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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 NTRS1988

Human cell culture in a space bioreactor

Microgravity offers new ways of handling fluids, gases, and growing mammalian cells in efficient suspension cultures. In 1976 bioreactor engineers designed a system using a cylindrical reactor vessel in which the cells and medium are slowly mixed. The reaction chamber is interchangeable and can be used for several types of cell cultures. NASA has methodically developed unique suspension type cell and recovery apparatus culture systems for bioprocess technology experiments and production of biological products in microgravity. The first Space Bioreactor was designed for microprocessor control, no gaseous headspace, circulation and resupply of culture medium, and slow mixing in very low shear regimes. Various ground based bioreactors are being used to test reactor vessel design, on-line sensors, effects of shear, nutrient supply, and waste removal from continuous culture of human cells attached to microcarriers. The small Bioreactor is being constructed for flight experiments in the Shuttle Middeck to verify systems operation under microgravity conditions and to measure the efficiencies of mass transport, gas transfer, oxygen consumption and control of low shear stress on cells.

Morrison, Dennis R.↗

NASA NTRS1989

A real-time simulator of a turbofan engine

A real-time digital simulator of a Pratt and Whitney F100 engine has been developed for real-time code verification and for actuator diagnosis during full-scale engine testing. This self-contained unit can operate in an open-loop stand-alone mode or as part of closed-loop control system. It can also be used for control system design and development. Tests conducted in conjunction with the NASA Advanced Detection, Isolation, and Accommodation program show that the simulator is a valuable tool for real-time code verification and as a real-time actuator simulator for actuator fault diagnosis. Although currently a small perturbation model, advances in microprocessor hardware should allow the simulator to evolve into a real-time, full-envelope, full engine simulation.

Litt, Jonathan S.↗

NASA NTRS1989

Performance of the active sidewall boundary-layer removal system for the Langley 0.3-meter Transonic Cryogenic Tunnel

A performance evaluation of an active sidewall boundary-layer removal system for the Langley 0.3-m Transonic Cryogenic Tunnel (TCT) was evaluated in 1988. This system uses a compressor and two throttling digital valves to control the boundary-layer mass flow removal from the tunnel. The compressor operates near the maximum pressure ratio for all conditions. The system uses a surge prevention and flow recirculation scheme. A microprocessor based controller is used to provide the necessary mass flow and compressor pressure ratio control. Initial tests on the system indicated problems in realizing smooth mass flow control while running the compressor at high speed and high pressure ratios. An alternate method has been conceived to realize boundary-layer mass flow control which avoids the recirculation of the compressor mass flow and operation near the compressor surge point. This scheme is based on varying the speed of the compressor for a sufficient pressure ratio to provide needed mass flow removal. The system has a mass flow removal capability of about 10 percent of test section flow at M = 0.3 and 4 percent at M = 0.8. The system performance has been evaluated in the form of the compressor map, and compressor tunnel interface characteristics covering most of the 0.3-m TCT operational envelope.

Balakrishna, S.↗

NASA NTRS1989

Space station propulsion test bed

A test bed was fabricated to demonstrate hydrogen/oxygen propulsion technology readiness for the intital operating configuration (IOC) space station application. The test bed propulsion module and computer control system were delivered in December 1985, but activation was delayed until mid-1986 while the propulsion system baseline for the station was reexamined. A new baseline was selected with hydrogen/oxygen thruster modules supplied with gas produced by electrolysis of waste water from the space shuttle and space station. As a result, an electrolysis module was designed, fabricated, and added to the test bed to provide an end-to-end simulation of the baseline system. Subsequent testing of the test bed propulsion and electrolysis modules provided an end-to-end demonstration of the complete space station propulsion system, including thruster hot firings using the oxygen and hydrogen generated from electrolysis of water. Complete autonomous control and operation of all test bed components by the microprocessor control system designed and delivered during the program was demonstrated. The technical readiness of the system is now firmly established.

