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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 NTRS2022

Tracking Coastal Change in American Samoa By Mapping Local Vertical Land Motion with PS-InSAR

Characterizingdiverse contributionsto coastal land change is a key step to mitigating the effects ofrising sea levels that threaten coastal communities. This taskis particularly critical for small island communities in tectonically active regions, which are highlyvulnerableto the effects of sea level rise. We highlight here a case study to extract regional estimates of vertical land motion (VLM) over American Samoa, which in recent years has observedincreased nuisance flooding.Weusedpersistent scatterer Interferometric Synthetic Aperture Radar (PS-InSAR)to derive high-resolutionestimates of crustaldeformationinpopulated regions overTutuila Island from 2015 to 2021. While the area is small and highly vegetatedand poses challenges for InSAR, we wereable to construct a regional map of the estimated deformation ratein these areasandvalidate the time-series with alocal GPS station. Our preliminary results suggest that PS-InSAR has the ability to capture the local and regional deformation patterns, although further workis needed to compensate formore complexatmospheric effects, estimate error margins,and integrate ourresults intomodels of sea-level change that can be used local stakeholders

Stacey A Huang↗
NASA NTRS1971

A numerical investigation into the effects of compressibility and total enthalpy difference on the development of a laminar free shear layer.

A method is presented for integrating numerically the equations of motion for a compressible free shear layer developing from a boundary-layer profile of arbitrary shape. Sutherland's law is used to determine the coefficient of viscosity and the Prandtl number is taken as 0.72. Calculated results are reported for free-stream Mach numbers ranging from 0 to 10 and for stagnation-enthalpy ratios ranging from 0 to 5.0. The effects of varying the initial boundary-layer profile and of a discontinuity in temperature at the origin are also studied. The results include graphs showing the development of dividing-streamline velocity, of local Nusselt number, and of dividing-streamline location.

Carpenter, P. W.↗
NASA NTRS1991

Lunar rovers and local positioning system

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Avery, James↗
NASA NTRS1985

Influence of local land-surface processes on the Indian monsoon - A numerical study

Integrations made with general circulation models to investigate the influence of changes in the land-surface fluxes, over the Indian subcontinent, on the monsoon circulation and rainfall are presented. The experiments conducted include: (1) a control, (2) increased land-surface albedo, (3) increased land-surface albedo and reduced land-surface roughness, and (4) increased land-surface albedo, reduced surface roughness, and no evapotranspiration. A comparison of ensemble means of the data is provided; a decrease in rainfall is observed when the surface albedo is increased and the surface roughness reduced. Low surface roughness makes the horizontal transport of planetary boundary layer (PBL) westerly, reducing cross-isobaric moisture and thereby rainfall. Evapotranspiration had no influence on rainfall because of the PBL motion and moisture convergence. The correlation between surface albedo, surface roughness and vegetation is examined.

Sud, Y. C.↗
NASA NTRS1989

Satellite range delay simulator for a matrix-switched time division multiple-access network simulator

The Systems Integration, Test, and Evaluation (SITE) facility at NASA Lewis Research Center is presently configured as a satellite-switched time division multiple access (SS-TDMA) network simulator. The purpose of SITE is to demonstrate and evaluate advanced communication satellite technologies, presently embodied by POC components developed under NASA contracts in addition to other hardware, such as ground terminals, designed and built in-house at NASA Lewis. Each ground terminal in a satellite communications system will experience a different aspect of the satellite's motion due mainly to daily tidal effects and station keeping, hence a different duration and rate of variation in the range delay. As a result of this and other effects such as local oscillator instability, each ground terminal must constantly adjust its transmit burst timing so that data bursts from separate ground terminals arrive at the satellite in their assigned time slots, preventing overlap and keeping the system in synchronism. On the receiving end, ground terminals must synchronize their local clocks using reference transmissions received through the satellite link. A feature of the SITE facility is its capability to simulate the varying propagation delays and associated Doppler frequency shifts that the ground terminals in the network have to cope with. Delay is achieved by means of two NASA Lewis designed and built range delay simulator (RDS) systems, each independently controlled locally with front panel switches or remotely by an experiment control and monitor (EC/M) computer.

