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At least 325 records · Page 18

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NASA NTRS1987

The propagation speed of a positive lightning return stroke

The first direct determination of the propagation speed of a lightning return stroke lowering positive charge to ground has been made. This stroke was the third of eight otherwise negative strokes in a triggered lightning flash initiated at the Kennedy Space Center, FL. Two independent optical systems, one photographic and the other photoelectric, yielded common recordings for the third and fourth strokes; the respective two-dimensional return stroke propagation speeds were 1.0 vs 0.93 x 10 to the 8th m/s for the positive (third) stroke and 1.0 vs 1.0 x 10 to the 8th m/s for the fourth stroke. Using fast electric-field data, the positive stroke peak current was estimated to be 21 kA. Photoelectric data only yielded propagation speeds of 1.4, 1.6, 1.2, 1.3, 1.0 and 0.90 x 10 to the 8th m/s for the first, second and fifth through eighth return strokes, respectively.

Idone, Vincent P.↗

NASA NTRS1987

A five component electro-optical positioning system

The development of a five-component electrooptical positioning system for detecting the location of wind tunnel models within the test section is discussed. The system consists of three low power helium-neon lasers, five linear photodiode arrays, an assembly of optics that includes lenses and mirrors, and a signal conditioner. The system has been successfully installed and is currently in use at the 13-inch magnetic suspension and balance system (MSBS) at NASA Langley Research Center. Initially the system was developed as an auxiliary model position and attitude detecting system for that facility, but it has since been modified and interfaced with a PDP minicomputer to provide position feedback for the control loop.

Tcheng, Ping↗

NASA NTRS1988

Precise computer controlled positioning of robot end effectors using sensory feedback

A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

Wang, J. C.↗

NASA NTRS1989

Adaptive Force And Position Control For Robots

Control system causes end effector of robot manipulator to follow prescribed trajectory and applies desired force or torque to object manipulating or in contact. Characterized by hybrid control architecture, where positions and orientations along unconstrained coordinate axes controlled by position-control subsystem, while forces and torques along constrained coordinate axes controlled by force-control subsystem. Compensates for dynamic cross-coupling between force-and position-control loops and does not require knowledge of complicated model of dynamics of manipulator and environment.

Seraji, Homayoun↗

NASA NTRS1989

Sensing The Position Of A Piston In A Cylinder

Position of piston in cylinder determined by series of ports and pressure-actuated electrical switches. Position-sensing scheme developed to help control movement of piston, which delivers fist-size objects to automatic mechanism at rate of less than 1 per second. Piston driven by either pressurized gas or hydraulic fluid. Position sensors have only fluid connections to cylinder. If cylinder or piston removed, not necessary to disturb electrical connections to switches. Scheme useful when electrical sensors create hazard or cause interference.

Wiker, Gordon A.↗

NASA NTRS1989

Determining Equilibrium Position For Acoustical Levitation

Equilibrium position and orientation of acoustically-levitated weightless object determined by calibration technique on Earth. From calibration data, possible to calculate equilibrium position and orientation in presence of Earth gravitation. Sample not levitated acoustically during calibration. Technique relies on Boltzmann-Ehrenfest adiabatic-invariance principle. One converts resonant-frequency-shift data into data on normalized acoustical potential energy. Minimum of energy occurs at equilibrium point. From gradients of acoustical potential energy, one calculates acoustical restoring force or torque on objects as function of deviation from equilibrium position or orientation.

Barmatz, M. B.↗

NASA NTRS1988

Complete positive ion, electron, and ram negative ion measurements near Comet Halley (COPERNIC) plasma experiment for the European Giotto Mission

Participation of U.S. scientists on the COPERNIC (COmplete Positive ions, Electrons and Ram Negative Ion measurements near Comet Halley) plasma experiment on the Giotto mission is described. The experiment consisted of two detectors: the EESA (electron electrostatic analyzer) which provided three-dimensional measurements of the distribution of electrons from 10 eV to 30 keV, and the PICCA (positive ion cluster composition analyzer) which provided mass analysis of positively charged cold cometary ions from mass 10 to 210 amu. In addition, a small 3 deg wide sector of the EESA looking in the ram direction was devoted to the detection of negatively charged cold cometary ions. Both detectors operated perfectly up to near closest approach (approx. 600 km) to Halley, but impacts of dust particles and neutral gas on the spacecraft contaminated parts of the data during the last few minutes. Although no flight hardware was fabricated in the U.S., The U.S. made very significant contributions to the hardware design, ground support equipment (GSE) design and fabrication, and flight and data reduction software required for the experiment, and also participated fully in the data reduction and analysis, and theoretical modeling and interpretation. Cometary data analysis is presented.

