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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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NASA NTRS2016

Propellant Savings during Soyuz Undock from the International Space Station

As a vehicle continuously orbiting Earth for over a decade, the International Space Station (ISS) must be conscious of ways to conserve consumables to maximize the efficiency of cargo flights to ISS. One such consumable is propellant. As part of an ongoing effort to minimize propellant usage onboard ISS and use control moment gyroscopes as much as possible for ISS control, an effort was made in late 2014 to allow Soyuz manned vehicle undockings without requiring the use of thrusters. This method, which has been used for four Soyuz undockings, saves up to 160 kg of propellant each year. Fiona completed a B.S. is Mechanical Engienering at Washington University in St. Louis in 2009, after which she moved to Houston, TX to begin working at NASA Johnson Space Center. She currently works in the Flight Operations Directorate as an ADCO (Attitude Determination and Control Officer) flight controller and MCG (Motion Control Group) instructor. Her responsibilities include operating the motion control systems of the ISS in Mission Control, interfacing with Russian colleagues, mentoring and teaching flight controller trainees, and training astronauts for their missions to ISS.

Turett, Fiona↗
NASA NTRS1972

Prediction of unsteady aerodynamic loadings caused by trailing edge control surface motions in subsonic compressible flow: Analysis and results

A theoretical analysis and a computer program have been developed for the prediction of unsteady lifting surface loadings caused by motions of trailing edge control surfaces having sealed gaps. The final form of the downwash integral equation has been formulated by isolating the singularities from the non-singular terms and establishing a preferred solution process to remove and evaluate the downwash discontinuities in a systematic manner. Comparisons of theoretical and experimental pressure data are made for several control surface configurations. The comparisons indicate that reasonably accurate theoretical pressure distributions and generalized forces may be obtained for a wide variety of control surface configurations. Spanwise symmetry or antisymmetry of motion, and up to four control surfaces on each half span can be accommodated.

Rowe, W. S.↗
NASA NTRS1975

Some recent developments in predicting unsteady loadings caused by control surface motions

Solution instabilities are identified within the procedures used to predict unsteady loadings due to motions of swept hingeline control surfaces. A preferred solution process that demonstrates the need of calculating smooth residual downwash distributions is described. Numerical results displaying erratic solution behavior when use is made of various forms of pressure expressions currently employed in control surface analyses are presented. A new expression of the asymptotic pressure function is derived, which exactly satisfies the change in boundary conditions around the boundary of the control surface. Results of applying the new pressure function are presented and indicate that stable converged solutions may be achieved for predicting the unsteady loadings caused by motions of swept hingeline control surfaces.

Rowe, W. S.↗
NASA NTRS1989

The use of vestibular models for design and evaluation of flight simulator motion

Quantitative models for the dynamics of the human vestibular system are applied to the design and evaluation of flight simulator platform motion. An optimal simulator motion control algorithm is generated to minimize the vector difference between perceived spatial orientation estimated in flight and in simulation. The motion controller has been implemented on the Vertical Motion Simulator at NASA Ames Research Center and evaluated experimentally through measurement of pilot performance and subjective rating during VTOL aircraft simulation. In general, pilot performance in a longitudinal tracking task (formation flight) did not appear to be sensitive to variations in platform motion condition as long as motion was present. However, pilot assessment of motion fidelity by means of a rating scale designed for this purpose, were sensitive to motion controller design. Platform motion generated with the optimal motion controller was found to be generally equivalent to that generated by conventional linear crossfeed washout. The vestibular models are used to evaluate the motion fidelity of transport category aircraft (Boeing 727) simulation in a pilot performance and simulator acceptability study at the Man-Vehicle Systems Research Facility at NASA Ames Research Center. Eighteen airline pilots, currently flying B-727, were given a series of flight scenarios in the simulator under various conditions of simulator motion. The scenarios were chosen to reflect the flight maneuvers that these pilots might expect to be given during a routine pilot proficiency check. Pilot performance and subjective rating of simulator fidelity was relatively insensitive to the motion condition, despite large differences in the amplitude of motion provided. This lack of sensitivity may be explained by means of the vestibular models, which predict little difference in the modeled motion sensations of the pilots when different motion conditions are imposed.

