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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 469 records · Page 26

An assessment of various side-stick controller/stability and control augmentation systems for night nap-of-Earth flight using piloted simulation

Several night nap-of-the-earth mission tasks were evaluated using a helmet-mounted display which provided a limited field-of-view image with superimposed flight control symbology. A wide range of stability and control augmentation designs was investigated. Variations in controller force-deflection characteristics and the number of axes controlled through an integrated side-stick controller were studied. In general, a small displacement controller is preferred over a stiffstick controller particularly for maneuvering flight. Higher levels of stability augmentation were required for IMC tasks to provide handling qualities comparable to those achieved for the same tasks conducted under simulated visual flight conditions.

Landis, K. H.↗

Simulator investigations of side-stick controller/stability and control augmentation systems for night nap-of-earth flight

Several night nap-of-the-earth mission tasks were evaluated using a helmet-mounted display which provided a limited field-of-view image with superimposed flight control symbology. A wide range of stability and control augmentation designs was investigated. Variations in controller force-deflection characteristics and the number of axes controlled through an integrated side-stick controller were studied. In general, a small displacement controller is preferred over a stiffstick controller particularly for maneuvering flight. Higher levels of stability augmentation were required for IMC tasks to provide handling qualities comparable to those achieved for the same tasks conducted under simulated visual flight conditions. Previously announced in STAR as N82-23216

Landis, K. H.↗

Dynamic sensing of 6-axis external force and moment applied to a robot end

A dynamic force sensing method is proposed for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. A mathematical model is derived for the force sensing process and the separation of the force and moment as a nonlinear optimal state estimation problem formulated. Then an approximate solution is given using extended Kalman filtering techniques.

Yokota, Masaru Uchiyama↗

Aerodynamic detuning for aeroelastic control of stability and forced response of supersonic rotors

An unsteady aerodynamic model is developed to analyze flutter and aerodynamically forced response of aerodynamically detuned supersonic axial flow rotors. Alternate blade aerodynamic detuning is considered, accomplished by alternating the circumferential spacing of adjacent blades as small solidity variations which do not have a dominant effect on the steady performance of a rotor. The unsteady aerodynamics are determined by developing an influence coefficient technique which is appropriate for both aerodynamically tuned and detuned rotor configurations. Torsion mode rotor stability and aerodynamically forced response are then analyzed with this unsteady aerodynamic model by combining it with a single-degree-of-freedom structural model. The effects of this detuning on the flutter and forced response characteristics of supersonic axial flow rotors is then demonstrated by considering baseline twelve bladed rotors.

Spara, Karen M.↗

Flight Measurements of the Flying Qualities of a Lockheed P-80A Airplane (Army No. 44-85099): Longitudinal-Stability and -Control Characteristics

This report contains the flight-test results of the longitudinal-stability and -control phase of a general flying qualities investigation of the Lockheed P-80A airplane (Army No. 44-85099). The tests were conducted at indicated airspeeds up to 530 miles per hour (0.76 Mach number) at low altitude and up to 350 miles per hour (0.82) Mach number) at high altitude. These tests showed that the flying qualities of the airplane were in accordance with the requirements of the Army Air Forces Stability and Control Specification except for excessive elevator control forces in maneuvering flight and the inadequacy of the longitudinal trimming control at low airspeeds.

Anderson, Seth B.↗

Stability analysis of multiple rigid robot manipulators holding a common rigid object

The authors consider several possible control structures for multiple-arm systems by regarding either joint torques, tip force, or a generalized acceleration of the control input. They emphasize the first case, since a class of relatively model-independent control laws can be generated for both motion and internal force control. The recently developed move/squeeze orthogonal subspace decomposition coupled with the energy Lyapunov function formulation provides a basic analytical framework within which motion and force control are considered as independent problems. Simulation results of two three-link planar arms are included to demonstrate good transient performance for both motion and force that can be attained with the full dynamics control paradigm.

