The biological inertial system
Vestibular sensing system role in providing information concerning vertical, linear and angular head movements to central organs
Mayne, R.↗
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Modal Correction Method For Dynamically Induced Errors In Wind-Tunnel Model Attitude Measurements
This paper describes a method for correcting the dynamically induced bias errors in wind tunnel model attitude measurements using measured modal properties of the model system. At NASA Langley Research Center, the predominant instrumentation used to measure model attitude is a servo-accelerometer device that senses the model attitude with respect to the local vertical. Under smooth wind tunnel operating conditions, this inertial device can measure the model attitude with an accuracy of 0.01 degree. During wind tunnel tests when the model is responding at high dynamic amplitudes, the inertial device also senses the centrifugal acceleration associated with model vibration. This centrifugal acceleration results in a bias error in the model attitude measurement. A study of the response of a cantilevered model system to a simulated dynamic environment shows significant bias error in the model attitude measurement can occur and is vibration mode and amplitude dependent. For each vibration mode contributing to the bias error, the error is estimated from the measured modal properties and tangential accelerations at the model attitude device. Linear superposition is used to combine the bias estimates for individual modes to determine the overall bias error as a function of time. The modal correction model predicts the bias error to a high degree of accuracy for the vibration modes characterized in the simulated dynamic environment.
Buehrle, R. D.↗
Continuous Tuning and Calibration of Vibratory Gyroscopes
A method of control and operation of an inertial reference unit (IRU) based on vibratory gyroscopes provides for continuously repeated cycles of tuning and calibration. The method is intended especially for application to an IRU containing vibratory gyroscopes that are integral parts of microelectromechanical systems (MEMS) and that have cloverleaf designs, as described in several previous NASA Tech Briefs articles. The method provides for minimization of several measures of spurious gyroscope output, including zero-rate offset (ZRO), angle random walk (ARW), and rate drift. These benefits are afforded both at startup and thereafter during continuing operation, in the presence of unknown rotation rates and changes in temperature. A vibratory gyroscope contains a precision mechanically resonant structure containing two normal modes of vibration nominally degenerate in frequency and strongly coupled via a Coriolis term. In the case of the cloverleaf design MEMS gyro, these normal modes of vibration are plate rocking modes. The rocking motion of the plate is described by giving two angles, theta(sub 1) and theta(sub 2). A proof mass consisting of a post orthogonal to the plate ensures a high degree of Coriolis coupling of vibratory energy from one mode into the other under inertial rotation. The plate is driven and sensed capacitively across a few-microns-wide gap, and the normal mode frequencies can be tuned electrostatically by DC voltages applied across this gap. In order to sense rotation, the resonator plate is caused to rock in the theta(sub 1) direction, then any small motions in the theta(sub 2) direction are sensed, rebalanced, and interpreted as inertial rotation. In this scenario, the "drive" has been assigned to the theta(sub 1) direction, and the "sense" has been assigned to the theta(sub 2) direction.