Nagy, Lawrence A.↗
NASA NTRS1990

Satellite range delay simulator for a matrix-switched time division multiple-access network simulation system

The Systems Integration, Test, and Evaluation (SITE) facility at NASA Lewis Research Center is presently configured as a satellite-switched time division multiple access (SS-TDMA) network simulator. The purpose of SITE is to demonstrate and evaluate advanced communication satellite technologies, presently embodied by POC components developed under NASA contracts in addition to other hardware, such as ground terminals, designed and built in-house at NASA Lewis. Each ground terminal in a satellite communications system will experience a different aspect of the satellite's motion due mainly to daily tidal effects and station keeping, hence a different duration and rate of variation in the range delay. As a result of this and other effects such as local oscillator instability, each ground terminal must constantly adjust its transmit burst timing so that data bursts from separate ground terminals arrive at the satellite in their assigned time slots, preventing overlap and keeping the system in synchronism. On the receiving end, ground terminals must synchronize their local clocks using reference transmissions received through the satellite link. A feature of the SITE facility is its capability to simulate the varying propagation delays and associated Doppler frequency shifts that the ground terminals in the network have to cope with. Delay is ahcieved by means of two NASA Lewis designed and built range delay simulator (RDS) systems, each independently controlled locally with front panel switches or remotely by an experiment control and monitor (EC/M) computer.

Nagy, Lawrence A.↗
NASA NTRS1991

Sensor fusion III: 3-D perception and recognition; Proceedings of the Meeting, Boston, MA, Nov. 5-8, 1990

The volume on data fusion from multiple sources discusses fusing multiple views, temporal analysis and 3D motion interpretation, sensor fusion and eye-to-hand coordination, and integration in human shape perception. Attention is given to surface reconstruction, statistical methods in sensor fusion, fusing sensor data with environmental knowledge, computational models for sensor fusion, and evaluation and selection of sensor fusion techniques. Topics addressed include the structure of a scene from two and three projections, optical flow techniques for moving target detection, tactical sensor-based exploration in a robotic environment, and the fusion of human and machine skills for remote robotic operations. Also discussed are K-nearest-neighbor concepts for sensor fusion, surface reconstruction with discontinuities, a sensor-knowledge-command fusion paradigm for man-machine systems, coordinating sensing and local navigation, and terrain map matching using multisensing techniques for applications to autonomous vehicle navigation.

Schenker, Paul S.↗
NASA NTRS1973

Magnetospheric plasma motion during a sudden commencement.

A sudden commencement occurred at 2348 UT on Feb. 15, 1967, when the ATS-1 satellite was about 2 hr past local noon at a geocentric distance of 6.6 earth radii. Plasma was observed by the Suprathermal Ion Detector first to flow in the antisolar direction, as expected, but then to flow westward, for about 2 min, at about 50 km/sec. Analysis of ground magnetograms suggests that the surprising westward flow, which must have involved an electric field of about 10 mV/m at 6.6 earth radii, resulted from the ionosphere's reaction to the sudden commencement. Beginning about 2 min before the start of the westward flow at ATS-1, ground magnetometers near the foot of the ATS-1 field line typically recorded magnetic-field deflections of about 70 gamma, to the northeast. Taking the ground observations, assuming a height-integrated Hall conductivity of 1 mho, and a standoff distance of 7.2 earth radii inferred from Explorer 33 solar-wind data, a magnetospheric electric field is derived which agrees in magnitude and direction with that required to produce the observed flow at ATS-1.

