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Instrument accommodates fast rise and fall times of waveforms characteristic of modern, efficient power controllers. Power meter multiplies analog signals proportional to voltage and current, and converts resulting signal to frequency. Two mechanical counters provided: one for charging, one for discharging.
Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.
A general framework for the analysis of the attitude tracking control problem for a rigid body is presented. A large family of globally stable control laws is obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body. The controllers share the common structure of a proportional-derivative feedback plus some feedforward which can be zero (the model-independent case), the Coriolis torque compensation, or an adaptive compensation. These controller structures are compared in terms of the requirement on the a priori model information, guaranteed transient performance, and robustness. The global stability of the Luh-Walker-Paul robot end-effector controller is also analyzed in this framework.
The feasibility of generating precise thermomechanical deformation data to support constitutive model development was investigated. Here, the requirement is for experimental data that is free from anomalies caused by less than ideal equipment and procedures. A series of exploratory tests conducted on Hastelloy X showed that generally accepted techniques for strain controlled tests were lacking in at least three areas. Specifically, problems were encountered with specimen stability, thermal strain compensation, and temperature/mechanical strain phasing. The source of these difficulties was identified and improved thermomechanical testing techniques to correct them were developed. These goals were achieved by developing improved procedures for measuring and controlling thermal gradients and by designing a specimen specifically for thermomechanical testing. In addition, innovative control strategies were developed to correctly proportion and phase the thermal and mechanical components of strain. Subsequently, the improved techniques were used to generate deformation data for Hastelloy X over the temperature range, 200 to 1000 C.
Ongoing exploration and future mission2001110444 s to Mars have given impetus to research on the use of natural resources of the planet. Since carbon dioxide (CO2) constitutes approximately 95% of the Mars atmosphere and since it reacts directly and vigorously with several metals, this investigation focuses on metal-CO2 reactions as a possible combination for rocket-propellant production and energy generation. Magnesium (Mg) has been initially selected as the metal fuel owing to its low ignition temperature and high specific impulse and burning rate in CO2. Our studies in this field started with low gravity (g) combustion tests of Mg in O2, CO2, and CO. Reduced gravity provided a clear picture of the burning phenomena by eliminating the intrusive buoyant flows in high-temperature metal reactions and by removing the destructive effect of gravity on the shape of molten metal samples. Suspended cylindrical metal samples of 2, 3, and 4-mm in diameter and length were radiatively ignited in low-g to generate free-floating samples exhibiting a spherically symmetric flame with increasing metal-oxide accumulation in an outer shell. For the Mg-CO2 combination, burning times twice as long as in normal-g and five times longer than in Mg-O2 flames were observed, revealing a diffusion-controlled reaction. The burning time is proportional to the square of the sample diameter. In tests conducted with pure CO, combustion was not possible without constant heating of the sample due to the formation of a thick carbon-containing coating around the Mg sample generated by surface reactions. The following work presents two new studies that attempt to explain some of the low-g experimental observations. First, a simplified one-dimensional, quasi-steady numerical model is developed to obtain temperature, species concentrations, and burning rates of the spherically symmetric diffusion flame around the Mg sample burning in O2 and CO2. Second, a Planar Laser Induced Fluorescence (PLIF) technique is implemented to provide spatially resolved measurements of magnesium oxide (MgO) in the reaction zone of Mg samples burning in O2 and CO2. These experiments reveal fundamental differences between the two combustion systems.
Calcium bioavailability of vegetarian diets containing various proportions of candidate crops for a controlled ecological life-support system (CELSS) was determined by femur 45Ca uptake. Three vegetarian diets and a control diet were labeled extrinsically with 45Ca and fed to 5-wk old male rats. A fifth group of rats fed an unlabeled control diet received an intraperitoneal (IP) injection of 45Ca. There was no significant difference in mean calcium absorption of vegetarian diets (90.80 +/- 5.23%) and control diet (87.85 +/- 5.25%) when calculated as the percent of an IP dose. The amounts of phytate, oxalate, and dietary fiber in the diets did not affect calcium absorption.
