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The effects of ionospheric and tropospheric propagation on time and frequency transfer, advances in the generation of precise time and frequency, time transfer techniques and filtering and modeling were among the topics emphasized. Rubidium and cesium frequency standard, crystal oscillators, masers, Kalman filters, and atomic clocks were discussed.
An analysis was made to determine the effect of transmission errors on the quality of data transferred from the Terminal Area Air Traffic Model to a remote site. Data formating schemes feasible within the operational constraints of the data link were proposed and their susceptibility to both random bit error and to noise burst were investigated. It was shown that satisfactory reliability is achieved by a scheme formating the simulation output into three data blocks which has the priority data triply redundant in the first block in addition to having a retransmission priority on that first block when it is received in error.
Efforts in support of the Space Shuttle Main Engine (SSME) structural durability program have concentrated on obtaining detailed time-averaged and time-resolved (or phase-locked) measurements on a full-scale rotating turbine both with and without cold gas injection and on theoretical studies designed to improve the prediction capability for these turbine flows. The experimental efforts have concentrated on use of the Garrett TFE 731-2 hp turbine. However, it has been possible to apply the theoretical efforts to predicting heat-flux distributions obtained for two additional turbines - i.e., (1) the Garrett low aspect ratio turbine (LART) and (2) the Teledyne 702 turbine. The experimental technique is the short duration, shock-tunnel approach, in which fast-response, thin-film resistance thermometers are used to measure surface temperature histories at prescribed locations on the turbine component parts. Heat-flux values are then inferred from the temperature histories by using standard data reduction procedures. The turbine being used is the Garrett TFE 731-2 hp stage, and both the nozzle guide vanes and the rotor blades are heavily instrumented with thin-film heat-flux gauges. Depending on how the data from a particular heat-flux gauge are recorded, one can get either time-resolved (or phase-locked) or time-averaged results. Both types of data are illustrated.
The application of on-line identification schemes to flexible manipulators is considered. The common objective of all methods, for control purposes, is a time domain parameterization of the system transfer function. Time domain methods generally require more computational load, are more sensitive to noise than frequency domain methods, and suffer from over- (under-) parameterization of the transfer function. Frequency domain methods parameterize the lightly damped transfer function in terms of its easily recognizable poles and zeros and offer alternatives to time domain methods. Several solutions to overcome the aforementioned problems are discussed and demonstrated through experimental studies on a one-link flexible manipulator.
Laminar heat transfer in a channel with unsteady flow and wall heating varying with position and time
Digital computer determination of coefficients of transfer function from impulse response in time domain
Two-way satellite time and frequency transfer (TWSTFT) is the most accurate and precise method of comparing two remote clocks or time scales. The accuracy obtained is dependent on the accuracy of the determination of the non-reciprocal delays of the transmit and the receive paths. When the same transponders in the satellite at the same frequencies are used, then the non-reciprocity in the Earth stations is the limiting factor for absolute time transfer.
Collision free robot manipulator maneuvers for transferring a payload from one location to another in the presence of obstacles are discussed. Such maneuvers are executed by means of two algorithms running in parallel. The first algorithm performs an on-line, one step ahead acceleration optimization, with an adaptive N-step ahead precaution measure to prevent overshooting the specified forbidden joint coordinates. The second algorithm, an on-line planning algorithm, at the same time, selects the current target state and the current forbidden joint coordinates for the first algorithm. Since the task is a point to point transfer movement, the problem is dealt in robot joint space directly and the kinematic problem can be bypassed completely. A simulation example using a 2 degree-of-freedom planner robot is given.
The authors present a novel method called time-varying transfer function estimation (TTFE) in which time-domain parameters are computed through identification in the frequency domain. The method is particularly well suited for flexible structure control problems. An example of a flexible manipulator system is presented for which a self-tuning control law with frequency shaping is derived and demonstrated.
The optimality of a low-energy Earth-Moon transfer is examined for the first time using primer vector theory. An optimal control problem is formed with the following free variables: the location, time, and magnitude of the transfer insertion burn, and the transfer time. A constraint is placed on the initial state of the spacecraft to bind it to a given initial orbit around a first body, and on the final state of the spacecraft to limit its Keplerian energy with respect to a second body. Optimal transfers in the system are shown to meet certain conditions placed on the primer vector and its time derivative. A two point boundary value problem containing these necessary conditions is created for use in targeting optimal transfers. The two point boundary value problem is then applied to the ballistic lunar capture problem, and an optimal trajectory is shown. Additionally, the ballistic lunar capture trajectory is examined to determine whether one or more additional impulses may improve on the cost of the transfer.
The problem of a maneuverable spacecraft, with limited thrust capability, moving between two coplanar circular earth orbits is considered. Thrusting is performed in the plane defined by the circles, so that the nonlinear dynamics and subsequent optimization problem are simplified. The approach used in this paper differs from the approaches of Edelbaum and Goetz in that the equations of motion are not linearized before formulating the optimization problem. An averaging approximation is used to determine the structure of the significant co-state variables.