Lin, Robert P.↗

NASA NTRS1988

Time domain and frequency domain conditions for strict positive realness

The author states various time-domain and frequency-domain conditions pertaining to multivariate strict positive real systems and establishes the relationship between these conditions. Their relationship is clarified by means of a three-tier diagram; each tier represents a set of equivalent conditions successively stronger than the lower tier. The main theorem in the present study can be considered as the positive realness lemma for strictly positive real systems.

Wen, John T.↗

NASA NTRS1988

Ocular torsion in upright and tilted positions during hypo- and hypergravity of parabolic flight

Four subjects considered resistant to motion sickness were tested in KC-135 parabolic flight to examine ocular torsion at hypo-gravity and hypergravity. Three of these subjects showed no significant torsion at zero G in either the upright position or when tilted 30 deg to right or left. At 1.8 G in the tilted positions, they showed greater ocular counterrolling than at 1 G. None of these three subjects became motion sick. The fourth subject showed eye torsion toward his left in all positions at zero G. This leftward bias could also be seen at 1.8 G when tilted left ear down, the side that induces rightward counterrolling. There he had less eye torsion than at 1 G. This subject became motion sick. These results support the hypothesis that asymmetry of the utricular system may be well compensated in the normal 1 G environment, but unmasked in unaccustomed gravitational situations, suggesting a possible predictive test for space adaptation syndrome.

Diamond, Shirley G.↗

NASA NTRS1989

Theoretical studies of the first- and second-row transition-metal methyls and their positive ions

The metal-carbon bond-dissociation energies (D0) and geometries for the first- and second-row transition-metal methyl neutrals and positive ions are determined. The computed D0 values for the positive ions compare favorably with experiment, except for RuCH3(+), RhCH3(+), and PdCH3(+), where the experimental values are 10-15 kcal/mol larger. The computed D0 values for the hydride and methyl positive ions are similar for all metals in both transition rows, except for Cu and Ag. However, for the neutral systems, the D0 values for the methyls are smaller, especially on the right-hand side of both transition rows, where the differences approach 15 kcal/mol.

Bauschlicher, Charles W., Jr.↗

NASA NTRS1989

Cardiovascular, renal, electrolyte, and hormonal changes in man during gravitational stress, weightlessness, and simulated weightlessness: Lower body positive pressure applied by the antigravity suit

Because of their erect posture, humans are more vulnerable to gravitational changes than any other animal. During standing or walking man must constantly use his antigravity muscles and his two columns, his legs, to balance against the force of gravity. At the same time, blood is surging downward to the dependent portions of the body, draining blood away from the brain and heart, and requiring a series of complex cardiovascular adjustments to maintain the human in a bipedal position. It was not until 12 April 1961, when Yuri Gagarin became the first human being to orbit Earth, that we could confirm man's ability to maintain vital functions in space -- at least for 90 min. Nevertheless, man's adaptation to weightlessness entails the deconditioning of various organs in the body. Muscles atrophy, and calcium loss leads to loss of bone strength as the demands on the musculoskeletal system are almost nonexistent in weightlessness. Because of the lack of hydrostatic pressures in space, blood rushes to the upper portions of the body, initiating a complex series of cardioregulatory responses. Deconditioning during spaceflight, however, first becomes a potentially serious problem in humans returning to Earth, when the cardiovascular system, muscles and bones are suddenly exposed to the demanding counterforce of gravity -- weight. One of the main purposes of our studies was to test the feasibility of using Lower Body Positive Pressure, applied with an antigravity suit, as a new and alternative technique to bed rest and water immersion for studying cardioregulatory, renal, electrolyte, and hormonal changes in humans. The results suggest that Lower Body Positive Pressure can be used as an analog of microgravity-induced physiological responses in humans.

Kravik, Stein E.↗

NASA NTRS1990

Positron-molecule bound states and positive ion production

The interaction was studied of low energy positrons with large molecules such as alkanes. These data provide evidencce for the existence of long lived resonances and bound states of positrons with neutral molecules. The formation process and the nature of these resonances are discussed. The positive ions produced when a positron annihilates with an electron in one of these resonances were observed and this positive ion formation process is discussed. A review is presented of the current state of the understanding of these positron-molecule resonances and the resulting positive ion formation. A number of outstanding issues in this area is also discussed.

