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Cylindrical shield designed to fit around flexible pipe to protect nearby workers from injury and equipment from damage if pipe ruptures. Designed as pressure-relief device. Absorbs impact of debris ejected radially from broken flexible pipe. Also redirects flow of pressurized fluid escaping from broken pipe onto flow path allowing for relief of pressure while minimizing potential for harm.
Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.
In this paper we study the optimal redesign of output trajectory for linear invertible systems. This is particularly important for tracking control of flexible structures because the input-state trajectories that achieve the required output may cause excessive vibrations in the structure. A trade-off is then required between tracking and vibrations reduction. We pose and solve this problem as the minimization of a quadratic cost function. The theory is developed and applied to the output tracking of a flexible structure and experimental results are presented.
This paper proposes an approach for the design of flexible spacecraft, wherein the structural design and the control system design are performed simultaneously. The integrated design problem is posed as an optimization problem in which both the structural parameters and the control system parameters constitute the design variables, which are used to optimize a common objective function, thereby resulting in an optimal overall design. The approach is demonstrated by application to the integrated design of a geostationary platform, and to a ground-based flexible structure experiment. The numerical results obtained indicate that the integrated design approach generally yields spacecraft designs that are substantially superior to the conventional approach, wherein the structural design and control design are performed sequentially.
The main objective of this project is to establish a distributed parameter modeling technique for structural analysis, parameter estimation, vibration suppression and control synthesis of large flexible aerospace structures. This report concentrates on the research outputs produced in the last two years of the project. The main accomplishments can be summarized as follows. A new version of the PDEMOD Code had been completed. A theoretical investigation of the NASA MSFC two-dimensional ground-based manipulator facility by using distributed parameter modelling technique has been conducted. A new mathematical treatment for dynamic analysis and control of large flexible manipulator systems has been conceived, which may provide a embryonic form of a more sophisticated mathematical model for future modified versions of the PDEMOD Codes.
A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.
This report summarizes the evaluation and testing of high emissivity protective coatings applied to flexible insulations for the Reusable Launch Vehicle technology program. Ceramic coatings were evaluated for their thermal properties, durability, and potential for reuse. One of the major goals was to determine the mechanism by which these coated blanket surfaces become brittle and try to modify the coatings to reduce or eliminate embrittlement. Coatings were prepared from colloidal silica with a small percentage of either SiC or SiB6 as the emissivity agent. These coatings are referred to as gray C-9 and protective ceramic coating (PCC), respectively. The colloidal solutions were either brushed or sprayed onto advanced flexible reusable surface insulation blankets. The blankets were instrumented with thermocouples and exposed to reentry heating conditions in the Ames Aeroheating Arc Jet Facility. Post-test samples were then characterized through impact testing, emissivity measurements, chemical analysis, and observation of changes in surface morphology. The results show that both coatings performed well in arc jet tests with backface temperatures slightly lower for the PCC coating than with gray C-9. Impact testing showed that the least extensive surface destruction was experienced on blankets with lower areal density coatings.
Many spacecraft systems have ambitious objectives that place stringent requirements on control systems. Achievable performance is often limited because of difficulty of obtaining accurate models for flexible space structures. To achieve sufficiently high performance to accomplish mission objectives may require the ability to refine the control design model based on closed-loop test data and tune the controller based on the refined model. A control system design procedure is developed based on mixed H2/H(infinity) optimization to synthesize a set of controllers explicitly trading between nominal performance and robust stability. A homotopy algorithm is presented which generates a trajectory of gains that may be implemented to determine maximum achievable performance for a given model error bound. Examples show that a better balance between robustness and performance is obtained using the mixed H2/H(infinity) design method than either H2 or mu-synthesis control design. A second contribution is a new procedure for closed-loop system identification which refines parameters of a control design model in a canonical realization. Examples demonstrate convergence of the parameter estimation and improved performance realized by using the refined model for controller redesign. These developments result in an effective mechanism for achieving high-performance control of flexible space structures.