Hayworth, Ken↗
The Use of Altered Gravity as a Tool to Understand Neurovestibular Mechanisms in Vertebrates
Vertebrates sense gravito-inertial acceleration by mechanoreceptors (hair cells) in the otolith structures of the inner ear. These structures consist of ciliated sensory hair cells surmounted by biomineral grains of calcium carbonate (CaCO3) called otoconia that provide mechanical loading of hair cell cilia. Changes in their high density can alter the hair cells sensitivity to acceleration and orientation with respect to gravity. A widely considered mechanism by which the animal responds to a chronic change in amplitude of gravity is a change in weight-lending otoconia. Hair cells are synaptically coupled to the vestibular nerve afferents that convey the signals into the brain. Synapses are modifiable in strength and numbers, and thereby can be an additional target to adjust the sensation as the gravity load changes. Here, we present the results obtained in 2 species exposed both to G and HG. Adult toadfish, Opsanus tau, were exposed to G in 2 short-duration shuttle missions and to 1.4 2.24G [resultant] centrifugation for 1-32 days; re-adaptation was studied following 1-8 days after return to 1G. Results show a biphasic pattern in response to 2.24G: initial hypersensitivity, similar to that observed after G exposure, followed by transition to a significant decrease at 16-32 days. Recovery from HG exposure is 4-8 days. Two major pieces of information are still needed: vertebrate hair cell response to altered gravity and impact of longer duration exposures on sensory plasticity. To address the latter we applied electron microscopic techniques to image otoconia mass obtained from 1) mice subjected to 91-days of weightlessness in the Mouse Drawer System (MDS) flown on International Space Station, 2) mice subjected to 91-days of 1.24G centrifugation on ground, and 3) mice flown on 2 short-duration orbital missions. Images indicate a clear restructuring of individual otoconia, suggesting deposition to the outer shell. Images from their HG counterparts indicate the converse - an ablation of the otoconia mass. For shorter duration exposures to weightlessness on 13-day shuttle missions mice otoconia appear normal. Despite the permanence of 1G in evolution the animal senses exposure to a novel, non-1G, environment and adaptive mechanisms are initiated - in the short term compensation is likely confined to the peripheral sensory receptors, the brain or both. For longer exposures structural modifications of the endorgan may also result.
vertebrate↗
Functional Responses in Otolith Structures from Micro- to Hyper-Gravity
Vertebrates and invertebrates sense gravito-inertial acceleration by mechanoreceptors in the otolith and statolith organs, respectively. These structures consist of ciliated sensory hair cells surmounted by biomineral grains of calcium carbonate (CaCO3) called oto-orstato-conia. The grains provide mechanical loading of hair cell cilia, and their high density increases sensitivity to acceleration. A widely considered mechanism by which the animal responds to a chronic change in amplitude of gravity is a change in weight lending otoconia. In G, it is argued, the organism counters the loss of gravity by increasing CaCO3 production, thereby increasing otolith mass, as a means to increase system gain. In hypergravity (HG), the converse is argued. Here, we present the results obtained in 3 species exposed both to G and HG. Adult toadfish, Opsanus tau, were exposed to G in 2 short-duration shuttle missions and to 1.24 1.73G centrifugation for 1-32 days; re-adaptation was studied following 1-8 days of 1G. Results show a biphasic pattern in response to 1.73G: initial hypersensitivity, similar to that observed after G exposure, followed by transition to a significant decrease at 16-32 days. Recovery from HG exposure is 4-8 days. Next, we examined directly the responses of statocyst receptors in the land snail after exposure to G on two unmanned Russian Orbital missions and at 1.24G. Similar to vertebrate afferents snail receptors increased their sensitivity to tilt after G exposure, and decrease it after 16-32 days of HG. Two major pieces of information are still needed: vertebrate hair cell response to altered gravity and impact of longer duration exposures on sensory plasticity. To address the latter, we applied electron microscopic techniques to image otoconia mass obtained from 1) mice subjected to 91-days of weightlessness in the Mouse Drawer System (MDS) flown on International Space Station, 2) mice subjected to 91-days of 1.24G centrifugation on ground, and 3) mice flown on 2 short-duration orbital missions. Images indicate a clear restructuring of individual otoconia, suggesting deposition to the outer shell. Images from their HG counterparts indicate the converse - an ablation of the otoconia mass. For shorter duration exposures to weightlessness on 13-day shuttle missions, mice otoconia appear normal. Despite the permanence of 1G in evolution, the animal senses exposure to a novel, non-1G, environment and adaptive mechanisms are initiated - in the short term, compensation is likely confined to the peripheral sensory receptors, the brain or both. For longer exposures structural modifications of the endorgan may also result. Support Contributed By: NASA 03-OBPR-04 and 11-11_Omni_2-0002
Vertebrates↗
The analysis and configuration of a control system for a Mars propulsive lander.