Briley, G. L.↗

NASA NTRS1989

Film annotation system for a space experiment

This microprocessor system was designed to control and annotate a Nikon 35 mm camera for the purpose of obtaining photographs and data at predefined time intervals. The single STD BUSS interface card was designed in such a way as to allow it to be used in either a stand alone application with minimum features or installed in a STD BUSS computer allowing for maximum features. This control system also allows the exposure of twenty eight alpha/numeric characters across the bottom of each photograph. The data contains such information as camera identification, frame count, user defined text, and time to .01 second.

Browne, W. R.↗

NASA NTRS1988

Ocean topography experiment (TOPEX) radar altimeter

A spaceflight qualified Radar Altimeter capable of achieving the TOPEX Mission measurement precision requirement of 2-centimeters, is provided and its performance (Engineering Assessment) will be evaluated after launch and continuously during its 3-year mission operational period. Information will be provided to JPL about the calibration of the TOPEX Radar Altimeter. The specifications for the required data processing algorithms which will be necessary to convert the Radar Altimeter mission telemetry data into the geophysical data will also be provided. The stringent 2 cm precision requirement for ocean topography determination from space necessitated examining existing Radar Altimeter designs for their applicability towards TOPEX. As a result, a system configuration evolved using some flight proven designs in conjunction with needed improvements which include: (1) a second frequency or channel to remove the range delay or apparent height bias caused by the electron content of the ionosphere; (2) higher transmit pulse repetition frequencies for correlation benefits at higher sea states to maintain precision; and (3) a faster microprocessor to accommodate two channels of altimetry data. Additionally, examination of past altimeter programs associated data processing algorithms was accomplished to establish the TOPEX-class Radar Altimeter data processing algorithms, and the necessary direction was outlined to begin to generate these for the TOPEX Mission.

Rossi, L. C.↗

NASA NTRS1988

A Near-Infrared Mapping Spectrometer for investigation of Jupiter and its satellites

The Near-Infrared-Mapping Spectrometer (NIMS) is one of the science instruments in the Galileo mission, which will explore Jupiter and its satellites in the mid-1990's. The NIMS experiment will map geological units on the surfaces of the Jovian satellites and characterize their mineral content; and, for the atmosphere of Jupiter, investigate cloud properties and the spatial and temporal variability of molecular abundances. The optics are gold-coated reflective and consist of a telescope and a grating spectrometer. The balance of the instrument includes a 17-detector (silicon and indium antimonide) focal plane array, a tuning fork chopper, microprocessor-controlled electronics, and a passive radiative cooler. A wobbling secondary mirror in the telescope provides 20 pixels in one dimension of spatial scanning in a pushbroom mode with 0.5 mr x 0.5 mr instantaneous field of view. The spectral range is 0.7-5.2 microns; resolution is 0.025 micron. NIMS is the first infrared experiment to combine both spatial and spectral mapping capability in one instrument.

Aptaker, Irving M.↗

NASA NTRS1988

Practical implementation issues for active control of large flexible structures

The effect of quantization due to the finite wordlength of microprocessors, analog-to-digital, and digital-to-analog converters, on the desired control law for large flexible structures is investigated. Additionally, the practical effect of actuator dynamics on the stability and performance of the control law is addressed. Finally, an active control experiment is reported which takes into account and demonstrates some of the previously discussed practical considerations.

Zimmerman, D. C.↗

NASA NTRS1987

Design principles of a cooperative robot controller

The paper describes the design of a controller for cooperative robots being designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which are based on the RCCL system and which permit a programmer to specify cooperative tasks are described. The first group of primitives are motion primitives which specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues will be discussed and the implementation described. A second set of primitives provides for the specification of spatial relationships. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a set of microprocessors sharing a common bus.

Hayward, Vincent↗

NASA NTRS1988

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗

NASA NTRS1988

Planar and finger-shaped optical tactile sensors for robotic applications

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

Begej, Stefan↗

NASA NTRS1987

Fast and stable recursive algorithms for continuous-time and discrete-time model conversions

Based on the Newton-Raphson method, this paper presents recursive algorithms that are rapidly convergent and more stable for modeling the equivalent continuous-time (discrete-time) model from the available discrete-time (continuous-time) model for a fixed sampling period. The newly developed recursive algorithms relax the constraints imposed upon the existing model conversion algorithms, and, thus, enhance the applications of microprocessors and associated microelectronics to digital control systems. A practical example is presented to demonstrate the effectiveness of the proposed procedures.

