Processes Controlling the Seasonally Varying Emergence of Forced Arctic Longwave Radiation Changes
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Jonah K. Shaw↗
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Response to reflected-force feedback to fingers in teleoperations
Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.
Sutter, P. H.↗
Vibration control in statically indeterminate adaptive truss structures
In this work vibration control of statically indeterminate adaptive truss structures is investigated. Here, the actuators (i.e., length adjusting devices) that are used for vibration control, work against the axial forces caused by the inertial forces. In statically determinate adaptive trusses no axial force is induced by the actuation. The control problem in statically indeterminate trusses may be dominated by the actuation-induced axial element forces. The creation of actuation-induced axial forces puts the system to a higher energy state, thus aggravates the controls. It is shown that by the usage of sufficient number of slave actuators in addition to the actual control actuators, the actuation-induced axial element forces can be nullified, and the control problem of the statically indeterminate adaptive truss problem is reduced to that of a statically determinate one. It is also shown that the usage of slave actuators saves a great amount of control energy and provides robustness for the controls.
Baycan, C. M.↗
An electrorheologically controlled semi-active landing gear
This study is to explore the application of electrorheology (ER) to the real-time control of damping forces that are transmitted through the nose landing gear for an F-106B aircraft. The main part of the landing gear is a strut that consists of a pneumatic spring and an ER controlled damper that is situatted on the strut centerline and applies a force directly opposing the vertical displacement of the nose wheel. The damping element rotates in response to strut displacement, employing a co-axial arrangement of stator and rotor plates connected to the opposing electrodes in the control circuit. The vertical displacement is conveted into rotation of the damper through a screw-nut mechanism. The ER fluid between the electrodes is thus engaged in shear along circumferential lines of action. This design results in a fast time response and a high ratio of strut forces achieved under Er-vs. zero-field control. Compact size and simplicity in fabrication are also attained. The analysis shows that when using an ER fluid of a yield stress of 7kPa, the energy absorption efficiency of the landing gear can reach almost 100% at various sink rates.
Lou, Zheng↗
The effect of acoustic forcing on trailing edge separation and near wake development of an airfoil
An experimental study was conducted to investigate the effect of acoustic forcing on flow fields near the trailing edge of a symmetric airfoil at zero angle of attack. At low chord Reynolds numbers, the boundary layers separate from the surfaces in the rear part of the airfoil and create recirculation regions near the trailing edge. It is shown that with the introduction of acoustic forcing through a slot in the vicinity of the separation point, periodic large-scale structures are generated in the trailing edge region. Significant reduction of trailing edge separation is achieved. It is also found that the most effective forcing frequency to control trailing edge separation is the wake vortex shedding frequency. As a result of forcing, applied only on the upper surface, the upper boundary layer is accelerated and the flow over the lower surface decelerated. Consequently, an asymmetric wake is formed. The results presented indicate that the development of the near wake varies with forcing conditions.
Huang, L. S.↗
Acceleration-Augmented LQG Control of an Active Magnetic Bearing
A linear-quadratic-gaussian (LQG) regulator controller design for an acceleration-augmented active magnetic bearing (AMB) is outlined. Acceleration augmentation is a key feature in providing improved dynamic performance of the controller. The optimal control formulation provides a convenient method of trading-off fast transient response and force attenuation as control objectives.
Feeley, Joseph J.↗
Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability
Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.
Diftler, Myron↗
Control logic to track the outputs of a command generator or randomly forced target
A procedure is presented for synthesizing time-invariant control logic to cause the outputs of a linear plant to track the outputs of an unforced (or randomly forced) linear dynamic system. The control logic uses feed-forward of the reference system state variables and feedback of the plant state variables. The feed-forward gains are obtained from the solution of a linear algebraic matrix equation of the Liapunov type. The feedback gains are the usual regulator gains, determined to stabilize (or augment the stability of) the plant, possibly including integral control. The method is applied here to the design of control logic for a second-order servomechanism to follow a linearly increasing (ramp) signal, an unstable third-order system with two controls to track two separate ramp signals, and a sixth-order system with two controls to track a constant signal and an exponentially decreasing signal (aircraft landing-flare or glide-slope-capture with constant velocity).