Computer analysis and simulation of Mars soft landing descent control system combining inertial and radar sensing techniques
SOFT LANDING↗
Control of spin ambiguity during reorientation of an energy dissipating body
A quasi-rigid body initially spinning about its minor principal axis and experiencing energy dissipation will enter a tumbling mode and eventually reorient itself such that stable spin about its major principal axis is achieved. However, in this final state the body may be spinning in a positive or negative sense with respect to its major axis and aligned in a positive or negative sense with the inertially fixed angular momentum vector. This ambiguity can be controlled only through an active system. The associated dynamical formulations and simulations of uncontrolled reorientations are presented. Three control schemes are discussed and results offered for specific examples. These schemes include displacement of internal masses, spinning up of internal inertia, and reaction jets, all of which have demonstrated the ability to control spin ambiguity.
Kaplan, M. H.↗
A flight instrumentation system for acquisition of atmospheric turbulence data
A flight instrumentation system for the acquisition of atmospheric turbulence data is described. Airflow direction transducers and an impact pressure transducer are the primary instruments for measuring vertical and lateral gust velocity, and a sensitive incremental pressure transducer is used to measure longitudinal gust velocity. Airplane motions, sensed by an inertial platform, are subtracted from the primary measurements during postflight data reduction to yield true gust velocity time histories. Salient engineering features of the instrumentation are discussed, and a complete description of the instrumentation is presented.
Meissner, C. W., Jr.↗
Method of producing an integral resonator sensor and case
The present invention discloses an inertial sensor having an integral resonator. A typical sensor comprises a planar mechanical resonator for sensing motion of the inertial sensor and a case for housing the resonator. The resonator and a wall of the case are defined through an etching process. A typical method of producing the resonator includes etching a baseplate, bonding a wafer to the etched baseplate, through etching the wafer to form a planar mechanical resonator and the wall of the case and bonding an end cap wafer to the wall to complete the case.
Shcheglov, Kirill V.↗
Integral resonator gyroscope
The present invention discloses an inertial sensor having an integral resonator. A typical sensor comprises a planar mechanical resonator for sensing motion of the inertial sensor and a case for housing the resonator. The resonator and a wall of the case are defined through an etching process. A typical method of producing the resonator includes etching a baseplate, bonding a wafer to the etched baseplate, through etching the wafer to form a planar mechanical resonator and the wall of the case and bonding an end cap wafer to the wall to complete the case.
Shcheglov, Kirill V.↗
Gimballess Inertial Navigation Systems. Semi- Annual Progress Report, 1 Nov. 1964 - 30 Apr. 1965
Accelerometers for sensing angular velocity in gimballess inertial navigation system
INERTIAL NAVIGATION↗
Isolated planar gyroscope with internal radial sensing and actuation
The present invention discloses an inertial sensor comprising a planar mechanical resonator with embedded sensing and actuation for substantially in-plane vibration and having a central rigid support for the resonator. At least one excitation or torquer electrode is disposed within an interior of the resonator to excite in-plane vibration of the resonator and at least one sensing or pickoff electrode is disposed within the interior of the resonator for sensing the motion of the excited resonator. In one embodiment, the planar resonator includes a plurality of slots in an annular pattern; in another embodiment, the planar mechanical resonator comprises four masses; each embodiment having a simple degenerate pair of in-plane vibration modes.
Shcheglov, Kirill V.↗
The adaptation of a strap down formulation for processing inertial platform data
An estimator propagation formulation which ultilizes dynamic data (attitude and sensed acceleration information) from a gimballed inertial platform has been developed to aid in the Shuttle post-flight trajectory reconstruction process and aerodynamic coefficient determination studies. Unlike the classical inertial algorithms, this formulation yields a six degree-of-freedom fully coupled state and attitude estimate. Furthermore, this inertial version is shown to be independent of initial unknown platform misalignments. Results obtained using actual Inertial Measurement Unit (IMU) data and Aerodynamic Coefficient Identification Package (ACIP) strap down data from Shuttle flights are presented.
