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NASA NTRS1961

A Study of Longitudinal Control Problems at Low and Negative Damping and Stability with Emphasis on Effects of Motion Cues

As part of a general investigation to determine the effects of simulator motions on pilot opinion and task performance over a wide range of vehicle longitudinal dynamics, a cooperative NASA-AMAL program was conducted on the centrifuge at Johnsville, Pennsylvania. The test parameters and measurements for this program duplicated those of earlier studies made at Ames Research Center with a variable-stability airplane and with a pitch-roll chair flight simulator. Particular emphasis was placed on the minimum basic damping and stability the pilots would accept and on the minimum dynamics they considered controllable in the event of stability-augmentation system failure. Results of the centrifuge-simulator program indicated that small positive damping was required by the pilots over most of the frequency range covered for configurations rated acceptable for emergency conditions only (e.g., failure of a pitch damper). It was shown that the pilot's tolerance for unstable dynamics was dependent primarily on the value of damping. For configurations rated acceptable for emergency operation only, the allowable instability and damping corresponded to a divergence time to double amplitude of about 1 second. Comparisons were made of centrifuge, pitch-chair and fixed-cockpit simulator tests with flight tests. Pilot ratings indicated that the effects of incomplete or spurious motion cues provided by these three modes of simulation were important only for high-frequency, lightly damped dynamics or unstable, moderately damped dynamics. The pitch- chair simulation, which provided accurate angular-acceleration cues to the pilot, compared most favorably with flight. For the centrifuge simulation, which furnished accurate normal accelerations but spurious pitching and longitudinal accelerations, there was a deterioration of pilots' opinion relative to flight results. Results of simulator studies with an analog pilot replacing the human pilot illustrated the adaptive capability of human pilots in coping with the wide range of vehicle dynamics and the control problems covered in this study. It was shown that pilot-response characteristics, deduced by the analog-pilot method, could be related to pilot opinion. Possible application of these results for predicting flight-control problems was illustrated by means of an example control-problem analysis. The results of a brief evaluation of a pencil-type side-arm controller in the centrifuge showed a considerable improvement in the pilots' ability to cope with high-frequency, low-damping dynamics, compared to results obtained with the center stick. This improvement with the pencil controller was attributed primarily to a marked reduction in the adverse effects of large and exaggerated pitching and longitudinal accelerations on pilot control precision.

Sadoff, Melvin↗

NASA NTRS2008

Testing and Model Correlation of Sublimator Driven Coldplate Coupons

The Sublimator Driven Coldplate (SDC) is a unique piece of thermal control hardware that has several advantages over a traditional thermal control scheme. The principal advantage is the possible elimination of a pumped fluid loop, potentially saving mass, power, and complexity. Because this concept relies on evaporative heat rejection techniques, it is primarily useful for short mission durations. Additionally, the concept requires a conductive path between the heat-generating component and the heat rejection device. Therefore, it is mostly a relevant solution for a vehicle with a relatively low heat rejection requirement. Coupon level tests were performed at NASA's Johnson Space Center to better understand the basic operational principles and to validate the analytical methods being used for the SDC development. This paper outlines the results of the SDC coupon tests, the subsequent thermal model correlation, and a description of the SDC Engineering Development Unit design.

Sheth, Rubik↗

NASA NTRS2004

Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Nickels, Kevin↗

NASA NTRS1977

Electric prototype power processor for a 30cm ion thruster

An electrical prototype power processor unit was designed, fabricated and tested with a 30 cm mercury ion engine for primary space propulsion. The power processor unit used the thyristor series resonant inverter as the basic power stage for the high power beam and discharge supplies. A transistorized series resonant inverter processed the remaining power for the low power outputs. The power processor included a digital interface unit to process all input commands and internal telemetry signals so that electric propulsion systems could be operated with a central computer system. The electrical prototype unit included design improvement in the power components such as thyristors, transistors, filters and resonant capacitors, and power transformers and inductors in order to reduce component weight, to minimize losses, and to control the component temperature rise. A design analysis for the electrical prototype is also presented on the component weight, losses, part count and reliability estimate. The electrical prototype was tested in a thermal vacuum environment. Integration tests were performed with a 30 cm ion engine and demonstrated operational compatibility. Electromagnetic interference data was also recorded on the design to provide information for spacecraft integration.