In this paper, we introduce the novel concept of transient instabilities in multi-agent systems and swarms, i.e., a small disturbance leads to increasing-amplitude oscillations throughout the swarm, which results in a large number of interagent collisions. This instability is dominant in the transient phase of the system and it does not appear in the steady-state behavior of the system, as each agent uses Lyapunov-stable feedback control laws. We present a rigorous definition of transient instability in swarms, and discuss its key properties. We also present a sufficient condition to check if a swarm will be transient stable. Using both theoretical techniques and numerical results, we show that a simple Proportional-Integral-Derivative (PID) feedback-tracking control law is not suitable for these applications. We also present a robust control law for Euler- Lagrangian systems that maintains transient stability across static swarms or time-varying reconfiguration in swarms. Both theoretical results and numerical simulations are presented to demonstrate the effectiveness of our proposed approach.
A noise source for an aircraft engine active noise cancellation system in which the resonant frequency of noise radiating structure is tuned to permit noise cancellation over a wide range of frequencies. The resonant frequency of the noise radiating structure is tuned by a plurality of drivers arranged to contact the noise radiating structure. Excitation of the drivers causes expansion or contraction of the drivers, thereby varying the edge loading applied to the noise radiating structure. The drivers are actuated by a controller which receives input of a feedback signal proportional to displacement of the noise radiating element and a signal corresponding to the blade passage frequency of the engine's fan. In response, the controller determines a control signal which is sent to the drivers, causing them to expand or contract. The noise radiating structure may be either the outer shroud of the engine or a ring mounted flush with an inner wall of the shroud or disposed in the interior of the shroud.
A noise source for an aircraft engine active noise cancellation system in which the resonant frequency of a noise radiating element is tuned to permit noise cancellation over a wide range of frequencies. The resonant frequency of the noise radiating element is tuned by an expandable ring embedded in the noise radiating element. Excitation of the ring causes expansion or contraction of the ring, thereby varying the stress in the noise radiating element. The ring is actuated by a controller which receives input of a feedback signal proportional to displacement of the noise radiating element and a signal corresponding to the blade passage frequency of the engine's fan. In response, the controller determines a control signal which is sent to the ring, causing the ring to expand or contract. Instead of a single ring embedded in the noise radiating panel, a first expandable ring can be bonded to one side of the noise radiating element, and a second expandable ring can be bonded to the other side.
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.
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 in 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 by LeRC and General Dynamics Space Systems Division under contract to NASA. A description of a single motor, electromechanical actuation system is presented. Then, focus is on a conceptual design for an AC electric vehicle. This design incorporates an induction motor/generator together with a flywheel for peak energy storage. System operation and implications along with the associated circuitry are addressed. Such a system would greatly improve all-electric vehicle ranges over the Federal Urban Driving Cycle (FUD).
The Component Development Division of the Propulsion Laboratory at Marshall Space Flight Center (MSFC) is currently developing a class of electromechanical actuators (EMA's) for use in space transportation applications such as thrust vector control (TVC) and propellant control valves (PCV). These high power servomechanisms will require rugged, reliable, and compact power electronic modules capable of modulating several hundred amperes of current at up to 270 volts. MSFC has selected the brushless dc motor for implementation in EMA's. A previous project performed by Auburn University examined the use of the resonant dc link (RDCL) inverter, pulse density modulation (PDM), and mos-controlled thyristors (MCT's) for speed control of a brushless dc motor. The speed of the brushless dc motor is proportional to the applied stator voltage. In a PDM system, the control system determines the number of resonant voltage pulses which must be applied to the stator to achieve a desired speed. The addition of a waveshaping circuit to the front end of a standard three-phase inverter yields a RDCL inverter; the resonant voltage pulses are produced through the action of this wave shaping circuit and the inverter. This project has focused on the implementation of a system which permits zero-voltage switching with the bus voltage clamped at the input voltage level. In the same manner as the RDCL inverter, the inverter selected for this implementation is a combination of waveshaping circuit and a standard three-phase inverter. In addition, this inverter allows a pulse-width modulated (PWM)-like control scheme instead of a PDM scheme. The operation of waveshaping circuit will be described through analysis and waveforms. Design relationships will also be presented.