Bussolari, Steven R.↗
NASA NTRS1975

A control system for orbiting tethered-body operations

This paper shows that through proper control logic the transfer of men and cargo between spacecrafts, or the 'positioning of packages' adjacent to orbiters, can be accomodated safely and predictably using tethers. Also, these systems may be adapted to rescue and retrieval operations where 'controlled motions' must be maintained. Shown here is a method which illustrates how tethered-body motions are controlled for 'reel-in' and 'reel-out' operations, and for precise 'positioning' purposes. Three control modes are examined; from these are derived sets of universal control parameters capable of predescribing systems of similar types. In addition, these parameters form a basis for designing tethered-body systems and operations.

Eades, J. B., Jr.↗
NASA NTRS1975

Prediction of unsteady aerodynamic loadings caused by leading edge and trailing edge control surface motions in subsonic compressible flow: Analysis and results

A theoretical analysis and computer program was developed for the prediction of unsteady lifting surface loadings caused by motions of leading edge and trailing edge control surfaces having sealed gaps. The final form of the downwash integral equation was formulated by isolating the singularities from the nonsingular terms and using a preferred solution process to remove and evaluate the downwash discontinuities in a systematic manner. Comparisons of theoretical and experimental pressure data are made for several control surface configurations. The comparisons indicate that reasonably accurate theoretical pressure distributions and generalized forces may be obtained for a wide variety of control surface configurations. Spanwise symmetry or antisymmetry of motion, and up to six control surfaces on each half span can be accommodated.

Rowe, W. S.↗
NASA NTRS1980

Reduction of computer usage costs in predicting unsteady aerodynamic loadings caused by control surface motion. Addendum to computer program description

Changes to be made that provide increased accuracy and increased user flexibility in prediction of unsteady loadings caused by control surface motions are described. Analysis flexibility is increased by reducing the restrictions on the location of the downwash stations relative to the leading edge and the edges of the control surface boundaries. Analysis accuracy is increased in predicting unsteady loading for high Mach number analysis conditions through use of additional chordwise downwash stations. User guideline are presented to enlarge analysis capabilities of unusual wing control surface configurations. Comparative results indicate that the revised procedures provide accurate predictions of unsteady loadings as well as providing reductions of 40 to 75 percent in computer usage cost required by previous versions of this program.

Rowe, W. S.↗
NASA NTRS1982

Unsteady Subsonic Loadings Due to Control-Surface Motion

RHOIV computer program predicts unsteady lifting-surface loadings caused by motions of leading edge and trailing-edge control surfaces having sealed gaps at hinge lines and side edges. Analysis is based on linear, subsonic, potential-flow theory using kernel function method. Linear combinations of pressure distributions are used that are continuous except at planform edges and hinge lines. Loading solution is obtained by downwash collocation for deflection or motion of main wing and control surfaces.

Rowe, W. S.↗
NASA NTRS2001

Assembly For Moving a Robotic Device Along Selected Axes

An assembly for moving a robotic device along selected axes includes a programmable logic controller (PLC) for controlling movement of the device along selected axes to effect movement of the device to a selected disposition. The PLC includes a plurality of single axis motion control modules, and a central processing unit (CPU) in communication with the motion control modules. A human-machine interface is provided for operator selection of configurations of device movements and is in communication with the CPU. A motor drive is in communication with each of the motion control modules and is operable to effect movement of the device along the selected axes to obtain movement of the device to the selected disposition.