Wen, John T.↗

Landing gear energy absorption system

A landing pad system is described for absorbing horizontal and vertical impact forces upon engagement with a landing surface where circumferentially arranged landing struts respectively have a clevis which receives a slidable rod member and where the upper portion of a slidable rod member is coupled to the clevis by friction washers which are force fit onto the rod member to provide for controlled constant force energy absorption when the rod member moves relative to the clevis. The lower end of the friction rod is pivotally attached by a ball and socket to a support plate where the support plate is arranged to slide in a transverse direction relative to a housing which contains an energy absorption material for absorbing energy in a transverse direction.

Hansen, Christopher P.↗

Optical Modification of Casimir Forces for Improved Function of Micro-and Nano-Scale Devices

Recently, there has been a considerable effort to study the Casimir and van der Waals forces, enabled by the improved ability to measure small forces near surfaces. Because of the continuously growing role of micro- and nanomechanical devices, the focus of this activity has shifted towards the ability to control these forces. Possible approaches to manipulating the Casimir force include development of composite materials, engineered nanostructures, mixed-phase materials, or active elements. So far, practical success has been limited. The role of geometrical factors in the Casimir force is significant. It is known, for example, that the Casimir force between two spherical shells enclosed one into the other is repulsive instead of normal attractive. Unfortunately, nanosurfaces with this topology are very difficult to make. A more direct approach to manipulating and neutralizing the Casimir force is using external mechanical or electromagnetic forces. Unfortunately, the technological overhead of such an approach is quite large. Using electromagnetic compensation instead of mechanical will considerably reduce this overhead and at the same time provide the degree of control over the Casimir force that mechanical springs cannot provide. A mechanical analog behind Casimir forces is shown.

Strekalov, Dmitry V.↗

Kinesthetic coupling between operator and remote manipulator

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Bejczy, A. K.↗

Cellular control lies in the balance of forces

Mechanical tension generated within the cytoskeleton of living cells is emerging as a critical regulator of biological function in diverse situations ranging from the control of chromosome movement to the morphogenesis of the vertebrate brain. In this article, we review recent advances that have been made in terms of understanding how cells generate, transmit and sense mechanical tension, as well as how they use these forces to control their shape and behavior. An integrated view of cell regulation that incorporates mechanics and structure as well as chemistry is beginning to emerge.

Review, Tutorial↗

Development of an advanced pitch active control system and a reduced area horizontal tail for a wide-body jet aircraft

The development of an advanced pitch active control system (PACS) and a reduced area horizontal tail for a wide-body jet transport (L-1011) with a flying horizontal stabilizer is discussed. The advanced PACS control law design objectives were to provide satisfactory handling qualities for aft c.g. flight conditions to negative static stability margins of 10 percent and to provide good maneuver control column force gradients for nonlinear stability flight conditions. Validity of the control laws were demonstrated by piloted flight simulation tests on the NASA Langley Visual Motion Simulator. Satisfactory handling qualities were actually demonstrated to a negative 20 percent static stability margin. The PACS control laws were mechanized to provide the system architecture that would be suitable for an L-1011 flight test program to a negative stability margin of 3 percent which represents the aft c.g. limits of the aircraft. Reduced area horizontal tail designs of 30 and 38 percent with respect to the L-1011 standard tail were designed, fabricated and wind tunnel tested. Drag reductions and weight savings of the 30 percent smaller tail would provide an L/D benefit of about 2% and the 38% small tail L/D benefit would be about 3 percent. However, forward c.g. limitations would have to be imposed on the aircraft because the maximum horizontal tail lift goal was not achieved and sufficient aircraft nose-up control authority was not available. This limitation would not be required for a properly designed new aircraft.

Guinn, Wiley A.↗

Active-Control Bearings for Rotor Shafts

Vibrations suppressed by feedback control. Flexural forced vibrations or self-excited vibrations of rotating system suppressed by active elements. Instead of dissipating vibration forces through damped supports, active elements apply forces, through bearing housing, that cancel vibration displacements. Bearing systems incorporating such devices appropriately named active-control bearings. Active-controlbearing systems effective not only for imbalance forces but also for unstable or external forces transmitted from foundation. Damping ratios of system easily changed by modifying state-feedback control system.