Lin, C.-A.↗
NASA NTRS1997

Pioneer 10 and 11 Data Analysis

This report finishes the work of NASA Grant NAS2-153, which supported data analysis for the UCSD instruments on Pioneers 10 and 11. The data analyzed under this grant span 22 years of interplanetary measurements in the inner and outer heliosphere. The UCSD instruments made their mark in cosmic ray research based upon their high energy thresholds, directional responses, and reliable data streams. one of their primary scientific objectives concerns the size, configuration, and time behavior of the heliosphere. The size scale is inferred from the radial intensity gradient, which is measured between the two spacecraft and extrapolated to interstellar intensity levels at the cosmic ray modulation boundary. This boundary still eludes us, and its position, motion, and the best method of extrapolation are ongoing problems. Current projections place the boundary beyond 100 AU, which may be beyond the termination shock, and raises the question of possible modulation in the heliosheath. Probably our only hope of seeing this region in the immediate future rides on the possibility that the boundary will move inward. Our instruments have recorded many Forbush, or transient, decreases in the outer heliosphere. These observations led us to a model that attributes many of the decreases to solar wind stream-stream interactions, and relates the cosmic ray variations to the locally observed magnetic field magnitude. As the cosmic ray variations in this model result only from topological changes in the modulation integral, the model is a tool for studying the possibility that the 11 year cosmic ray modulation cycle can be accounted for by a superposition of Forbush decreases. The cosmic ray angular distribution function is measurable, given a good telemetry rate, by the UCSD Cerenkov detector which counts particles of energy greater than 500 MeV/n. We obtained statistically significant samples from 1 to 9 AU, at 13 AU, and at 34 AU. The anisotropy tends to be a few tenths of a per cent at all radial distances. A quasiperiodic variation in the east-west anisotropy with period of about 50 days remains unexplained.

Fillius, Walker↗
NASA NTRS1993

A Generalized Eulerian-Lagrangian Analysis, with Application to Liquid Flows with Vapor Bubbles

Under a NASA MSFC SBIR Phase 2 effort an analysis has been developed for liquid flows with vapor bubbles such as those in liquid rocket engine components. The analysis is based on a combined Eulerian-Lagrangian technique, in which Eulerian conservation equations are solved for the liquid phase, while Lagrangian equations of motion are integrated in computational coordinates for the vapor phase. The novel aspect of the Lagrangian analysis developed under this effort is that it combines features of the so-called particle distribution approach with those of the so-called particle trajectory approach and can, in fact, be considered as a generalization of both of those traditional methods. The result of this generalization is a reduction in CPU time and memory requirements. Particle time step (stability) limitations have been eliminated by semi-implicit integration of the particle equations of motion (and, for certain applications, the particle temperature equation), although practical limitations remain in effect for reasons of accuracy. The analysis has been applied to the simulation of cavitating flow through a single-bladed section of a labyrinth seal. Models for the simulation of bubble formation and growth have been included, as well as models for bubble drag and heat transfer. The results indicate that bubble formation is more or less 'explosive'. for a given flow field, the number density of bubble nucleation sites is very sensitive to the vapor properties and the surface tension. The bubble motion, on the other hand, is much less sensitive to the properties, but is affected strongly by the local pressure gradients in the flow field. In situations where either the material properties or the flow field are not known with sufficient accuracy, parametric studies can be carried out rapidly to assess the effect of the important variables. Future work will include application of the analysis to cavitation in inducer flow fields.

Dejong, Frederik J.↗
NASA NTRS2002

Probabilistic #D data fusion for multiresolution surface generation

In this paper we present an algorithm for adaptive resolution integration of 3D data collected from multiple distributed sensors. The input to the algorithm is a set of 3D surface points and associated sensor models. Using a probabilistic rule, a surface probability function is generated that represents the probability that a particular volume of space contains the surface. The surface probability function is represented using an octree data structure; regions of space with samples of large conariance are stored at a coarser level than regions of space containing samples with smaller covariance. The algorithm outputs an adaptive resolution surface generated by connecting points that lie on the ridge of surface probability with triangles scaled to match the local discretization of space given by the algorithm, we present results from 3D data generated by scanning lidar and structure from motion.