Biess, J. J.↗

NASA NTRS1992

Recent developments at the Goddard Engineering Test Bed

Work on the Flight Telerobotic Service (FTS) since that reported in Leake (1991) is examined, and initial work on a Hubble servicing mission is outlined. A state-of-the-art force reflecting teleoperation system that uses torque control at the joints of the slave manipulator has been implemented. The master rate/slave damper mode proposed by Langley has proved to be a very efficient operational mode, allowing force reflection ratios up to one to one. A software architecture for real-time Ada robotics systems has been proposed, and implementation has been launched. This architecture builds on the lessons learned from NASA Standard Reference Model Architecture and the prototype FTS effort. The Capaciflector sensor has been integrated into the system, and it has been used to perform a basic berthing task autonomously.

Leake, Stephen↗

NASA NTRS1993

Automatic array alignment in data-parallel programs

FORTRAN 90 and other data-parallel languages express parallelism in the form of operations on data aggregates such as arrays. Misalignment of the operands of an array operation can reduce program performance on a distributed-memory parallel machine by requiring nonlocal data accesses. Determining array alignments that reduce communication is therefore a key issue in compiling such languages. We present a framework for the automatic determination of array alignments in array-based, data-parallel languages. Our language model handles array sectioning, reductions, spreads, transpositions, and masked operations. We decompose alignment functions into three constituents: axis, stride, and offset. For each of these subproblems, we show how to solve the alignment problem for a basic block of code, possibly containing common subexpressions. Alignments are generated for all array objects in the code, both named program variables and intermediate results. We assign computation to processors by virtue of explicit alignment of all temporaries; the resulting work assignment is in general better than that provided by the 'owner-computes' rule. Finally, we present some ideas for dealing with control flow, replication, and dynamic alignments that depend on loop induction variables.

Chatterjee, Siddhartha↗

NASA NTRS1993

Performance measures from the explorer platform berthing experiment

The Explorer Platform is a Modular Mission Spacecraft: it has several subunits that are designed to be replaced on orbit. The Goddard Space Flight Center Robotics Lab undertook an experiment to evaluate various robotic approaches to replacing one of the units; a large (approximately 1 meter by 1 meter by 0.5 meter) power box. The hardware consists of a Robotics Research Corporation K-1607 (RRC) manipulator mounted on a large gantry robot, a Kraft handcontroller for teleoperation of RRC, a Lightweight Servicing Tool (LST) mounted on the RRC, and an Explorer Platform mockup (EP) with a removable box (MMS) that has fixtures that mate with the LST. Sensors include a wrist wrench sensor on the RRC and Capaciflectors mounted on the LST and the MMS. There are also several cameras, but no machine vision is used. The control system for the RRC is entirely written by Goddard; it consists of Ada code on three Multibus I 386/387 CPU boards doing the real-time robot control, and C on a 386 PC processing Capaciflector data. The gantry is not moved during this experiment. The task is the exchange of the MMS; it is removed and replaced. This involves four basic steps: mating the LST to the MMS, demating the MMS from the EP, mating the MMS to the EP, and demating the LST form the MMS. Each of the mating steps must be preceeded by an alignment to bring the mechanical fixtures within their capture range. Two basic approaches to alignment are explored: teleoperation with the operator viewing thru cameras, and Capaciflector based autonomy. To evaluate the two alignment approaches, several runs were run with each approach and the final pose was recorded. Comparing this to the ideal alignment pose gives accuracy and repeatability data. In addition the wrenches exerted during the mating tasks were recorded; this gives information on how the alignment step affects the mating step. There are also two approaches to mating; teleoperation, and impedance based autonomy. The wrench data taken during mating using these two approaches is used to evaluate them. Section 2 describes the alignment results, section 3 describes the mating results, and finally Section 4 gives some conclusions.