Shieh, L. S.↗

NASA NTRS1988

An integrated and modular digital modeling approach for the Space Station electrical power system development

An electrical power system for the Space Station was designed, developed and built. This system provides for electrical power generation, conditioning, storage, and distribution. The initial configuration uses photovoltaic power generation. The power system control is based on a hierarchical architecture to support the requirements of automation. In the preliminary design and technology development phase of the program, various modeling techniques and software tools were evaluated for the purpose of meeting the Space Station power system modeling requirements. Rocketdyne and LeRC jointly selected the EASY5 simulation software, developed by Boeing Computer Services, as a system level modeling tool. The application of the selected analytical modeling approach to represent the entire power system is described. Typical results of model predictions are also summarized. The equipment modeled includes solar arrays, dc to ac converters, resonant inverters, battery storage system, alternator, transmission line, switch gear, and system level microprocessor controls. During the advanced development phase of this program, several models were developed using this approach.

Gombos, Frank J.↗

NASA NTRS1988

Advanced detection, isolation, and accommodation of sensor failures - Real-time evaluation

The objective of the Advanced Detection, Isolation, and Accommodation (ADIA) program is to improve the overall demonstrated reliability of digital electronic control systems for turbine engines by using analytical redundancy to detect sensor failures. The results of a real-time hybrid computer evaluation of the ADIA algorithm are presented. Minimum detectable levels of sensor failures for an F100 engine control system are determined. Also included are details about the microprocessor implementation of the algorithm as well as a description of the algorithm itself.

Merrill, Walter C.↗

NASA NTRS1988

A computer-based Safety Assessment for Flight Evacuation - SAFE

The Safety Assessment for Flight Evacuation (SAFE) system has been developed for the computerized evaluation of safety in civil Emergency Medical Service (EMS) operations. The speed of the microprocessor used to analyze data allows many individual factors to be considered, as well as the interactions among those factors. SAFE's data base is structured as if-then conditional statements. SAFE also allows the most important of the factors to be given greater weight in the final score. The questionnaire filled by EMS crews encompassed mission-, crew-, organization-, environment-, and aircraft-related factors; each of these was subdivided into as many as eight variables affecting the EMS-mission risk of that factor.

Shively, Robert J.↗

NASA NTRS1990

Portable High-Frequency Data-Acquisition System

Compact unit made of readily available solid-state components. Proposed system for acquisition of rapidly changing data self-contained and portable. Conceived for monitoring such aerodynamic effects as flutter, vibration, shock, sound, and pressure. Offers precise and fast acquisition of data and large data-storage capacity: has maximum sampling rate of 125 kHz, access time of 15 ns, and 1-million-bit memory. Measures time with "smart" (microprocessor-controlled) watch that maintains calendar time for more than 10 years without external power. Provides standby power from "smart" battery furnishing up to 1 ampere-hour of charge if power from main batteries lost.

Mustain, Roy W.↗

NASA NTRS1990

Processor Would Find Best Paths On Map

Proposed very-large-scale integrated (VLSI) circuit image-data processor finds path of least cost from specified origin to any destination on map. Cost of traversal assigned to each picture element of map. Path of least cost from originating picture element to every other picture element computed as path that preserves as much as possible of signal transmitted by originating picture element. Dedicated microprocessor at each picture element stores cost of traversal and performs its share of computations of paths of least cost. Least-cost-path problem occurs in research, military maneuvers, and in planning routes of vehicles.

Eberhardt, Silvio P.↗

NASA NTRS1990

Data-Acquisition Board For IBM PS/2 Computer

Circuit board containing microprocessors designed to control acquisition of data by IBM PS/2 computer. Plugged into one of 16-bit slots on mother board of computer. Controls transfer of data from as many as 48 discrete channels to Micro Channel Interface. With expansion of software, board recognizes and filters specified kinds of signal patterns, possibly to detect errors.

Hoang, Phuong-Dung T.↗