3D data fusion multiresolution surface generation ↗
NASA NTRS1999

Thermal Radiator Pointing for International Space Station

In order to provide thermal radiation environments that result in adequate beat rejection, the single-phase, liquid ammonia (NH3) heat rejection system on the International Space Station (ISS) requires that its two thermal radiator wings be dynamically rotated as the ISS travels through its orbit. This paper discusses the closed-loop, thermal radiator pointing system that is used on ISS to ensure adequate heat rejection by the radiators, while preventing freezing of the ammonia under low heat loads and cold-environmental conditions. Although initial designs used an open-loop approach for radiator pointing, concerns about performance robustness, algorithm complexity, memory requirements, and sustaining support drove the development of a more robust, simpler, closed-loop system. Hence, the challenge of the closed-loop system was to utilize existing sensors, actuators and computers to fit into the existing hardware and software architecture of the ISS. Using a proportional-integral (PI) control architecture with limited output and an anti-windup integrator, the temperature of the ammonia coming out of the radiator is measured and controlled by adjusting the radiator wing orientation. The radiator wing orientation for the local minimum environment is fed forward to the control system, and the closed-loop controller is used to generate a bias off of that local minimum environment in order to heat up the ammonia when necessary to avoid freezing. In the earth's shadow, the controller is suspended and the radiator wing is oriented to face the earth, the local maximum thermal environment which further prevents freezing of the ammonia. This control architecture is shown to provide adequate heat rejection and avoid freezing of the ammonia, even though the physical system consists of large transport delays and time-varying dynamics which change dramatically due to orbit motion and variable heat loads.

Green, Scott↗
NASA NTRS2018

Optimization of Elastodynamic Finite Integration Technique on Intel Xeon Phi Knights Landing Processors

This work describes the development and optimization of an implementation of an isotropic elastodynamic finite integration technique (EFIT) code for parallelized computation on Intel Knights Landing (KNL) hardware. EFIT is a numerical approach resulting in standard staggered-grid finite difference equations for the elastodynamic equations of motion to simulate bulk waves is solids. The computationally efficient simulation of elastodynamic wave propagation and interactions in aerospace materials is of high-interest in the fields of nondestructive evaluation (NDE) and structural health monitoring (SHM). Ultrasonic inspection uses an ultrasonic signal, generated at the surface of the material/structure via use of a piezoelectric transducer, to propagate sound waves into the material where it interacts with any existing defects, as well as with structural boundaries and any material inhomogeneity. Reflections from defects and boundaries are then measured by a transducer. Realistic ultrasound simulation tools can significantly aid the development and optimization of inspection techniques and can assist in the interpretation of experimental data. The optimization of an elastodynamics simulation code for the KNL Many Integrated Core processor was performed. The optimization focused on data locality and vectorization. Results show that tiling of the data to exploit the cache behavior and allow for significant utilization of the KNL hardware. The MPI implementation allows for a scalable implementation enabling large problems to be simulated. The model results were validated against theoretical dispersion curves to within 2% of the group velocity, and within 0.5% of the phase velocity of the A0 mode. Aggressive use of tiling, threading, and vectorization techniques allowed for dramatically improved time to solution.

William C. Schneck↗
NASA NTRS1989

Plate motions and deformations from geologic and geodetic data

The very long baseline interferometry (VLBI) measurements made in the western U.S. since 1979 provide discrete samples of the temporal and spatial deformation field. The interpretation of the VLBI derived rates of deformation requires an examination of geologic information and more densely sampled ground based geodetic data. Triangulation and trilateration data measured on two regional networks, one in the central Mojave Desert and one in the Coast Ranges east of the San Andreas fault, were processed. At the spatial scales spanned by these local geodetic networks, auxiliary geologic and geophysical data were utilized to examine the relation between measured incremental strain and the accommodation of strain seen in local geologic structures, strain release in earthquakes, and principal stress directions inferred from in situ measurements. VLBI data was also processed from stations distributed across the Pacific-North America plate boundary zone in the western U.S. The VLBI data were used to constrain the integrated rate of deformation across portions of the continental plate boundary in California and to provide a tectonic framework to interpret regional geodetic and geologic studies.