Leake, Stephen↗

NASA NTRS1994

Instructable autonomous agents

In contrast to current intelligent systems, which must be laboriously programmed for each task they are meant to perform, instructable agents can be taught new tasks and associated knowledge. This thesis presents a general theory of learning from tutorial instruction and its use to produce an instructable agent. Tutorial instruction is a particularly powerful form of instruction, because it allows the instructor to communicate whatever kind of knowledge a student needs at whatever point it is needed. To exploit this broad flexibility, however, a tutorable agent must support a full range of interaction with its instructor to learn a full range of knowledge. Thus, unlike most machine learning tasks, which target deep learning of a single kind of knowledge from a single kind of input, tutorability requires a breadth of learning from a broad range of instructional interactions. The theory of learning from tutorial instruction presented here has two parts. First, a computational model of an intelligent agent, the problem space computational model, indicates the types of knowledge that determine an agent's performance, and thus, that should be acquirable via instruction. Second, a learning technique, called situated explanation specifies how the agent learns general knowledge from instruction. The theory is embodied by an implemented agent, Instructo-Soar, built within the Soar architecture. Instructo-Soar is able to learn hierarchies of completely new tasks, to extend task knowledge to apply in new situations, and in fact to acquire every type of knowledge it uses during task performance - control knowledge, knowledge of operators' effects, state inferences, etc. - from interactive natural language instructions. This variety of learning occurs by applying the situated explanation technique to a variety of instructional interactions involving a variety of types of instructions (commands, statements, conditionals, etc.). By taking seriously the requirements of flexible tutorial instruction, Instructo-Soar demonstrates a breadth of interaction and learning capabilities that goes beyond previous instructable systems, such as learning apprentice systems. Instructo-Soar's techniques could form the basis for future 'instructable technologies' that come equipped with basic capabilities, and can be taught by novice users to perform any number of desired tasks.

Huffman, Scott Bradley↗

NASA NTRS2015

NASA's Rodent Research Project on ISS: Validation of a New Platform for Conducting Biomedical and Basic Research into the Consequences of Long Duration Habitation in Space

Rodent research has played a key role in advancing biomedical discoveries both on Earth and in space. The National Research Counsel’s Decadal survey(1) emphasized the importance of expanding NASAs life sciences research to perform long duration, rodent experiments on the International Space Station (ISS). To accomplish this objective, flight hardware, operations, and science capabilities were developed at NASA ARC to support both commercial and government-sponsored rodent research.Rodent Research-1 (RR-1) was the first mission in which animals were delivered and maintained in the ISS for a long duration mission in modified Animal Enclosure Module hardware. Both RR validation and commercial science objectives were pursued on the RR-1 mission. Adult female mice (20 total Flight, FLT) were launched Sept 21, 2014 in RR hardware within a Dragon Capsule (SpaceX4), then after 4 days in transit, were transferred for habitation on the ISS for 17 days (commercial) or 33 days (validation), when animals were euthanized and select tissues recovered on orbit. Various controls groups consisted of: 1) Basal mice from the same cohorts as FLT mice, but tissues were recovered at time of launch, 2) Vivarium (VIV) were housed in standard cages 3) Ground Controls (GC) were housed in flight hardware within an environmental chamber at Kennedy Space Center. The health and behavior of all mice on the ISS were monitored by video feed on a daily basis. Mice were euthanized by injection of Euthasol, then either fast frozen intact or dissected to preserve livers (fast frozen) and spleens (RNAlater). Samples were stored at ≤ -80˚C until their return to Earth for later analyses.Hardware performed nominally throughout the mission and the planned in-flight science operations were completed successfully. FLT mice appeared generally more physically active on orbit than respective GC groups. After 33 days on the ISS, mean body weights of FLT mice did not differ from GC, with both groups showing a 6% rise compared to time of launch, while VIV mice showed an 8% rise over the same period. Importantly, there were no significant differences in body weights between groups at the end of 33 days on the ISS, providing an indication that the RR hardware supported the health of the mice both on Earth and in space. Based on the preliminary data obtained from the livers and spleens of mice after 17 days on the ISS, purified RNA was of high quality (RIN values of spleen: FLT=9.48 +0.40, GC=9.28 +0.44, n=5/group); therefore, RNA quality from samples retrieved on orbit was acceptable for even the most demanding transcriptomic analyses. In addition, liver enzyme activity levels (units/mg protein) of FLT mice (after 17d on ISS) and all control mice were similar in magnitude to samples that were optimally prepared by freezing in liquid nitrogen in the laboratory (enzymes analyzed included catalase, glutathione reductase and glyceraldehyde-3-phosphate dehydrogenase). Validation analyses still in progress include behavior and tissue biochemistries, as well as optimization of science return by post-flight recovery of tissues for biospecimen sharing and global expression analyses.Together, these preliminary findings demonstrate new capability for supporting long duration rodent research on the ISS to achieve both basic science and biomedical objectives.