Heck, M. L.↗
An investigation of quasi-inertial attitude control for a solar power satellite
An efficient means, a quasi-inertial attitude mode, is developed for maintaining the normal solar orientation of a space satellite for power collection in a synchronous orbit. Formulae are presented which establish the basic parametric properties for ideal quasi-inertial attitude and phasing. An active control system is necessary to compensate for the energy loss since energy dissipation in widely oscillating flexible bodies produces an instability of the quasi-inertial attitude in the sense that the spacecraft will tumble at the orbit rate. A fixed terminal time and state optimal control problem is formulated and an algorithm for determining the optimal control as a means for the periodical attitude and phase compensation is developed. The vehicle orientation affected by internal disturbance (structural flexibility) and external disturbances (e.g., drag forces) is maintained by a specialized controller design.
Juang, J.-N.↗
Plasticity of Neurovestibular Systems Following Micro- and Hyper-Gravity Exposure and Readaptation to Earth's 1G
The gravity-sensing organs sense the sum of inertial force due to head translation and head orientation relative to gravity. Normally gravity is constant, and yet the neural sensors show remarkable plasticity. When the force of gravity changes, such as in spaceflight or during centrifugation, the neurovestibular system responds by regulating its neural output, and this response is similar for the vertebrate utricular nerve afferents and for the statocyst hair cell in invertebrates. First, we examine the response of utricular afferents in toadfish following exposure to G on two orbital missions (STS-90 and 95). Within the first day after landing, magnitude of neural response to an applied acceleration was significantly elevated, and re-adaptation back to control values occurred within approximately 30 hours. Time course of return to normal approximately parallels the decrease in vestibular disorientation in astronauts following return. Next, we use well-controlled hyper-G experiments in the vertebrate model to address: If G leads to adaptation and subsequent re-adaptation neural processes, does the transfer from 1G to hyper-G impart the opposite effects and do the effects accompanying transfer from the hyper-G back to the 1G conditions resemble as an analog the transfer from 1G to the microG Results show a biphasic pattern in reaction to 3G exposures: an initial sensitivity up-regulation (3- and 4-day) followed by a significant decrease after longer exposure. Return to control values is on the order of 4-8 days. Utricular sensitivity is strongly regulated up or down by gravity load and the duration of exposure. Interestingly, we found no correlation of response and hair cell synaptic body counts despite the large gain difference between 4- and 16-Day subjects. Lastly, we examine responses of statocyst receptors in land snail following exposure to G on two unmanned Russian Orbital missions (Foton M-2 and -3). Here, we have the ability to measure the output directly from the hair cells. Similar to afferents in vertebrates the hair cells increased their response sensitivity to vestibular stimulation. Two major pieces of information are needed: the precise vertebrate hair cell response to altered gravity and the impact of longer duration exposures on sensory plasticity.
Boyle, Richard D.↗
Artemis I Orion IMU Flight Performance
The Orion flight software’s parity algorithm runs onboard to verify all three OIMUs (Orion Inertial Measurement Units) are sensing relatively uniform rate and acceleration and to quickly identify any unit which is in significant disagreement with the other two units. During the Artemis-I Wet Dress Rehearsal tests and Launch Countdowns, one of the three OIMUs regularly reported an anomalous parity signature for a brief period of time during sensor warm up. This paper will review this anomalous performance on the pad and review flight data with the intent to supplement the findings of the initial root cause investigation. Outside of this start up behavior, initial investigation into Artemis I flight data did not reveal any behavior of the OIMUs outside of preflight expectations. Flight data from any significant parity events and relevant IMU calibrations will be presented. A brief discussion of impacts to future Artemis mission operations strategy will be provided.
Robert Earl↗
Unconventional inertial sensors.
Inertial sensors reviewing ring laser, electrostatic fluid sphere, magnetic resonance, superconductivity gyroscope, relativistic rotating tensor, vortex rate and quantum mechanical effect sensing
INERTIAL ACCELEROMETER↗
The Microwave Anisotropy Probe (MAP) Attitude Control System
The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an Inertial Reference Unit, two Autonomous Star Trackers, a Digital Sun Sensor, twelve Coarse Sun Sensors, three Reaction Wheel Assemblies, and a propulsion system. This paper describes the design of the attitude control system that carries out this mission and presents some early flight experience.
Markley, F. Landis↗