Collection of computer programs developed that solve problem of transfer between noncoplanar circular orbits for spacecraft with chemical propulsion systems. Two basic programs given. First, referred to as "exact solution," gives complete, exact time histories of transfers. Second, or "approximate solution," program gives approximate information on transfer time and fuel cost but provides no detail of trajectory.
The present work was undertaken in order to study the unsteady combined convection from a horizontal circular cylinder to a transverse flow. A coordinate perturbation method is used to transform the governing set of partial differential equations into a system of ordinary differential equations. The free stream time-dependent velocity was assumed to be sinusoidal and the boundary layer response due to both low as well as high frequencies of oscillation will be studied. Currently numerical solutions are being obtained for the distribution of the unsteady Nusselt number and the friction factor.
The value of speech controls in a dual-task experiment that also evaluated asymmetric transfer effects is considered. There was no evidence of asymmetric transfer in spite of significant effects supporting the advantage of mixing manual and speech responses. The data suggest that speech controls can be used to enhance performance in operational multiple-task environments.
Time averaged Stanton number and surface-pressure distributions are reported for the first-stage vane row, the first stage blade row, and the second stage vane row of the Rocketdyne Space Shuttle Main Engine two-stage fuel-side turbine. Unsteady pressure envelope measurements for the first blade are also reported. These measurements were made at 10 percent, 50 percent, and 90 percent span on both the pressure and suction surfaces of the first stage components. Additional Stanton number measurements were made on the first stage blade platform blade tip, and shroud, and at 50 percent span on the second vane. A shock tube was used as a short duration source of heated and pressurized air to which the turbine was subjected. Platinum thin-film heat flux gages were used to obtain the heat flux measurements, while miniature silicon-diaphragm flush-mounted pressure transducers were used to obtain the pressure measurements. The first stage vane Stanton number distributions are compared with predictions obtained using a version of STAN5 and a quasi-3D Navier-Stokes solution. This same quasi-3D N-S code was also used to obtain predictions for the first blade and the second vane.
Investigations into single bubble pool boiling phenomena are often complicated by the difficulties in obtaining time and space resolved information in the bubble region. This usually occurs because the heaters and diagnostics used to measure heat transfer data are often on the order of, or larger than, the bubble characteristic length or region of influence. This has contributed to the development of many different and sometimes contradictory models of pool boiling phenomena and dominant heat transfer mechanisms. Recent investigations by Yaddanapyddi and Kim and Demiray and Kim have obtained time and space resolved heat transfer information at the bubble/heater interface under constant temperature conditions using a novel micro-heater array (10x10 array, each heater 100 microns on a side) that is semi-transparent and doubles as a measurement sensor. By using active feedback to maintain a state of constant temperature at the heater surface, they showed that the area of influence of bubbles generated in FC-72 was much smaller than predicted by standard models and that micro-conduction/micro-convection due to re-wetting dominated heat transfer effects. This study seeks to expand on the previous work by making time and space resolved measurements under bubbles nucleating on a micro-heater array operated under constant heat flux conditions. In the planned investigation, wall temperature measurements made under a single bubble nucleation site will be synchronized with high-speed video to allow analysis of the bubble energy removal from the wall.
The ESA/NASA technology demonstration flight of a pair of hydrogen masers on the EURECA 3 mission is planned for 1998. The ESA part of the experiment will have a maser built by Neuchatel Observatory and a microwave time and frequency transfer system derived from the existing Precise Range and Range Rate Equipment (PRARE) system. The NASA part of the experiment will have a maser built by the Smithsonian Astrophysical Observatory and a laser time transfer system. The technology demonstration experiment is described with its expected outcomes and applications.
The Telerobot Testbed is a hierarchically distributed processing system which is linked together through a standard, commercial Ethernet. Standard Ethernet systems are primarily designed to manage non-real-time information transfer. Therefore, collisions on the net (i.e., two or more sources attempting to send data at the same time) are managed by randomly rescheduling one of the sources to retransmit at a later time interval. Although acceptable for transmitting noncritical data such as mail, this particular feature is unacceptable for real-time hierarchical command and control systems such as the Telerobot. Data transfer and scheduling simulations, such as token ring, offer solutions to collision management, but do not appropriately characterize real-time data transfer/interactions for robotic systems. Therefore, models like these do not provide a viable simulation environment for understanding real-time network loading. A real-time network loading model is being developed which allows processor-to-processor interactions to be simulated, collisions (and respective probabilities) to be logged, collision-prone areas to be identified, and network control variable adjustments to be reentered as a means of examining and reducing collision-prone regimes that occur in the process of simulating a complete task sequence.