Trankle, T. L.↗
Contributions of the NASA Langley Research Center to the DARPA/AFRL/NASA/ Northrop Grumman Smart Wing Program
An overview of the contributions of the NASA Langley Research Center (LaRC) to the DARPA/AFRL/NASA/ Northrop Grumman Corporation (NGC) Smart Wing program is presented. The overall objective of the Smart Wing program was to develop smart** technologies and demonstrate near-flight-scale actuation systems to improve the aerodynamic performance of military aircraft. NASA LaRC s roles were to provide technical guidance, wind-tunnel testing time and support, and Computational Fluid Dynamics (CFD) analyses. The program was divided into two phases, with each phase having two wind-tunnel entries in the Langley Transonic Dynamics Tunnel (TDT). This paper focuses on the fourth and final wind-tunnel test: Phase 2, Test 2. During this test, a model based on the NGC Unmanned Combat Air Vehicle (UCAV) concept was tested at Mach numbers up to 0.8 and dynamic pressures up to 150 psf to determine the aerodynamic performance benefits that could be achieved using hingeless, smoothly-contoured control surfaces actuated with smart materials technologies. The UCAV-based model was a 30% geometric scale, full-span, sting-mounted model with the smart control surfaces on the starboard wing and conventional, hinged control surfaces on the port wing. Two LaRC-developed instrumentation systems were used during the test to externally measure the shapes of the smart control surface and quantify the effects of aerodynamic loading on the deflections: Videogrammetric Model Deformation (VMD) and Projection Moire Interferometry (PMI). VMD is an optical technique that uses single-camera photogrammetric tracking of discrete targets to determine deflections at specific points. PMI provides spatially continuous measurements of model deformation by computationally analyzing images of a grid projected onto the model surface. Both the VMD and PMI measurements served well to validate the use of on-board (internal) rotary potentiometers to measure the smart control surface deflection angles. Prior to the final entry, NASA LaRC also performed three-dimensional unstructured Navier Stokes CFD analyses in an attempt to predict the potential aerodynamic impact of the smart control surface on overall model forces and moments. Eight different control surface shapes were selected for study at Mach = 0.6, Reynolds number = 3.25 x 10(exp 6), and + 2 deg., 3 deg., 8 deg., and 10 deg.model angles-of-attack. For the baseline, undeflected control surface geometry, the CFD predictions and wind-tunnel results matched well. The agreement was not as good for the more complex aero-loaded control surface shapes, though, because of the inability to accurately predict those shapes. Despite these results, the NASA CFD study served as an important step in studying advanced control effectors.
Florance, Jennifer P.↗
Morpheus Lander Roll Control System and Wind Modeling
The Morpheus prototype lander is a testbed capable of vertical takeoff and landing developed by NASA Johnson Space Center to assess advanced space technologies. Morpheus completed a series of flight tests at Kennedy Space Center to demonstrate autonomous landing and hazard avoidance for future exploration missions. As a prototype vehicle being tested in Earth's atmosphere, Morpheus requires a robust roll control system to counteract aerodynamic forces. This paper describes the control algorithm designed that commands jet firing and delay times based on roll orientation. Design, analysis, and testing are supported using a high fidelity, 6 degree-of-freedom simulation of vehicle dynamics. This paper also details the wind profiles generated using historical wind data, which are necessary to validate the roll control system in the simulation environment. In preparation for Morpheus testing, the wind model was expanded to create day-of-flight wind profiles based on data delivered by Kennedy Space Center. After the test campaign, a comparison of flight and simulation performance was completed to provide additional model validation.
Gambone, Elisabeth A.↗
Operator performance with alternative manual control modes in teleoperation
Recent experiments conducted at the JPL comparing alternative manual control modes using the JPL Advanced Teleoperator system are described. Of particular interest were control modes that provide force reflection to the operator. The task selected for the experiment is a portion of the Solar Maximum Satellite Repair procedure we developed to demonstrate the repair of the Solar Maximum Satellite with teleoperators. The seven manual control modes evaluated in the experiment are combinations of manual position or resolved motion rate control with alternative control schemes for force reflection and remote manipulator compliance. Performance measures used were task completion times, average force and torque exerted during the execution of the task, and cumulative force and torque exerted. The results were statistically analyzed and they show that, in general, force reflection significantly improves operator performance and indicate that a specific force-reflecting scheme may yield the best performance among the control modes we tested. Also, our experiment showed that, for the selected task, the position control modes were preferable to the rate control modes and slave manipulator compliance reduced task interaction forces and torques.
Das, H.↗
Determination of Elevator and Rudder Hinge Forces on the Learjet Model 55 Aircraft
The empennage structure on the Learjet 55 aircraft was quite similar to the empennage structure on earlier Learjet models. However, due to an important structural change in the vertical fin along with the new loads environment on the 50 series aircraft, a structural test was required on the vertical fin, but the horizontal tail was substantiated by a comparative analysis with previous tests. NASTRAN analysis was used to investigate empennage deflections, stress levels, and control surface hinge forces. The hinge force calculations were made with the control surfaces in the deflected as well as undeflected configurations. A skin panel buckling analysis was also performed, and the non-linear effects of buckling were simulated in the NASTRAN model to more accurately define internal loads and stress levels. Comparisons were then made between the Model 55 and the Model 35/36 stresses and internal forces to determine which components were qualified by previous tests. Some of the methods and techniques used in this analysis are described.