Jordan, Thomas H.↗
NASA NTRS2001

Observations of Circumstellar Material Around Evolved Stars With the ISI

The U.C. Berkeley Infrared Spatial Interferometer (ISI) is a stellar interferometer operating in the 9-12 micron region and has been in operation from 1988 until the present. It utilizes heterodyne detection using CO2 laser local oscillators and currently includes two 1.65 m movable telescopes mounted in semi-trailers and baselines up to about 65 m in length. A third telescope is being integrated with the other two and within the next year will operate as an imaging interferometer providing data with three simultaneous baselines and a closure phase, and baselines up to about 75 m. During the past twelve years the ISI has been used extensively for studies of circumstellar material around evolved stars. Multi-epoch observations of a sample of prototypical sources have elucidated the location and time scales for dust formation around these stars. These time scales can be as short as approx.10 years for Mira stars and as long as approx. 100 years for supergiants. For stars like Mira itself there is evidence for departure from spherical symmetry and episodes of dust formation and destruction. For some stars motion of dust has been observed -- IK Tau is one example, and NML Cyg is another. The molecules Silane and Ammonia were observed for the extreme carbon star IRC +10216 and the supergiant VY CMa pinpointing their location relative to the inner radius of the dust shell. Somewhat surprisingly, these molecules were found to form many stellar radii away from the inner radius of the dust shell, implying that they form by interactions with the surfaces of dust grains. Last year observations with the longest baselines lead to new precision diameters of $o$ Ceti and $\alpha$ Orionis, and are continuing on a somewhat larger set of Mira variable and supergiant stars.

Danchi, W. C.↗
NASA NTRS2004

Calibration, Data Acquisition, and Post Analysis of Turbulent Fluid Flow in a Calibration Jet Using Hot-wire Anemometry

The Turbine Branch concentrates on the following areas: Computational Fluid Dynamics (CFD), and implementing experimental procedures to obtain physical modeling data. Hot-wire Anemometry is a valuable tool for obtaining physical modeling data. Hot-wire Anemometry is likely to remain the principal research tool for most turbulent air/gas flow studies. The Hot-wire anemometer consists of a fine wire heated by electric current. When placed in a fluid stream, the hot-wire loses heat to the fluid by forced convection. In forced convection, energy transfer is due to molecular motion imposed by an extraneous force moving fluid parcels. When the hot-wire is in "equilibrium", the rate of heat input to the wire is equal to the rate of heat loss at the wire ends. The equality between heat input and heat loss is the basis for King s equation, which relates the electrical parameters of the hot-wire to the flow parameters of the fluid. Hot-wire anemometry is based on convective heat transfer from a heated wire element placed in a fluid flow. Any change in the fluid flow condition that affects the heat transfer from the heated element will be detected virtually instantaneously by a constant-temperature Hot-wire anemometry system. The system implemented for this research is the IFA 300. The system is a fully-integrated, thermal anemometer-based system that measures mean and fluctuating velocity components in air, water, and other fluids. It also measures turbulence and makes localized temperature measurements. A constant-temperature anemometer is a bridge and amplifier circuit that controls a tiny wire at constant temperature. As a fluid flow passes over the heated sensor, the amplifier senses the bridge off-balance and adjusts the voltage to the top of the bridge, keeping the bridge in balance. The voltage on top of the bridge can then be related to the velocity of the flow. The bridge voltage is sensitive to temperature as well as velocity and so the built-in thermocouple circuit can be attached to a thermocouple that can measure the fluid temperature. Additional information is included in the original extended abstract.

Moreno, Michelle↗
NASA NTRS2014

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↗
NASA NTRS1979

The dynamics and control of large flexible space structures, 2. Part A: Shape and orientation control using point actuators

The equations of planar motion for a flexible beam in orbit which includes the effects of gravity gradient torques and control torques from point actuators located along the beam was developed. Two classes of theorems are applied to the linearized form of these equations to establish necessary conditions for controlability for preselected actuator configurations. The feedback gains are selected: (1) based on the decoupling of the original coordinates and to obtain proper damping, and (2) by applying the linear regulator problem to the individual model coordinates separately. The linear control laws obtained using both techniques were evaluated by numerical integration of the nonlinear system equations. Numerical examples considering pitch and various number of modes with different combination of actuator numbers and locations are presented. The independent model control concept used earlier with a discretized model of the thin beam in orbit was reviewed for the case where the number of actuators is less than the number of modes. Results indicate that although the system is controllable it is not stable about the nominal (local vertical) orientation when the control is based on modal decoupling. An alternate control law not based on modal decoupling ensures stability of all the modes.

Bainum, P. M.↗