Servocontrolled IR optometer providing electrical signal proportional to refractive power of human eye
A process where energy release rate is proportional to the square root of the Reynolds number of a burning particle or surface is used to demonstrate some distinctive dynamic properties of a disturbed convectively controlled burning process. The instantaneous energy release rates caused by assumed periodic flow field disturbances are numerically evaluated and examined. Correlation coefficients which express the energy released in-phase with the pressure disturbance are evaluated and analytical solutions for these coefficients are derived. The response of the process is shown to be highly sensitive to the harmonic distortion of the disturbance. For some disturbances the energy released in-phase with the pressure disturbance is an order of magnitude larger than that for linear (sinusoidal) disturbances. The results show that harmonic distortion increases the coupling between the burning process and the flow field. This amplifying effect of harmonic distortion is suppressed when a disturbance becomes steep-fronted; therefore, steepening can act to limit the equilibrium amplitudes in disturbed systems. Amplification is also suppressed when the velocity disturbance is phase shifted with respect to the pressure disturbance or when the process is exposed to a high steady velocity.
Active control of sound radiation from vibrating plates by oscillating forces applied directly to the structure is analytically studied. The model consists of a plane acoustic wave incident on a clamped elastic circular thin plate. Control is achieved by point forces, and quadratic optimization is used to calculate the optimal control gains necessary to minimize a cost function proportional to the radiated acoustic power (the transmitted field). The results show that global attenuation of broadband radiated sound levels for low to mid-range frequencies can be achieved with one or two control forces, irrespective of whether the system is on or off resonance. The efficiency of the control strategy is demonstrated to be related to the nature of the coupling between the plate modes of response and the radiated field.
In a delay-lock one-delta (+or - 1/2 chip) dithered PN code tracking loop, an indication of lock in the PN code tracking loop is provided by delaying the dithered local PN code by a half chip to produce a +0, -1 dithered PN code that is then multiplied with the received PN-spread IF signal to produce a signal proportional to the correlation of this dithered code offset from the received code. The correlation signal is bandpass filtered, amplified with AGC control, and square-law detected to obtain a dc signal proportional to the degree of correlation. The dc signal is multiplied by the dithering control signal to effectivity substract noise voltage from the lock correlation signal which is then compared with a PN lock status signal.
Feedback circuit controls fluctuations in speed of synchronous ac motor. Voltage proportional to phase angle is developed by phase detector, rectified, amplified, compared to threshold, and reapplied positively or negatively to motor excitation circuit. Speed control reduces wow and flutter of audio turntables and tape recorders, and enhances hunting in gyroscope motors.
Parallel to the efforts to develop fully autonomous robots, it is increasingly being realized that there are applications where it is essential to have a fully controlled robot and "feel" its operating conditions, i.e. telepresence. This trend is a result of the increasing efforts to address tasks where humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Such robots need to be assisted by a human that remotely controls the operation. To address the goal of operating robots as human surrogates, the authors launched a study of mechanisms that provide mechanical feedback. For this purpose, electrorheological fluids (ERF) are being investigated for the potential application as miniature haptic devices. This family of electroactive fluids has the property of changing the viscosity during electrical stimulation. Consequently, ERF can be used to produce force feedback haptic devices for tele-operated control of medical and space robotic systems. Forces applied at the robot end-effector due to a compliant environment are reflected to the user using an ERF device where a change in the system viscosity will occur proportionally to the transmitted force. Analytical model and control algorithms are being developed taking into account the non-linearities of these type of devices. This paper will describe the concept and the developed mechanism of ERF based force feedback. The test process and the physical properties of this device will be described and the results of preliminary tests will be presented.