Nonami, K.↗

Multimodal Friction Ignition Tester

The multimodal friction ignition tester (MFIT) is a testbed for experiments on the thermal and mechanical effects of friction on material specimens in pressurized, oxygen-rich atmospheres. In simplest terms, a test involves recording sensory data while rubbing two specimens against each other at a controlled normal force, with either a random stroke or a sinusoidal stroke having controlled amplitude and frequency. The term multimodal in the full name of the apparatus refers to a capability for imposing any combination of widely ranging values of the atmospheric pressure, atmospheric oxygen content, stroke length, stroke frequency, and normal force. The MFIT was designed especially for studying the tendency toward heating and combustion of nonmetallic composite materials and the fretting of metals subjected to dynamic (vibrational) friction forces in the presence of liquid oxygen or pressurized gaseous oxygen test conditions approximating conditions expected to be encountered in proposed composite material oxygen tanks aboard aircraft and spacecraft in flight. The MFIT includes a stainless-steel pressure vessel capable of retaining the required test atmosphere. Mounted atop the vessel is a pneumatic cylinder containing a piston for exerting the specified normal force between the two specimens. Through a shaft seal, the piston shaft extends downward into the vessel. One of the specimens is mounted on a block, denoted the pressure block, at the lower end of the piston shaft. This specimen is pressed down against the other specimen, which is mounted in a recess in another block, denoted the slip block, that can be moved horizontally but not vertically. The slip block is driven in reciprocating horizontal motion by an electrodynamic vibration exciter outside the pressure vessel. The armature of the electrodynamic exciter is connected to the slip block via a horizontal shaft that extends into the pressure vessel via a second shaft seal. The reciprocating horizontal motion can be chosen to be random with a flat spectrum over the frequency range of 10 Hz to 1 kHz, or to be sinusoidal at any peak-to-peak amplitude up to 0.8 in. (.2 cm) and fixed or varying frequency up to 1 kHz. The temperatures of the specimen and of the vessel are measured by thermocouples. A digital video camera mounted outside the pressure vessel is aimed into the vessel through a sapphire window, with its focus fixed on the interface between the two specimens. A position transducer monitors the displacement of the pneumatic-cylinder shaft. The pressure in the vessel is also monitored. During a test, the output of the video camera, the temperatures, and the pneumatic-shaft displacement are monitored and recorded. The test is continued for a predetermined amount of time (typically, 10 minutes) or until either (1) the output of the position transducer shows a sudden change indicative of degradation of either or both specimens, (2) ignition or another significant reaction is observed, or (3) pressure in the vessel increases beyond a pre-set level that triggers an automatic shutdown.

Davis, Eddie↗

An experimental and theoretical study of the aerodynamic characteristics of some generic missile concepts at Mach numbers from 2 to 6.8

A study has been made of the experimental and theoretical aerodynamic characteristics for some generic high-speed missile concepts at Mach numbers from 2 to 6.8. The basic body for this study had a length-to-diameter ratio of 10 with the forward half being a modified blunted ogive and the rear half being a cylinder. Modifications made to the basic body included the addition of an after body flare, the addition of highly swept cruciform wings and the addition of highly swept aft tails. The effects of some controls were also investigated with all-moving wing controls on the flared body and trailing-edge flap controls on the winged body. The results indicated that the addition of a flare, wings, or tails to the basic body all provided static longitudinal stability with varying amounts of increased axial force. The control arrangements were effective in producing increments of normal-force and pitching-moment at the lower Mach numbers. At the highest Mach number, the flap control on the winged body was ineffective in producing normal-force or pitching-moment but the all-moving wing control on the flared body, while losing pitch effectiveness, still provided normal-force increments. Calculated results obtained through the use of hypersonic impact theory were in generally good agreement with experiment at the higher Mach numbers but were not accurate at the lower Mach numbers.

