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Fluidic oscillator, incorporating piezoelectric transducer to sense molecular weight of gas mixture, is used to continuously monitor ratio of a mixture of two gases in a flowing system. Device is lightweight, compact, reliable, easy to install, and also produces a simple output signal for controller. Frequency of oscillation is measured and signal converted to ac output.
Schematic diagrams are given for both the four-channel electromechanical actuator and the single-channel power electronics breadboard. Detailed design data is also given on the gears used in the differential gearbox and a copy of the operations manual for the system is included. Performance test results are given for the EMA motor and its current source indicator, the drive control electronics, and the overall system. The power converter waveform test results are also summarized.
A Claude cycle refrigerator with a three stage reciprocating expansion engine is described. Instead of a cam mechanism, valves are driven directly by magnetic solenoids operated by means of a micro processor control system. A swash plate mechanism is used to convert reciprocating motion of the expander pistons to rotary motion. A refrigeration capacity of 8 watts was achieved at 4.5 K with the operating pressure of 1.1 MPa and flow rate of 2.4 g/sec.. An effect of overintake operation was studied. Experimental results show that the efficiency of the expander has a peak point in the region of overintake operation with constant cycle speed, which agrees with theoretical results. The electrically controlled valve system is useful to vary the valve timing to achieve an optimum condition of operation.
The sensitivity of the fixed-head star trackers (FHSTs) on the Solar Maximum Mission (SMM) is defined as the accuracy of the electronic response to the magnitude of a star in the sensor field-of-view, which is measured as intensity in volts. To identify stars during attitude determination and control processes, a transformation equation is required to convert from star intensity in volts to units of magnitude and vice versa. To maintain high accuracy standards, this transformation is calibrated frequently. A sensitivity index is defined as the observed intensity in volts divided by the predicted intensity in volts; thus, the sensitivity index is a measure of the accuracy of the calibration. Using the sensitivity index, analysis is presented that compares the strengths and weaknesses of two possible transformation equations. The effect on the transformation equations of variables, such as position in the sensor field-of-view, star color, and star magnitude, is investigated. In addition, results are given that evaluate the aging process of each sensor. The results in this work can be used by future missions as an aid to employing data from star cameras as effectively as possible.
Whereas most studies of tail-suspension induced osteopenia have utilized rat femora, the present study investigated the effects of a 14 day tail-suspension on the mechanical behaviour of mice femora, tibiae and humeri. Force-deflection properties were obtained via three-point bending for long bones from suspended and control mice. Whole bone behaviour was characterized by converting the force-deflection values to stiffness, strength, ductility and energy parameters which were not normalized for specimen geometry. The effects of a systematic variation in the deflection rate over the range 0.1-10 mm min-1 were also evaluated. Statistical analysis indicated that the primary effect of the tail-suspension period was lowered bone mass which was manifested mechanically through lower values of the bone strength parameters. These effects were similar in the bones of both the fore and hind limbs. The results also demonstrated that the stiffness, ductility and energy characteristics were much less influenced by the tail-suspension. Whereas a significant dependence of the bone strength values upon deflection rate was observed for the femora and humeri, the other mechanical parameters were less sensitive. Based upon the nature of the physical and mechanical changes observed in the long bones following tail-suspension, the mouse appears to be a suitable animal model for the study of osteopenia.
This paper describes thermal vacuum testing of a proto-flight miniature loop heat pipe (MLHP) with two evaporators and two condensers designed for future small systems applications requiring low mass, low power and compactness. Each evaporator contains a wick with an outer diameter of 6.35 mm, and each has its own integral compensation chamber (CC). Miniaturization of the loop components reduces the volume and mass of the thermal system. Multiple evaporators provide flexibility for placement of instruments that need to be maintained at the same temperature, and facilitate heat load sharing among instruments, reducing the auxiliary heater power requirement. A flow regulator is used to regulate heat dissipations between the two condensers, allowing flexible placement of radiators on the spacecraft. A thermoelectric converter (TEC) is attached to each CC for control of the operating temperature and enhancement of start-up success. Tests performed include start-up, power cycle, sink temperature cycle, high power and low power operation, heat load sharing, and operating temperature control. The proto-flight MLHP demonstrated excellent performance in the thermal vacuum test. The loop started successfully and operated stably under various evaporator heat loads and condenser sink temperatures. The TECs were able to maintain the loop operating temperature within b1K of the desired set point temperature at all power levels and all sink temperatures. The un-powered evaporator would automatically share heat from the other powered evaporator. The flow regulator was able to regulate the heat dissipation among the radiators and prevent vapor from flowing into the liquid line.
