Techniques for selection and analysis of parachute deployment systems
Equations of motion for parachute deployment analysis
Huckins, E. K., III↗
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A study of some approximations in the modeling of a coupled rotor/fuselage aeromechanical system
Equations of motion for a three-bladed hingeless rotor coupled to a gimbal-supported fuselage are developed. A brief derivation of the equations is presented, including the assumptions made, the ordering scheme, and a discussion of both the source of the aerodynamic axial load term and the reason for differences due to hinge sequence. The solution of the equations is discussed, including linearization, the use of multiblade coordinates to eliminate periodic coefficients, and specialization to a root-sprung model. The treatment of the blade root offset by using an ordering scheme to neglect higher-order terms is found to affect results in pitch and roll. A small aerodynamic loading term in the blade axial direction has a significant effect at large collective pitch settings, as does the choice of a flap-lag or a lag-flap transformation sequence for blade motion. The results for a hingeless rotor also differ significantly from those for the root-sprung model when the nonrotating natural frequencies are matched.
Blelloch, P. A.↗
Computationally efficient algorithm for the dynamics of multi-link mechanisms
A computationally efficient algorithm for the dynamics of multi-rigid-link mechanisms is presented which is applicable to on-board processing for robotic manipulator control systems. A formulation of the equations of motion for such systems is presented which results in a solution algorithm of the order the number of system degrees of freedom. The formulation is presented for tree topology systems, where the chain topology of typical manipulators is a subset. Comparison of this algorithm is made with existing multibody simulation programs to illustrate the increased computational efficiency.
Singh, R. P.↗
Estimating radiated power from a conducting tethered satellite system
In anticipation of the upcoming TSS-1 experiment, theoretical calculations are made of radiated power from a conducting tethered satellite system. The radiation results from the steady motion of the system through the ionospheric plasma and it is stimulated by collection and emission of charge by the noninsulated surfaces of the tethered end connectors. A model of the current system is developed which incorporates the tether wire, satellite surfaces, and sheath currents. The radiation impedance of the current model is calculated using the previously developed theory of Barnett and Olbert (1986). The results confirm the low-frequency Alfven wave description with a predicted radiation impedance of a few tenths of an ohm in the Alven wave limit. Calculations are also made in the lower hybrid and whistler wave band. A larger impedance of about 13 ohm is found for the frequency range 5-50 kHz. By estimating the passive ion current drawn by the system a prediction of the total radiated power is also made. The result of 0.38 mW raises the question of whether or not wave emissions from a passive current collecting system may be detectable by either ground- or space-based platforms.
Donohue, D. J.↗
A computer architecture for intelligent machines
The Theory of Intelligent Machines proposes a hierarchical organization for the functions of an autonomous robot based on the Principle of Increasing Precision With Decreasing Intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed in recent years. A computer architecture that implements the lower two levels of the intelligent machine is presented. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Details of Execution Level controllers for motion and vision systems are addressed, as well as the Petri net transducer software used to implement Coordination Level functions. Extensions to UNIX and VxWorks operating systems which enable the development of a heterogeneous, distributed application are described. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.
Lefebvre, D. R.↗
Salt-Finger Convection in a Stratified Fluid Layer Induced by Thermal and Solutal Capillary Motion
Salt-finger convection in a double-diffusive system is a motion driven by the release of gravitational potential due to different diffusion rates. Normally, when the gravitational field is reduced, salt-finger convection together with other convective motions driven by buoyancy forces will be rapidly suppressed. However, because the destabilizing effect of the concentration gradient is amplified by the Lewis number, with values varying from 10(exp 2) for aqueous salt solutions to 10 (exp 4) for liquid metals, salt-finger convection may be generated at much reduced gravity levels. In the microgravity environment, the surface tension gradient assumes a dominant role in causing fluid motion. In this paper, we report on some experimental results showing the generation of salt-finger convection due to capillary motio on the surface of a stratified fluid layer. A numerical simulation is presented to show the cause of salt-finger convection.
Chen, Chuan F.↗
Sliding Mode Control of a Slewing Flexible Beam
An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.
Wilson, David G.↗
Device Design and Periodic Motion Control of an Ocean Kite System for Hydrokinetic Energy Harvesting (Final Technical Report)
This project focused on the modeling, device design, control system design, and progressive experimental validation of an energy-harvesting underwater kite harvesting energy through cyclic spooling motion. This adds to the portfolio of the DoE Water Power Technologies Office has resulted in several key outcomes that will further the development of energy-harvesting kites, as detailed in the report.
16 TIDAL AND WAVE POWER↗
Studies of the dynamics of the twin-lift system
A full set of equations of motion for the twin lift system, linearized about a hover trim condition were derived and presented. It is shown that this full set of equations of motion decouples into simpler sets of equations of motion if the aerodynamic coupling derivatives of the helicopters are neglected. One of these decoupled sets of equations of motion (referred to as the planar set) was studied at length. The other decoupled set (referred to as the nonplanar set) is examined here. It is shown that when the geometric configuration of the twin-lift is symmetric that a further decoupling is possible into antisymmetric and symmetric sets of equations. One set of these reduced equations of motion referred to as the antisymmetric set is directly equivalent to the longitudinal motion of a single helicopeter with a sling load. The second set, referred to as the symmetric set corresponds to the rotation of the entire system without load motion. As in the case of the planar symmetric motion, the location of the tether attachment point influences the stability of the nonplanar symmetric mode. The trend is opposite however in the nonplanar case in that an attachment point below the helicopter center of gravity gives a favorable effect on the stability. The effect is not as strong however as the unfavorable effect on the planar symmetric mode.
Curtiss, H. C., Jr.↗
Equations of motion of a constrained split fairing system during opening.