Globus, R. K.↗

NASA NTRS2013

Space Operations Learning Center (SOLC) iPhone/iPad Application

This iPhone application, Space Junk Sammy, is intended to be an educational application designed for Apple iPhones and iPads. This new concept educates kids in an innovative way about how orbital debris affects space missions. Orbital debris is becoming a very significant concern for NASA and all Earthorbiting space missions. Spacecraft in low-Earth orbit are in constant danger of being potentially damaged or destroyed by debris. High-profile spacecraft such as the International Space Station (ISS) and Hubble Space Telescope are dealing with orbital debris on a regular basis. Other basic educational concepts that are portrayed are low-Earth orbits, satellites, ISS, attitude control, and other facts that can be presented in betweenlevel popup screens. The Orbital Debris Cleanup game is relatively simple from the user s technical standpoint. It is a 2D game where the user s avatar is a satellite buddy, named Sammy, in orbit around Earth. Sammy is controlled by the user with the device s gyroscope as well as touchscreen controls. It has equipment used for taking care of the space debris objects on the screen. Sammy also has a claw, a laser deflector, and hydrazine rockets to grab or push the debris objects into a higher orbit or into a lower orbit to burn up in the Earth s atmosphere. The user interface shows Sammy and space debris objects constantly moving from left to right, where Sammy is trying to catch the debris objects before they move off the right side of the screen. Everything will be in constant motion to increase fun and add to the realism of orbiting the Earth. The satellite buddy is used to clean up the space debris and protect other satellites. Later levels will include a laser deflector and hydrazine rockets instead of a robotic claw to push the orbital debris into a higher orbit and out of the path of other satellites

Binebrink, Daniel↗

NASA NTRS2006

The Importance of Engine External's Health

Engine external components include all the fluid carrying, electron carrying, and support devices that are needed to operate the propulsion system. These components are varied and include: pumps, valves, actuators, solenoids, sensors, switches, heat exchangers, electrical generators, electrical harnesses, tubes, ducts, clamps and brackets. The failure of any component to perform its intended function will result in a maintenance action, a dispatch delay, or an engine in flight shutdown. The life of each component, in addition to its basic functional design, is closely tied to its thermal and dynamic environment .Therefore, to reach a mature design life, the component's thermal and dynamic environment must be understood and controlled, which can only be accomplished by attention to design analysis and testing. The purpose of this paper is to review analysis and test techniques toward achieving good component health.