Leventhal, M.↗

NASA NTRS1990

Helicopter Airborne Laser Positioning System (HALPS)

The theory of operation, configuration, laboratory, and ground test results obtained with a helicopter airborne laser positioning system developed by Princeton University is presented. Unfortunately, due to time constraints, flight data could not be completed for presentation at this time. The system measures the relative position between two aircraft in three dimensions using two orthogonal fan-shaped laser beams sweeping across an array of four detectors. Specifically, the system calculates the relative range, elevation, and azimuth between an observation aircraft and a test helicopter with a high degree of accuracy. The detector array provides a wide field of view in the presence of solar interference due to compound parabolic concentrators and spectral filtering of the detector pulses. The detected pulses and their associated time delays are processed by the electronics and are sent as position errors to the helicopter pilot who repositions the aircraft as part of the closed loop system. Accuracies obtained in the laboratory at a range of 80 ft in the absence of sunlight were + or - 1 deg in elevation; +0.5 to -1.5 deg in azimuth; +0.5 to -1.0 ft in range; while elevation varied from 0 to +28 deg and the azimuth varied from 0 to + or - 45 deg. Accuracies in sunlight were approximately 40 deg (+ or - 20 deg) in direct sunlight.

Eppel, Joseph C.↗

NASA NTRS1990

A radio optical reference frame. I - Precise radio source positions determined by Mark III VLBI - Observations from 1979 to 1988 and a tie to the FK5

Observations from 600 Mark III VLBI experiments from 1979 to 1988, resulting in 237,681 acceptable pairs of group delay and phase delay rate observations, have been used to derive positions of 182 extragalactic radio sources with typical formal standard errors less than 1 mas. The sources are distributed fairly evenly above delta = -30 deg, and 70 sources have delta greater than 0 deg. Analysis with different troposphere models, as well as internal and external comparisons, indicates that a coordinate frame defined by this set of radio sources should be reliable at the 1 mas level. The right ascension zero point of this reference frame has been aligned with the FK5 by using the optical positions of 28 extragalactic radio sources whose positions are on the FK5 system. Because of known defects in the knowledge of astronomical constants, daily nutation offsets in longitude and obliquity were determined relative to an arbitrary reference day in the set of experiments.

Ma, C.↗

NASA NTRS1989

Optical sample-position sensing for electrostatic levitation

A comparative study is conducted for optical position-sensing techniques applicable to micro-G conditions sample-levitation systems. CCD sensors are compared with one- and two-dimensional position detectors used in electrostatic particle levitation. In principle, the CCD camera method can be improved from current resolution levels of 200 microns through the incorporation of a higher-pixel device and more complex digital signal processor interface. Nevertheless, the one-dimensional position detectors exhibited superior, better-than-one-micron resolution.

Sridharan, G.↗

NASA NTRS1990

Robot tracking system improvements and visual calibration of orbiter position for radiator inspection

The following separate topics are addressed: (1) improving a robotic tracking system; and (2) providing insights into orbiter position calibration for radiator inspection. The objective of the tracking system project was to provide the capability to track moving targets more accurately by adjusting parameters in the control system and implementing a predictive algorithm. A computer model was developed to emulate the tracking system. Using this model as a test bed, a self-tuning algorithm was developed to tune the system gains. The model yielded important findings concerning factors that affect the gains. The self-tuning algorithms will provide the concepts to write a program to automatically tune the gains in the real system. The section concerning orbiter position calibration provides a comparison to previous work that had been performed for plant growth. It provided the conceptualized routines required to visually determine the orbiter position and orientation. Furthermore, it identified the types of information which are required to flow between the robot controller and the vision system.

Tonkay, Gregory↗

NASA NTRS1991

Alignment positioning mechanism

An alignment positioning mechanism for correcting and compensating for misalignment of structures to be coupled is disclosed. The mechanism comprises a power screw with a base portion and a threaded shank portion. A mounting fixture is provided for rigidly coupling said base portion to the mounting interface of a supporting structure with the axis of the screw perpendicular thereto. A traveling ball nut threaded on the power screw is formed with an external annular arcuate surface configured in the form of a spherical segment and enclosed by a ball nut housing with a conforming arcuate surface for permitting gimballed motion thereon. The ball nut housing is provided with a mounting surface which is positionable in cooperable engagement with the mounting interface of a primary structure to be coupled to the supporting structure. Cooperative means are provided on the ball nut and ball nut housing, respectively, for positioning the ball nut and ball nut housing in relative gimballed position within a predetermined range of relative angular relationship whereby severe structural stresses due to unequal loadings and undesirable bending moments on the mechanism are avoided.

Fantasia, Peter M.↗

NASA NTRS1991

High precision applications of the global positioning system

The Global Positioning System (GPS) is a constellation of U.S. defense navigation satellites which can be used for military and civilian positioning applications. A wide variety of GPS scientific applications were identified and precise positioning capabilities with GPS were already demonstrated with data available from the present partial satellite constellation. Expected applications include: measurements of Earth crustal motion, particularly in seismically active regions; measurements of the Earth's rotation rate and pole orientation; high-precision Earth orbiter tracking; surveying; measurements of media propagation delays for calibration of deep space radiometric data in support of NASA planetary missions; determination of precise ground station coordinates; and precise time transfer worldwide.

Lichten, Stephen M.↗