the robot to push off from a structure with both arms, rotate 180 degs while translating freely, and then to catch itself on another structure. This method, based on the computed torque, provides a linear feedback law in momentum and its derivatives for a system of rigid bodies.
A two-level hierarchical control strategy is proposed for large flexible space structures. The lower level consists of a set of local controllers. The higher level is a stabilizing compensator to account for any instabilities caused by controller-structure interaction with unmodeled dynamics. The advantage of this hierarchical strategy is that the lower level can be designed to meet the performance requirements, and the higher level can be designed independently to produce overall stability.
The hypothesized responsibility of internal gravity wave breaking for upper atmosphere turbulence generation and the control of homopause level number density is considered. The lowest-order, equatorially trapped, westward-propagating diurnal tidal mode is the primary cause of the necessary turbulence on earth, while the lower-order, westward-propagating semidiurnal modes are the primary cause on Mars. The frequencies and vertical wavenumbers of the responsible modes determine the eddy diffusion coefficients, while energy density is only indirectly involved, by determining which modes can break. The breaking potential of tidal modes can be assessed by a general scale relationship between tidal heating and velocity amplitude which is presently employed as the basis for the suggestion that the number density of the Martian homopause is likely to have been stable over much of geologic time.
Control of cosmic radiation level during flight of Vostok spacecraft
Various methods for the control of afterburner combustion screech at afterburner-inlet total pressures of from 4000 to 6400 pounds per square foot absolute were investigated experimentally. In general, the range of afterburner fuel- air ratios in which screech occurred and the intensity of screech did not vary appreciably in the range of pressures covered. However, several configurations which had mild screech tendencies at the lower pressures were screech-free, or nearly so, at higher pressure levels. Screech was successfully eliminated over the range of pressures and fuel- air ratios investigated by several devices including a 20- inch length of corrugated louvered liner at the afterburner wall, a 7-inch perforated shroud around the outer ring of a 2-ring V- gutter flame holder, and a 2- ring V- gutter flame holder fabricated from perforated sheet metal. A 20-inch length of cylindrical liner spaced 5/8 inch from the afterburner wall and perforated with 3/16- inch- diameter holes on 1/2- inch centers did not entirely eliminate screech, but a 36- inch length of the same material did.
The optical and physical properties of spacecraft radiator coatings are dictated by orbital environmental conditions. For example, coatings must adequately dissipate charge buildup when orbital conditions, such as polar, geostationary or gravity neutral, result in surface charging. Current dissipation techniques include depositing a layer of ITO (indium tin oxide) on the radiator surface in a high temperature process. Other examples include the application of variable emittance coatings such as the use of VO2 to optimize radiator size, allowing for a decrease in heater power budget. The application of these enhanced coatings must be such that the properties in question are tailored to mission-specific requirements. Modification of these coatings can be accomplished during coating application preprocessing by using a deposition technique prevalent in the semiconductor micro processing industry called Atomic Layer Deposition (ALD). The preprocessing is rendered directly on the coating dry pigment before binding. ALD is a cost effective nano-manufacturing technique that allows for the conformal coating of substrates with atomic-level thickness control in a benign temperature and pressure environment. Through the introduction of paired precursor gases, thin films can be deposited on a myriad of substrates ranging from glass, polymers, aerogels, metals, powders, and other high aspect-ratio micro- and nano-structures. By providing atomic-level control, where single layers of atoms can be deposited, the fabrication of metal transparent films, precise nano-laminates, and coatings of nano-channels and pores is achievable. We have demonstrated a method for the ALD of In2O3 and ITO films on a variety of substrates from Si(100) wafers, glass slides, and on Z93P pigments (patent pending). The results indicate excellent growth of 4-22 nm thick films demonstrating an order of magnitude decrease in resistivity on the pigments.
The design of machines that rely on arrays of servomotors such as robotic arms, orbital platforms, and combinations of both, imposes a heavy computational burden to coordinate their actions to perform coherent tasks. For example, the robotic equivalent of a person tracing a straight line in space requires enormously complex kinematics calculations, and complexity increases with the number of servo nodes. A new high-level architecture for coordinated servo-machine control enables a practical, distributed transputer alternative to conventional central processor electronics. The solution is inherently scalable, dramatically reduces bulkiness and number of conductor runs throughout the machine, requires only a fraction of the power, and is designed for cooling in a vacuum.
Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.