Spearman, M. Leroy↗

Experimental Demonstration and System Analysis for Plasmonic Force Propulsion

This project developed a higher-fidelity model of a recently envisioned small spacecraft propulsion system for precision pointing and proximity control. Plasmonic force propulsion harnesses solar light focused onto plasmon reactive subwavelength nanostructures to accelerate and expel nanoparticle propellant via strong optical forces. The goal of the project was to show that plasmonic space propulsion can provide the level of proximity and attitude control envisioned for future NASA nano/picosatellite missions, a level that is better than state-of-the-art approaches. We achieved this goal by showing that plasmonic force thrusters are feasible for a range of advanced mission concepts requiring swarm formations in a deep space environment. We performed three case studies that evaluated the performance of the plasmonic force propulsion thruster in a deep space, microsatellite swarm formation. These case studies assumed the propulsion system could generate thrust at the level predicted from our Phase 1 study (1.6 μN). Through these cases we were able to analyze the concept within a mission specific context through detailed orbital dynamics calculations. Results indicate that, with the Phase 1 estimated thrust level, the approach is promising for providing attitude control to swarm formation spacecraft. Further, we achieved goals related to technology development. Specifically, we experimentally demonstrated nanoparticle acceleration due to plasmonic forces with asymmetric nanostructures excited by focused laser light. Additionally, we investigated the thrust sensitivity and nanoparticle propellant injection dependencies upon thermal effects. As a result of our study, plasmonic force propulsion is at an early TRL 3. Active research and design has been conducted analytically and in the laboratory. Furthermore, practical applications such as the three case studies have been identified for the scientific basic principles that were observed. Future efforts related to fundamental understanding of these techniques should focus on 1) developing a standalone array of asymmetric nanostructures that can effectively interact with a stream or reservoir of particles or 2) experimentally evaluate a dielectrophoretic injector for nanoparticle propellant. The main limitation discovered about plasmonic propulsion regards performance estimates significantly below the Phase 1 estimations. Specifically, original assumptions in the Phase 1 project (notably, a linear array of asymmetric nanostructures) is not a viable approach to achieving significant acceleration, high exhaust velocity, of nanoparticles. More specifically, we assumed in Phase 1 that nanoparticles would be accelerated in series by a long linear array of asymmetric nanostructures. That is, the acceleration of the nanoparticle would build and increase with the kick received by each subsequent nanostructure. This is fundamentally flawed. The potential profile of a single nanostructure is such that it prohibits this phenomenon. The potential energy associated with the plasmon-generated dielectrophoretic force is a potential well, which is good for trapping nanoparticles, but cannot provide significant acceleration of particles to expel them out and away from the nanostructure. Further, a nanoparticle expelled from the first nanostructure would need to overcome the potential barrier for entry into the next nanostructure accelerating stage. Fundamentally, this effect means that a linear array of nanostructures is not a viable accelerating structure. Correspondingly then, acceleration can, or should, only be provided by one nanostructure, and the net acceleration and thrust force of a single nanostructure is small (~cm/s exhaust velocities, sub-nN level thrust vs. the 100’s m/s, μN originally envisioned). While our experiments demonstrated acceleration and manipulation of a nanoparticle using laser light in aqueous environment, the achievable energy and momentum addition to the nanoparticle from a single nanostructure stage is too low for useful propulsion. In terms of thrust prediction, the estimated thrust of 1.6 μN in Phase 1 is reduced to a few nN of thrust with this new insight and understanding of the concept. This thrust level is too small to achieve attitude control of swarms as originally envisioned.

Plasmonic Force↗

Telerobot control mode performance assessment

With the maturation of various developing robot control schemes, it is becoming extremely important that the technical community evaluate the performance of these various control technologies against an established baseline to determine which technology provides the most reliable robust, and safe on-orbit robot control. The Supervisory Telerobotics Laboratory (STELER) at JPL has developed a unique robot control capability which has been evaluated by the NASA technical community and found useful for augmenting both the operator interface and control of intended robotic systems on-board the Space Station. As part of the technology development and prototyping effort, the STELER team has been evaluating the performance of different control modes; namely, teleoperation under position, or rate, control, teleoperation with force reflection and shared control. Nine trained subjects were employed in the performance evaluation involving several high fidelity servicing tasks. Four types of operator performance data were collected; task completion time, average force, peak force, and number of operator successes and errors. This paper summarizes the results of this performance evaluation.

Zimmerman, Wayne↗