A sol-gel process has been developed as a superior alternative to a prior process for making platinum-ruthenium alloy catalysts for electro-oxidation of methanol in fuel cells. The starting materials in the prior process are chloride salts of platinum and ruthenium. The process involves multiple steps, is time-consuming, and yields a Pt-Ru product that has relatively low specific surface area and contains some chloride residue. Low specific surface area translates to incomplete utilization of the catalytic activity that might otherwise be available, while chloride residue further reduces catalytic activity ("poisons" the catalyst). In contrast, the sol-gel process involves fewer steps and less time, does not leave chloride residue, and yields a product of greater specific area and, hence, greater catalytic activity. In this sol-gel process (see figure), the starting materials are platinum(II) acetylacetonate [Pt(C5H7O2)2, also denoted Pt-acac] and ruthenium(III) acetylacetonate [Ru(C5H7O2)3, also denoted Ru-acac]. First, Pt-acac and Ru-acac are dissolved in acetone at the desired concentrations (typically, 0.00338 moles of each salt per 100 mL of acetone) at a temperature of 50 C. A solution of 25 percent tetramethylammonium hydroxide [(CH3)4NOH, also denoted TMAH] in methanol is added to the Pt-acac/Ruacac/ acetone solution to act as a high-molecular-weight hydrolyzing agent. The addition of the TMAH counteracts the undesired tendency of Pt-acac and Ru-acac to precipitate as separate phases during the subsequent evaporation of the solvent, thereby helping to yield a desired homogeneous amorphous gel. The solution is stirred for 10 minutes, then the solvent is evaporated until the solution becomes viscous, eventually transforming into a gel. The viscous gel is dried in air at a temperature of 170 C for about 10 hours. The dried gel is crushed to make a powder that is the immediate precursor of the final catalytic product. The precursor powder is converted to the final product in a controlled-atmosphere heat treatment. Desirably, the final product is a phase-pure (Pt phase only) Pt-Ru powder with a high specific surface area. The conditions of the controlled- atmosphere heat are critical for obtaining the aforementioned desired properties. A typical heat treatment that yields best results for a catalytic alloy of equimolar amounts of Pt and Ru consists of at least two cycles of heating to a temperature of 300 C and holding at 300 C for several hours, all carried out in an atmosphere of 1 percent O2 and 99 percent N2. The resulting powder consists of crystallites with typical linear dimensions of <10 nm. Tests have shown that the powder is highly effective in catalyzing the electro-oxidation of methanol.
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The control of manipulators is seen here as a two-level process. A method is described to convert information available at the programming level into trajectories suitable to be tracked by a servo control system. The goal of the servo is to absorb the unmodeled dynamics. Tracking accuracy will depend mainly on the acceleration demand of the nominal trajectory setpoint, in particular, the actuator output demand must remain bounded. Our scheme adaptively takes into consideration at the trajectory computation level the dynamics of the underlying system, dynamically available information acquired through sensors, various types of constraints, such as path accuracy, and manipulator optimization. This scheme is meant to be implemented on-line, to drive mechanical systems such as manipulators. It is developed in the context of a multi-manipulator programming and control environment for space applications developed as part of a collaborative effort between McGill University and the Jet Propulsion Laboratory.