There are a number of approaches one can take to modeling the dynamics of a flexible body. While one can attempt to capture the full dynamical behavior subject to disturbances from actuators and environmental torques, such a detailed description often is unnecessary. Simplification is possible either by limiting the amplitude of motion to permit linearization of the dynamics equations or by restricting the types of allowed motion. In this work, we study the nonlinear dynamics of bending deformations of wire booms on spinning spacecraft. The theory allows for large amplitude excursions from equilibrium while enforcing constraints on the dynamics to prohibit those modes that are physically less relevant or are expected to damp out fast. These constraints explicitly remove the acoustic modes (i.e., longitudinal sound waves and shear waves) while allowing for arbitrary bending and twisting, motions which typically are of lower frequency. As a test case, a spin axis reorientation maneuver by the Polar Plasma Laboratory (POLAR) spacecraft has been simulated. POLAR was chosen as a representative spacecraft because it has flexible wire antennas that extend to a length of 65 meters. Bending deformations in these antennas could be quite large and have a significant effect on the attitude dynamics of the spacecraft body. Summary results from the simulation are presented along, with a comparison with POLAR flight data.
In this paper we study the optimal redesign of output trajectories for linear invertible systems. This is particularly important for tracking control of flexible structures because the input-state trajectores, that achieve tracking of the required output may cause excessive vibrations in the structure. We pose and solve this problem, in the context of linear systems, as the minimization of a quadratic cost function. The theory is developed and applied to the output tracking of a flexible structure and experimental results are presented.
This report presents the work performed by Lockheed Martin Engineering and Sciences (LMES) in support of the High Speed Research (HSR) Flexible Semispan Model (FSM) wind-tunnel test. The test was conducted in order to assess the aerodynamic and aeroelastic character of a flexible high speed civil transport wing. Data was acquired for the purpose of code validation and trend evaluation for this type of wing. The report describes a number of activities in preparing for and conducting the wind-tunnel test. These included coordination of the design and fabrication, development of analytical models, analysis/hardware correlation, performance of laboratory tests, monitoring of model safety issues, and wind-tunnel data acquisition and reduction. Descriptions and relevant evaluations associated with the pretest data are given in sections 1 through 6, followed by pre- and post-test flutter analysis in section 7, and the results of the aerodynamics/loads test in section 8. Finally, section 9 provides some recommendations based on lessons learned throughout the FSM program.
This paper describes a structural and aeroelastic model for wing sizing and weight calculation of a strut-braced wing. The wing weight is calculated using a newly developed structural weight analysis module considering the special nature of strut-braced wings. A specially developed aeroelastic model enables one to consider wing flexibility and spanload redistribution during in-flight maneuvers. The structural model uses a hexagonal wing-box featuring skin panels, stringers, and spar caps, whereas the aerodynamics part employs a linearized transonic vortex lattice method. Thus, the wing weight may be calculated from the rigid or flexible wing spanload. The calculations reveal the significant influence of the strut on the bending material weight of the wing. The use of a strut enables one to design a wing with thin airfoils without weight penalty. The strut also influences wing spanload and deformations. Weight savings are not only possible by calculation and iterative resizing of the wing structure according to the actual design loads. Moreover, as an advantage over the cantilever wing, employment of the strut twist moment for further load alleviation leads to increased savings in structural weight.
Many current-day software design tools offer some variant of statechart notation for system specification. We, like others, have built an automatic translator from (a subset of) statecharts to a model checker, for use to validate behavioral requirements. Our translator is designed to be flexible. This allows us to quickly adjust the translator to variants of statechart semantics, including problem-specific notational conventions that designers employ. Our system demonstration will be of interest to the following two communities: (1) Potential end-users: Our demonstration will show translation from statecharts created in a commercial UML tool (Rational Rose) to Promela, the input language of Holzmann's model checker SPIN. The translation is accomplished automatically. To accommodate the major variants of statechart semantics, our tool offers user-selectable choices among semantic alternatives. Options for customized semantic variants are also made available. The net result is an easy-to-use tool that operates on a wide range of statechart diagrams to automate the pathway to model-checking input. (2) Other researchers: Our translator embodies, in one tool, ideas and approaches drawn from several sources. Solutions to the major challenges of statechart-to-model-checker translation (e.g., determining which transition(s) will fire, handling of concurrent activities) are retired in a uniform, fully mechanized, setting. The way in which the underlying architecture of the translator itself facilitates flexible and customizable translation will also be evident.