Boroughs, R. R.↗
Controls for space structures
Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control. A theory for disturbance accommodating controllers based on reduced order models of structures was developed, and stability results for these controllers in closed-loop with large-scale finite element models of structures were obtained.
Balas, Mark↗
Precise computer controlled positioning of robot end effectors using sensory feedback
A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.
Wang, J. C.↗
Microgravity-Enhanced Stem Cell Selection
Stem cells, both embryonic and adult, promise to revolutionize the practice of medicine in the future. In order to realize this potential, a number of hurdles must be overcome. Most importantly, the signaling mechanisms necessary to control the differentiation of stem cells into tissues of interest remain to be elucidated, and much of the present research on stem cells is focused on this goal. Nevertheless, it will also be essential to achieve large-scale expansion and, in many cases, assemble cells in 3D as transplantable tissues. To this end, microgravity analog bioreactors can play a significant role. Microgravity bioreactors were originally conceived as a tool to study the cellular responses to microgravity. However, the technology can address some of the shortcomings of conventional cell culture systems; namely, the deficiency of mass transport in static culture and high mechanical shear forces in stirred systems. Unexpectedly, the conditions created in the vessel were ideal for 3D cell culture. Recently, investigators have demonstrated the capability of the microgravity bioreactors to expand hematopoietic stem cells compared to static culture, and facilitate the differentiation of umbilical cord stem cells into 3D liver aggregates. Stem cells are capable of differentiating into functional cells. However, there are no reliable methods to induce the stem cells to form specific cells or to gain enough cells for transplantation, which limits their application in clinical therapy. The aim of this study is to select the best experimental setup to reach high proliferation levels by culturing these cells in a microgravity-based bioreactor. In typical cell culture, the cells sediment to the bottom surface of their container and propagate as a one-cell-layer sheet. Prevention of such sedimentation affords the freedom for self-assembly and the propagation of 3D tissue arrays. Suspension of cells is easily achievable using stirred technologies. Unfortunately, in conventional bioreactors, stirring invokes deleterious forces that disrupt cell aggregation and results in cell death. First-generation rotating bioreactors provided rotation on the horizontal axis, which resulted in the suspension of cells without stirring, thus providing a suitable environment to propagate cells without sedimentation to a surface. The rotating wall bioreactors did not provide a way to remove air bubbles that were causing shear and disrupting 3D cultures. Johnson Space Center successfully engineered the hydrofocusing bioreactor (HFB) that resolved the problem of removing the air bubbles from the fluid medium of NASA's rotating-wall space bioreactors. The HFB uses the principle of hydrodynamic focusing that simultaneously produces a low-shear fluid culture environment and a variable hydrofocusing force that can control the movement, location, and removal of suspended cells, tissues, and air bubbles from the bioreactor. The HFB is a rotating, domeshaped cell culture vessel with a centrally located sampling port and an internal viscous spinner. The vessel and spinner can rotate at different speeds either in the same or opposite directions. Rotation of the vessel and viscous interaction at the spinner generate a hydrofocusing force. Adjusting the differential rotation rate between vessel and spinner controls the magnitude of the force.
Claudio, Pier Paolo↗
Passenger comfort response times as a function of aircraft motion
The relationship between a passenger's response time of changes in level of comfort experienced as a function of aircraft motion was examined. The aircraft used in this investigation was capable of providing a wide range of vertical and transverse accelerations by means of direct lift flap control surfaces and side force generator surfaces in addition to normal control surfaces. Response times to changes in comfort were recorded along with the passenger's rating of comfort on a five point scale. In addition, a number of aircraft motion variables including vertical and transverse accelerations were also recorded. Results indicate some relationship between human comfort response times to reaction time data.
Rinalducci, E. J.↗
Some interdisciplinary trade-offs in the design of large space structures
The constraints placed on the design of large space structures by acceleration, attitude control, and stationkeeping forces are discussed. Stiffness requirements for the structures are derived. The use of active versus passive accuracy control methods is also addressed.
Hedgepeth, J. M.↗
Power amplifiers (tube)
An experimental model of the SPS transmitting antenna architecture was developed by combining a microwave oven magnetron with a ferrite circulator, a section of slotted waveguide radiator, and a control system to force the amplitude and the phase of the radiated output to follow phase and amplitude references. The amplitude control arrangement is depicted and evaluated.
Brown, W. C.↗