NASA/GSFC has implemented force-limited vibration control on a controller which can only accept one profile. The method uses a personal computer based digital signal processing board to convert force and/or moment signals into what appears to he an acceleration signal to the controller. This technique allows test centers with older controllers to use the latest force-limited control techniques for random vibration testing. The paper describes the method, hardware, and test procedures used. An example from a test performed at NASA/GSFC is used as a guide.
This paper describes Instrument Control Electronics (ICE) for the Space Technology Three mission. This mission is a dual-spacecraft formation-flying Michelson interferometer designed to perform the first long-baseline optical interferometry in space.
In the operation of future manned space vehicles, there will always be a finite probability that an accident will occur which results in uncontrolled tumbling of a craft. Hard docking by a manned rescue vehicle is not acceptable because of the hazardous environment to which rescue crewmen would be exposed and excessive maneuvering accelerations during docking operations. A movable-mass control concept, which is activated upon initiation of tumbling and is autonomous, can convert tumbling motion into simple spin. The complete equations of motion for an asymmetric rigid spacecraft containing a movable mass are presented, and appropriate control law and system parameters are selected to minimize kinetic energy, resulting in simple spin about the major principal axis. Simulations indicate that for a large space station experiencing a collision, which results in tumbling, a 1% movable mass is capable of stabilizing motion in 2 hr.
A video level control system is provided which generates a normalized video signal for a camera processing circuit. The video level control system includes a lens iris which provides a controlled light signal to a camera tube. The camera tube converts the light signal provided by the lens iris into electrical signals. A feedback circuit in response to the electrical signals generated by the camera tube, provides feedback signals to the lens iris and the camera tube. This assures that a normalized video signal is provided in a first illumination range. An automatic gain control loop, which is also responsive to the electrical signals generated by the camera tube 4, operates in tandem with the feedback circuit. This assures that the normalized video signal is maintained in a second illumination range.
Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.
Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.
This paper presents a Hamilton's principle for distributed control of infinite-dimensional systems modeled by a distributed form of the Euler-Lagrange method. The distributed systems are governed by a system of linear partial differential equations in space and time. A generalized potential energy expression is developed that can capture most physical systems including those systems that have no spatial distribution. The Hamilton's principle is applied to derive distributed feedback control methods without resorting to the standard weak-form discretization approach to convert an infinite-dimensional systems to a finite-dimensional systems. It can be shown by the principle of least action that the distributed control synthesized by the Hamilton's principle is a minimum-norm control. A model-reference adaptive control framework is developed for distributed Lagrangian systems in the presence of uncertainty. The theory is demonstrated by an application of adaptive flutter suppression control of a flexible aircraft wing.
A quantitative real time image processing system has been developed which can be software-reconfigured for semiconductor processing and characterization tasks. In thermal imager mode, 2D temperature distributions of semiconductor melt surfaces (900-1600 C) can be obtained with temperature and spatial resolutions better than 0.5 C and 0.5 mm, respectively, as demonstrated by analysis of melt surface thermal distributions. Temporal and spatial image processing techniques and multitasking computational capabilities convert such thermal imaging into a multimode sensor for crystal growth control. A second configuration of the image processing engine in conjunction with bright and dark field transmission optics is used to nonintrusively determine the microdistribution of free charge carriers and submicron sized crystalline defects in semiconductors. The IR absorption characteristics of wafers are determined with 10-micron spatial resolution and, after calibration, are converted into charge carrier density.
The combination of an inherently robust asynchronous (induction) electrical machine with the rapid control of energy provided by a high frequency resonant ac link enables the efficient management of higher power levels with greater versatility. This could have a variety of applications from launch vehicles to all-electric automobiles. These types of systems utilize a machine which is operated by independent control of both the voltage and frequency. This is made possible by using an indirect field-oriented control method which allows instantaneous torque control all four operating quadrants. Incorporating the ac link allows the converter in these systems to switch at the zero crossing of every half cycle of the ac waveform. This zero loss switching of the link allows rapid energy variations to be achieved without the usual frequency proportional switching loss. Several field-oriented control systems were developed under contract to NASA.