Stoner, Barry L.↗

NASA NTRS2026

The Operational NASA Anomaly Gas Analyzer and Exploration Follow-Ons

The NASA Anomaly Gas Analyzer (AGA) is the culmination of nearly ten years of advancement of core technology originally developed by Vista Photonics through the Small Business Innovation Research (SBIR) program and expanded using NASA program funding. The AGA is a portable, battery operated, optical gas detection instrument for continuous monitoring of H 2 O, CO 2 , O 2 , CO, NH 3 , HCN, HF, HCl in the spacecraft environment. Real time, in-situ monitored, gas concentrations are communicated at 1 Hz through a built-in display on-orbit and additionally through a serial interface on the ground. The instruments function over the typical range of temperatures and pressures required for the spacecraft environment. A ten-year operational life is targeted. Seven AGA instruments are currently deployed on the International Space Station and two Orion-specific units are manifested for Artemis 2. A variation of the operational AGA is under development for lunar Human Landing Systems. A wider calibrated operating pressure envelope is required in this application. Otherwise, the instruments straightforwardly address lessons learned from the original AGA by improving aspects of thermal control, ruggedness, and ease-of-use. A subset of AGA-developed sensed gases (H 2 O, CO 2 , O 2 ) is the subject of the Primary Constituent Monitor (PCM) development for the Habitation and Logistics Outpost (HALO) destined for lunar orbit. Two PCMs will be installed in HALO as part of the environmental control loop where they will interface with vehicle power and communications. While the basic sensor techniques are unchanged from the AGA, these instruments have been radiation hardened to survive for many years in the harsh target environment. Current development status for these instruments will be presented along with recent developments of a naval submarine variant.

Air Monitoring↗

NASA NTRS2026

The Operational NASA Anomaly Gas Analyzer and Exploration Follow-Ons

ECLSS↗

NASA NTRS1978

Structural Dynamics, Stability, and Control of Helicopters

The dynamic synthesis of gyroscopic structures consisting of point-connected substructures is investigated. The objective is to develop a mathematical model capable of an adequate simulation of the modal characteristics of a helicopter using a minimum number of degrees of freedom. The basic approach is to regard the helicopter structure as an assemblage of flexible substructures. The variational equations for the perturbed motion about certain equilibrium solutions are derived. The discretized variational equations can be conveniently exhibited in matrix form, and a great deal of information about the system modal characteristics can be extracted from the coefficient matrices. The derivation of the variational equations requires a monumental amount of algebraic operations. To automate this task a symbolic manipulation program on a digital computer is developed.

Meirovitch, L.↗

NASA NTRS1985

Instrument for differential on flux vector measurements on Spacelab 2

The DIF (differential ion flux) probe used on the Spacelab-2 mission as part of the PDP (plasma diagnostic package) as well as the DIF design, operational characteristics and data reduction procedures required to obtain plasma properties are described. The basic principles, the sensor head design, and the electronics design are discussed. Plasma properties such as ion drift energy and temperature, ion flow direction, and ion flux density are explained, and in addition, calibration procedures and calibration data on detection of multiple ion streams and detection of ion streams superimposed on an isotropic plasma are analyzed. Finally, the mounting and role of the DIF probe on the PDP are briefly reviewed. Schematics of the instrument and of its control logic are included.

Stone, N. H.↗

NASA NTRS2002

Analysis of High Order Difference Methods for Multiscale Complex Compressible Flows

Accurate numerical simulations of complex multiscale compressible viscous flows, especially high speed turbulence combustion and acoustics, demand high order schemes with adaptive numerical dissipation controls. Standard high resolution shock-capturing methods are too dissipative to capture the small scales and/or long-time wave propagations without extreme grid refinements and small time steps. An integrated approach for the control of numerical dissipation in high order schemes with incremental studies was initiated. Here we further refine the analysis on, and improve the understanding of the adaptive numerical dissipation control strategy. Basically, the development of these schemes focuses on high order nondissipative schemes and takes advantage of the progress that has been made for the last 30 years in numerical methods for conservation laws, such as techniques for imposing boundary conditions, techniques for stability at shock waves, and techniques for stable and accurate long-time integration. We concentrate on high order centered spatial discretizations and a fourth-order Runge-Kutta temporal discretizations as the base scheme. Near the bound-aries, the base scheme has stable boundary difference operators. To further enhance stability, the split form of the inviscid flux derivatives is frequently used for smooth flow problems. To enhance nonlinear stability, linear high order numerical dissipations are employed away from discontinuities, and nonlinear filters are employed after each time step in order to suppress spurious oscillations near discontinuities to minimize the smearing of turbulent fluctuations. Although these schemes are built from many components, each of which is well-known, it is not entirely obvious how the different components be best connected. For example, the nonlinear filter could instead have been built into the spatial discretization, so that it would have been activated at each stage in the Runge-Kutta time stepping. We could think of a mechanism that activates the split form of the equations only at some parts of the domain. Another issue is how to define good sensors for determining in which parts of the computational domain a certain feature should be filtered by the appropriate numerical dissipation. For the present study we employ a wavelet technique introduced in as sensors. Here, the method is briefly described with selected numerical experiments.

