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This report presents a theoretical analysis of the dynamic effects of angular motion in yaw and pitch on model attitude measurements in which inertial sensors were used during wind tunnel tests. A technique is developed to reduce the error caused by these effects. The analysis shows that a 20-to-1 reduction in model attitude measurement error caused by angular motion is possible with this technique.
Solutions for angular motion equations of rotating space station by approximation method using small angle theory and exact computer method
Helicopter drop tests were made of models of the Pioneer Venus probe descent configurations to characterize their unsteady forces and angular dynamics in equilibrium descent. The axial and normal forces were found to be unsteady in magnitude by about 10 and 5% of the mean axial force, respectively. A cycle of the axial variation takes place in flight distances of from 15 to 40 diameters. The unsteadiness almost certainly is associated with the wake. Angular motions which do not converge to zero angle of attack even in very long duration descent are excited by the unsteady pitching moments. The nearly spherical large probe model was aerodynamically more unsteady than the round-nosed conical small probe model. Data returned from Venus by the Pioneer Venus probes show unsteady axial forces and angular motions similar to those seen in the drop tests.
The equations for the motion, forces, and couples generated by clamshells released from spinning sounding rockets in accordance with a roll-out ejection concept are presented. The application of these equations to a study of a system for the Javelin rocket vehicle is discussed. The roll-out ejection concept advocated requires that each deploying clamshell be pivoted about an axis at its trailing edge located in the system sectioning plane. Clamshell despinning is a consequence of this deployment since the pivotal rate is in opposition to the rocket vehicle spin. The energy required by the deployment is derived largely from the rotational energy of the clamshell. Thus, the rocket vehicle will not be significantly despun by this kind of clamshell deployment. This ejection concept also permits a system design which makes it possible to limit clamshell angular motion to rotation about that one of its centroidal principal axes which is brought into parallelism with the rocket vehicle longitudinal axis. Also, by equalizing the moments of inertia about the other centroidal principal axes, the roll-out motion can be decoupled from any extraneous angular motion about these axes.
The Laser Interferometer Space Antenna (LISA) telescopes must be able to send to and receive light from the other two distant spacecraft. The angle between the distant spacecraft will vary by about one degree in the course of a year. In addition the send and receive directions, for any one telescope, will also vary because of changes in distance, relative velocities of the spacecraft and the flight time of the light. All of these (angular) motions place requirements on the telescope pointing mechanism and the compensating proof mass motions. In this paper we will present the magnitudes of these angular motions, within the context of Keplerian orbits, and the resulting image motions on the detectors.
The LATDYN User's Manual presents the capabilities and instructions for the LATDYN (Large Angle Transient DYNamics) computer program. The LATDYN program is a tool for analyzing the controlled or uncontrolled dynamic transient behavior of interconnected deformable multi-body systems which can undergo large angular motions of each body relative other bodies. The program accommodates large structural deformation as well as large rigid body rotations and is applicable, but not limited to, the following areas: (1) development of large flexible space structures; (2) slewing of large space structure components; (3) mechanisms with rigid or elastic components; and (4) robotic manipulations of beam members. Presently the program is limited to two dimensional problems, but in many cases, three dimensional problems can be exactly or approximately reduced to two dimensions. The program uses convected finite elements to affect the large angular motions involved in the analysis. General geometry is permitted. Detailed user input and output specifications are provided and discussed with example runstreams. To date, LATDYN has been configured for CDC/NOS and DEC VAX/VMS machines. All coding is in ANSII-77 FORTRAN. Detailed instructions regarding interfaces with particular computer operating systems and file structures are provided.
One method of controlling the terminal phase of a space rendezvous between two vehicles is first to correct the flight path of the controlled vehicle so that a constant line of sight is established between the vehicles. This correction is accomplished by thrusting normal to the sight line in a direction to arrest the angular motion of this line. Once this collision course has been established, the second step is to control the closure rate for a safe approach along the line of sight. Adequate control of this maneuver requires range and closure-rate information. A combined analytical and preliminary simulation study was conducted to determine the ability of a human pilot to control the rendezvous by this method using visual sightings made during the initial collision-course control to obtain the range and closure rate. The analytical phase of the study reviewed the geometric relations between the vehicles and formed the basis for techniques to transform the angular sightings into range and closure rate. A preliminary simulation was then made to investigate the accuracy of these techniques. The simulation consisted of an analog computer, an oscilloscope to represent the view a pilot would have-with a stabilized sight, and a timer. Results indicate that pilots, using an optical sight and a timer, can successfully arrest the angular motion of the line of sight between two rendezvous vehicles and obtain relative range and closure rate with sufficient accuracy to perform the final braking maneuver successfully.
Method for determining axial and angular motion of each bellows in S-IC feed system of Saturn vehicle
Capacitive transducers for narrow band vibratory displacement output of angular motion sensors - energy density calculation for parallel plate type
The uncertainty and irregularity of ocean waves and the ocean environment is a major factor in the development of commercial scale floating wind turbines as the operation of floating structures in such an environment can lead to irregular and unpredictable loading, fatigue, and ultimately a reduction in the operational life of the turbine system which affects energy production over the lifetime of the turbine. Control solutions that can limit float motions and mitigate stressful events on the structure become essential for extending lifetime and limiting the operational uncertainty of a floating wind turbine. Digital twins are computational replicas of physical systems that operate in parallel with the operation of the physical system. Given advanced knowledge of a systems input, digital twins have the ability to predict the behavior of a system in advance, which can be valuable in the control of that system. In this project, we developed and assessed potential digital twin models developed in house and openly available (OpenFast) for use in the real time control of the six degree of freedom response motions of a floating wind turbine in ocean waves. Coupling these models with near-field real time irregular sea surface (wve) measurement/sensings and prediction models, we used the digital twin to predict how the floating turbine will respond to the incoming waves. Applying this information to a motion control system of the float, one can limit and control float motions to prevent undesirable loading events/large angular motions, thus increasing system life and ultimately contributing to optimizing energy production. Due to the computational intensity of operating a digital twin in real time, we investigated the use of artificial intelligence techniques to speed-up the processes of the digital twin, as well as the wave reconstruction/prediction models. Model tank testing at the University of Rhode Island and University of Maine both validated and demonstrated the developed techniques on simple float geometries and a scale model of the NREL 15 MW reference turbine.