Brentley Craig Nowlin↗
NASA NTRS1979

Reduction of computer usage costs in predicting unsteady aerodynamic loadings caused by control surface motions: Analysis and results

Results of theoretical and numerical investigations conducted to develop economical computing procedures were applied to an existing computer program that predicts unsteady aerodynamic loadings caused by leading and trailing edge control surface motions in subsonic compressible flow. Large reductions in computing costs were achieved by removing the spanwise singularity of the downwash integrand and evaluating its effect separately in closed form. Additional reductions were obtained by modifying the incremental pressure term that account for downwash singularities at control surface edges. Accuracy of theoretical predictions of unsteady loading at high reduced frequencies was increased by applying new pressure expressions that exactly satisified the high frequency boundary conditions of an oscillating control surface. Comparative computer result indicated that the revised procedures provide more accurate predictions of unsteady loadings as well as providing reduction of 50 to 80 percent in computer usage costs.

Rowe, W. S.↗
NASA NTRS1991

Development of advanced control schemes for telerobot manipulators

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1972

Prediction of unsteady aerodynamic loadings caused by trailing edge control surface motions in subsonic compressible flow: Computer program description

A digital computer program has been developed to calculate unsteady loadings caused by motions of lifting surfaces with trailing edge control based on the subsonic kernal function approach. The pressure singularities at hinge line and side edges have been extracted analytically as a preliminary step to solving the integral by collocation. The program calculates generalized aerodynamic forces for user supplied deflection modes. Optional intermediate output includes pressure at an array of points, and sectional generalized forces. From one to four controls on the half span can be accommodated.

Redman, M. C.↗
NASA NTRS2011

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, <20 cm radius) in a darkened room is utilized to elicit otolith reflexes in the lateral plane without concordant canal or visual cues. A Tilt-Translation Sled (TTS) is capable of synchronizing pitch tilt with fore-aft translation to align the resultant gravitoinertial vector with the longitudinal body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

Wood, S. J.↗
NASA NTRS2007

Deep Space Network Antenna Logic Controller

The Antenna Logic Controller (ALC) software controls and monitors the motion control equipment of the 4,000-metric-ton structure of the Deep Space Network 70-meter antenna. This program coordinates the control of 42 hydraulic pumps, while monitoring several interlocks for personnel and equipment safety. Remote operation of the ALC runs via the Antenna Monitor & Control (AMC) computer, which orchestrates the tracking functions of the entire antenna. This software provides a graphical user interface for local control, monitoring, and identification of faults as well as, at a high level, providing for the digital control of the axis brakes so that the servo of the AMC may control the motion of the antenna. Specific functions of the ALC also include routines for startup in cold weather, controlled shutdown for both normal and fault situations, and pump switching on failure. The increased monitoring, the ability to trend key performance characteristics, the improved fault detection and recovery, the centralization of all control at a single panel, and the simplification of the user interface have all reduced the required workforce to run 70-meter antennas. The ALC also increases the antenna availability by reducing the time required to start up the antenna, to diagnose faults, and by providing additional insight into the performance of key parameters that aid in preventive maintenance to avoid key element failure. The ALC User Display (AUD) is a graphical user interface with hierarchical display structure, which provides high-level status information to the operation of the ALC, as well as detailed information for virtually all aspects of the ALC via drill-down displays. The operational status of an item, be it a function or assembly, is shown in the higher-level display. By pressing the item on the display screen, a new screen opens to show more detail of the function/assembly. Navigation tools and the map button allow immediate access to all screens.

Ahlstrom, Harlow↗
NASA NTRS1996

Theory Of Controlling Spacecraft Motion With Pulsed Thrusters

Report presents new class of flight-control laws for making spacecraft follow desired trajectory by use of pulsed thrusters during such maneuvers as automated rendezvous on orbit and soft landing on planet. Although emphasis in report on guidance, ultimately shown same techniques also useful for attitude control and station keeping.

Thurman, Sam W.↗
NASA NTRS1973

Control strategies for planetary rover motion and manipulator control

An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.

Trautwein, W.↗