The Terra spacecraft (formerly identified as EOS AM1) is the flagship in a planned series of NASA/GSFC (Goddard Space Flight Center) Earth observing system satellites designed to provide information on the health of the Earth's land, oceans, air, ice, and life as a total ecological global system. It has been successfully performing its mission since a late-December 1999 launch into a 705 km polar orbit. The spacecraft is powered by a single wing, flexible blanket array using single junction (SJ) gallium arsenide/germanium (GaAs/Ge) solar cells sized to provide five year end-of-life (EOL) power of greater than 5000 watts at 127 volts. It is currently the highest voltage and power operational flexible blanket array with GaAs/Ge cells. This paper briefly describes the wing design as a basis for discussing the operation of the electronics and mechanisms used to achieve successful on-orbit deployment. Its orbital electrical performance to date will be presented and compared to analytical predictions based on ground qualification testing. The paper concludes with a brief section on future applications and performance trends using advanced multi-junction cells and weight-efficient mechanical components.
The Terra spacecraft (formerly identified as EOS AM1) is the flagship in a planned series of NASA/GSFC (Goddard Space Flight Center) Earth observing system satellites designed to provide information on the health of the Earth's land, oceans, air, ice, and life as a total ecological global system. It has been successfully performing its mission since a late-December 1999 launch into a 705 km polar orbit. The spacecraft is powered by a single wing, flexible blanket array using single junction (SJ) gallium arsenide/germanium (GaAs/Ge) solar cells sized to provide five year end-of-life (EOL) power of greater than 5000 watts at 127 volts. It is currently the highest voltage and power operational flexible blanket array with GaAs/Ge cells. This paper briefly describes the wing design as a basis for discussing the operation of the electronics and mechanisms used to achieve successful on-orbit deployment. Its orbital electrical performance to date will be presented and compared to analytical predictions based on ground qualification testing. The paper concludes with a brief section on future applications and performance trends using advanced multi-junction cells and weight-efficient mechanical components. A viewgraph presentation is attached that outlines the same information as the paper and includes more images of the Terra Spacecraft and its components.
This paper presents a method for using expected utility distributions in the execution of flexible, contingent plans. A utility distribution maps the possible start times of an action to the expected utility of the plan suffix starting with that action. The contingent plan encodes a tree of possible courses of action and includes flexible temporal constraints and resource constraints. When execution reaches a branch point, the eligible option with the highest expected utility at that point in time is selected. The utility distributions make this selection sensitive to the runtime context, yet still efficient. Our approach uses predictions of action duration uncertainty as well as expectations of resource usage and availability to determine when an action can execute and with what probability. Execution windows and probabilities inevitably change as execution proceeds, but such changes do not invalidate the cached utility distributions, thus, dynamic updating of utility information is minimized.
An investigation of the control of turbulent boundary layer flow over flexible and rigid surfaces downstream of a concave-convex geometry has been made. The concave-convex curvature induces centrifugal forces and a pressure gradient on the growth of the turbulent boundary layer. The favorable gradient is not sufficient to overcome the unfavorable; thus, the net effect is a destabilizing, of the flow into Gortler instabilities. This study shows that control of the turbulent boundary layer and structural loading can be successfully achieved by using localized surface heating because the subsequent cooling and geometrical shaping downstream over a favorable pressure gradient is effective in laminarization of the turbulence. Wires embedded in a thermally insulated substrate provide surface heating. The laminarized velocity profile adjusts to a lower Reynolds number, and the structure responds to a lower loading. In the laminarization, the turbulent energy is dissipated by molecular transport by both viscous and conductivity mechanisms. Laminarization reduces spanwise vorticity because of the longitudinal cooling gradient of the sublayer profile. The results demonstrate that the curvature-induced mean pressure gradient enhances the receptivity of the flow to localized surface heating, a potentially viable mechanism to laminarize turbulent boundary layer flow; thus, the flow reduces the response of the flexible structure and the resultant sound radiation.
The controlled deployment of the Lightweight Flexible Solar Array (LFSA) experiment using the shape memory alloy release and deployment system has been demonstrated. Work remains to be done in increasing the efficiency of Copper Indium Diselinide (CIS) terminations to the flexible harness that carries current from the array to the I-V measurement electronics.