Sjoegreen, Bjoern↗

NASA NTRS2008

Statistical Short-Range Guidance for Peak Wind Speed Forecasts at Edwards Air Force Base, CA

The peak winds near the surface are an important forecast element for Space Shuttle landings. As defined in the Shuttle Flight Rules (FRs), there are peak wind thresholds that cannot be exceeded in order to ensure the safety of the shuttle during landing operations. The National Weather Service Spaceflight Meteorology Group (SMG) is responsible for weather forecasts for all shuttle landings. They indicate peak winds are a challenging parameter to forecast. To alleviate the difficulty in making such wind forecasts, the Applied Meteorology Unit (AMTJ) developed a personal computer based graphical user interface (GUI) for displaying peak wind climatology and probabilities of exceeding peak-wind thresholds for the Shuttle Landing Facility (SLF) at Kennedy Space Center. However, the shuttle must land at Edwards Air Force Base (EAFB) in southern California when weather conditions at Kennedy Space Center in Florida are not acceptable, so SMG forecasters requested that a similar tool be developed for EAFB. Marshall Space Flight Center (MSFC) personnel archived and performed quality control of 2-minute average and 10-minute peak wind speeds at each tower adjacent to the main runway at EAFB from 1997- 2004. They calculated wind climatologies and probabilities of average peak wind occurrence based on the average speed. The climatologies were calculated for each tower and month, and were stratified by hour, direction, and direction/hour. For the probabilities of peak wind occurrence, MSFC calculated empirical and modeled probabilities of meeting or exceeding specific 10-minute peak wind speeds using probability density functions. The AMU obtained and reformatted the data into Microsoft Excel PivotTables, which allows users to display different values with point-click-drag techniques. The GUT was then created from the PivotTables using Visual Basic for Applications code. The GUI is run through a macro within Microsoft Excel and allows forecasters to quickly display and interpret peak wind climatology and likelihoods in a fast-paced operational environment. A summary of how the peak wind climatologies and probabilities were created and an overview of the GUT will be presented.

Dreher, Joseph↗

NASA NTRS1984

A flight-test and simulation evaluation of the longitudinal final approach and landing performance of an automatic system for a light wing loading STOL aircraft equipped with wing spoilers

As part of a comprehensive flight-test investigation of short takeoff and landing (STOL) operating systems for the terminal systems for the terminal area, an automatic landing system has been developed and evaluated for a light wing-loading turboprop-powered aircraft. An advanced digital avionics system performed display, navigation, guidance, and control functions for the test aircraft. Control signals were generated in order to command powered actuators for all conventional controls and for a set of symmetrically driven wing spoilers. This report describes effects of the spoiler control on longitudinal autoland (automatic landing) performance. Flight-test results, with and without spoiler control, are presented and compared with available (basically, conventional takeoff and landing) performance criteria. These comparisons are augmented by results from a comprehensive simulation of the controlled aircraft that included representations of the microwave landing system navigation errors that were encountered in flight as well as expected variations in atmospheric turbulence and wind shear. Flight-test results show that the addition of spoiler control improves the touchdown performance of the automatic landing system. Spoilers improve longitudinal touchdown and landing pitch-attitude performance, particularly in tailwind conditions. Furthermore, simulation results indicate that performance would probably be satisfactory for a wider range of atmospheric disturbances than those encountered in flight. Flight results also indicate that the addition of spoiler control during the final approach does not result in any measurable change in glidepath track performance, and results in a very small deterioration in airspeed tracking. This difference contrasts with simulations results, which indicate some improvement in glidepath tracking and no appreciable change in airspeed tracking. The modeling problem in the simulation that contributed to this discrepancy with flight was not resolved.

Brown, S. C.↗