The extent to which the slow phase velocity (SPV) of nystagmus elicited by a vertical optokinetic stimulation with constant velocity could be modulated by sinusoidal angular motion in the vertical plane was investigated under normal gravity condition and during the microgravity period of parabolic flight. In normal gravity, when the angular head motion and the optokinetic stimulation were in the same direction, the peak SPV was slower than the velocity of the optokinetic display. When the head motion and the optokinetic stimulation were in opposite directions, the peak SPV was equal to the velocity of the optokinetic display. In microgravity, the peak SPV was approximately equal to the velocity of the optokinetic display when head rotation and optokinetic stimulation were in the same direction, and was faster than the velocity of the optokinetic dispaly when head rotation and optokinetic stimulation were in opposite directions. In addition, the interaction of vestibular and optokinetic nystagmus was found to be nonlinear in microgravity, especially when the optokinetic stimulation was directed downward. These results suggest an interaction between the vestibular and the optokinetic systems modulated as a function of the gravitational state, and support the observation that visual input is more effective in reducing sensory conflict experienced in microgravity.
The Orbiter Stability Experiment (OSE) was developed to evaluate the steadiness of the STS Orbiter as a potential platform for instrumentation that would image the Sun in its extreme ultraviolet and soft X-ray radiations. We were interested in any high frequency motions of the Orbiter's orientation due to normal operations and manned activities. Preliminary results are presented of the observations. Other than the expected slow motion of the Orbiter within the specified angular deadband of 0.1 degrees during the observations, it was found that high frequency (above 1 Hz) angular motions (jitter) were not detectable at the 0.25 arc sec detection limit of the most sensitive detector, for most of the period of observation. No high frequency motions were recorded during intervals that were identified with vernier thruster firings. However, one short interval with detectable spectral power to a frequency of 10 Hz has been found to date. It has not yet been correlated with a particular activity going on at the time. The results of the observations may also be of value in assessing perturbations to the Orbiter's micro-gravity environment produced by normal operations.
Friction due to ball motion in angular contact ball bearing
This paper presents the overall mathematical model and results from pseudo linear recursive estimators of attitude and rate for a spinning spacecraft. The measurements considered are vector measurements obtained by sun-sensors, fixed head star trackers, horizon sensors, and three axis magnetometers. Two filters are proposed for estimating the attitude as well as the angular rate vector. One filter, called the q-Filter, yields the attitude estimate as a quaternion estimate, and the other filter, called the D-Filter, yields the estimated direction cosine matrix. Because the spacecraft is gyro-less, Euler's equation of angular motion of rigid bodies is used to enable the estimation of the angular velocity. A simpler Markov model is suggested as a replacement for Euler's equation in the case where the vector measurements are obtained at high rates relative to the spacecraft angular rate.
This paper presents the overall mathematical model and results from pseudo linear recursive estimators of attitude and rate for a spinning spacecraft. The measurements considered are vector measurements obtained by sun-sensors, fixed head star trackers, horizon sensors, and three axis magnetometers. Two filters are proposed for estimating the attitude as well as the angular rate vector. One filter, called the q-Filter, yields the attitude estimate as a quaternion estimate, and the other filter, called the D-Filter, yields the estimated direction cosine matrix. Because the spacecraft is gyro-less, Euler s equation of angular motion of rigid bodies is used to enable the estimation of the angular velocity. A simpler Markov model is suggested as a replacement for Euler's equation in the case where the vector measurements are obtained at high rates relative to the spacecraft angular rate. The performance of the two filters is examined using simulated data.
The set of experiments comprising the Spacelab 1ES201 package designed to investigate the human vestibular system and equilibratory function in weightlessness are described. The specific objectives of the experiments include: (1) the determination of the threshold of perception of linear oscillatory motion; (2) measurement of physiological and subjective responses to supra threshold, linear and angular motion stimuli; (3) study of the postural adjustments, eye movements, and illusions of attitude and motion evoked by optokinetic stimuli, (i.e., moving visual patterns) in order to assess visual/vestibular interactions; (4) examination of the effect of thermal stimulations of the vestibular apparatus to determine if the eye movements elicited by the 'caloric test' are used by a density gradient in the semicircular canal; and (5) investigation of the pathogenesis of space motion sickness by recording signs and symptoms during the course of vestibular stimulation and, specifically, when the test subject is exposed to sustained, linear oscillatory motion.
A satellite will generally have some initial angular motion. Before the satellite can be retrieved, it will be necessary to null its angular rates. A method is presented for nulling the simultaneous angular rates for cylindrical and near-cylindrical satellites. It is assumed that there are no external torques acting on the satellite initially. A model is being fabricated to verify the analysis. The analysis shows that it is feasible to null the spin and tumble rates for cylindrical and near-cylindrical satellites with an arm attached to a remote manipulator unit.
The unsupported phase of motion of a multileg bounding vehicle is examined. An algorithm for stabilization of the angular motion of the vehicle housing by change of the motion of the legs during flight is constructed. The results of mathematical modelling of the stabilization process by computer are presented.