Description of a constrained split fairing technique for avoiding contamination of a sounding rocket's payload environment by an uncontained explosive actuation device. The development is presented of the equations of motion of the fairing halves during the opening sequence assumed to occur above the sensible atmosphere. It is believed that a significant insight into the general motion results from the solution obtained.
Saunders, R. C., Jr.↗
Chaos and nonlinear dynamics of single-particle orbits in a magnetotaillike magnetic field
The properties of charged-particle motion in Hamiltonian dynamics are studied in a magnetotaillike magnetic field configuration. It is shown by numerical integration of the equation of motion that the system is generally nonintegrable and that the particle motion can be classified into three distinct types of orbits: bounded integrable orbits, unbounded stochastic orbits, and unbounded transient orbits. It is also shown that different regions of the phase space exhibit qualitatively different responses to external influences. The concept of 'differential memory' in single-particle distributions is proposed. Physical implications for the dynamical properties of the magnetotail plasmas and the possible generation of non-Maxwellian features in the distribution functions are discussed.
Chen, J.↗
Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase
The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.
Phillips, Warren F.↗
Simulator of Space Communication Networks
Multimission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) is a suite of software tools that simulates the behaviors of communication networks to be used in space exploration, and predict the performance of established and emerging space communication protocols and services. MACHETE consists of four general software systems: (1) a system for kinematic modeling of planetary and spacecraft motions; (2) a system for characterizing the engineering impact on the bandwidth and reliability of deep-space and in-situ communication links; (3) a system for generating traffic loads and modeling of protocol behaviors and state machines; and (4) a system of user-interface for performance metric visualizations. The kinematic-modeling system makes it possible to characterize space link connectivity effects, including occultations and signal losses arising from dynamic slant-range changes and antenna radiation patterns. The link-engineering system also accounts for antenna radiation patterns and other phenomena, including modulations, data rates, coding, noise, and multipath fading. The protocol system utilizes information from the kinematic-modeling and link-engineering systems to simulate operational scenarios of space missions and evaluate overall network performance. In addition, a Communications Effect Server (CES) interface for MACHETE has been developed to facilitate hybrid simulation of space communication networks with actual flight/ground software/hardware embedded in the overall system.
Clare, Loren↗
Studies of earth simulation experiments
The low gravity environment of earth orbit offers the potential for performing experiments involving baroclinic Geophysical Fluid Dynamics (GFD) on spherical surfaces. These experiments in turn have the potential for providing deeper understanding of large scale planetary and solar circulations. However, to perform these experiments, one requires an experimental technique whereby a radially directed body force can be generated to simulate a radial gravitational force field. One viable technique is the use of dielectric fluids with temperature dependent dielectric permittivity in a radially directed electric field. Application of the Boussinesq approximation to the equations of motion for this system and restrictions on the size of certain electrodynamic terms in the energy equations yields a set of equations which are analogous to the equations of motions of geophysical systems like the earth's atmosphere on term by term basis. The theoretical design of GFD experiments for performance in earth orbit are described along with results of preliminary tests of a prototype.
Hart, J. E.↗
Equations of motion for coupled n-body systems
Computer program, developed to analyze spacecraft attitude dynamics, can be applied to large class of problems involving objects that can be simplified into component parts. Systems of coupled rigid bodies, point masses, symmetric wheels, and elastically flexible bodies can be analyzed. Program derives complete set of non-linear equations of motion in vectordyadic format. Numerical solutions may be printed out. Program is in FORTRAN IV for batch execution and has been implemented on IBM 360.
Frisch, H. P.↗
Present-day plate motions: Retrieval from the TOPEX/Poseidon orbitography network (DORIS system)
The goal of the proposal is to determine the present motion of the main tectonic plates from the Doppler data of the Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) orbitography system, which includes in its final configuration about 50 tracking stations with a world-wide distribution.
Souriau, Annie↗
Dynamics of Variable Mass Systems
This report presents the results of an investigation of the effects of mass loss on the attitude behavior of spinning bodies in flight. The principal goal is to determine whether there are circumstances under which the motion of variable mass systems can become unstable in the sense that their transverse angular velocities become unbounded. Obviously, results from a study of this kind would find immediate application in the aerospace field. The first part of this study features a complete and mathematically rigorous derivation of a set of equations that govern both the translational and rotational motions of general variable mass systems. The remainder of the study is then devoted to the application of the equations obtained to a systematic investigation of the effect of various mass loss scenarios on the dynamics of increasingly complex models of variable mass systems. It is found that mass loss can have a major impact on the dynamics of mechanical systems, including a possible change in the systems stability picture. Factors such as nozzle geometry, combustion chamber geometry, propellant's initial shape, size and relative mass, and propellant location can all have important influences on the system's dynamic behavior. The relative importance of these parameters on-system motion are quantified in a way that is useful for design purposes.
Eke, Fidelis O.↗
Mathematical crew motion disturbance models for spacecraft control system design
Several techniques for modeling the disturbances to a spacecraft's attitude caused by moving crew members are presented. These disturbances can be the largest moments acting on a manned spacecraft, and knowledge of their effect is important in the sizing, design, and analysis/simulation of spacecraft attitude control systems. The modeling techniques are identified as two principal types: deterministic and stochastic. Three techniques of each type are presented. The deterministic models include point-mass motion derivatives and a discussion on dynamic models of moving crew members. The stochastic techniques are highlighted by a Fourier transform method and the representation of long-term crew disturbance activities as outputs from appropriately designed filters. A z-transform technique is developed to obtain a difference-equation form of stochastic models for use on digital computers. An appendix derives spacecraft equations of motion which can be used with many of the models discussed.
Conway, B. A.↗