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Proposed class of accelerometers and related motion sensors based on use of ultracold atoms as inertial components of motion transducers. Ultracold atoms supplant spring-and-mass components of older accelerometers. As used here, "ultracold atoms" means atoms with kinetic energies equivalent to temperatures equal to or less than 20 mK. Acclerometers essentially frictionless. Primary advantage high sensitivity.
Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.
The Passive Accelerometer System (PAS) is a simple moving ball accelerometer capable of measuring the small magnitude steady relative acceleration that occurs in a low earth orbit spacecraft due to atmospheric drag and the earth's gravity gradient. The acceleration is measured by recording the average velocity of the spherical ball over a suitable time increment. A modified form of Stokes law is used to convert the average velocity into an acceleration. PAS was used to measure acceleration on the MIR space station and on the first United States Microgravity Laboratory (USML-1). The PAS measurement on MIR revealed remarkably low acceleration levels in the SPEKTR module.
A finite-element analysis of possible silicon carbide (SIC) folded-beam, lateral-resonating accelerometers is presented. Results include stiffness coefficients, acceleration sensitivities, resonant frequency versus temperature, and proof-mass displacements due to centripetal acceleration of a blade-mounted sensor. The surface micromachined devices, which are similar to the Analog Devices Inc., (Norwood, MA) air-bag crash detector, are etched from 2-pm thick, 3C-SiC films grown at 1600 K using atmospheric pressure chemical vapor deposition (APCVD). The substrate is a 500 gm-thick, (100) silicon wafer. Polysilicon or silicon dioxide is used as a sacrificial layer. The finite element analysis includes temperature-dependent properties, shape change due to volume expansion, and thermal stress caused by differential thermal expansion of the materials. The finite-element results are compared to experimental results for a SiC device of similar, but not identical, geometry. Along with changes in mechanical design, blade-mounted sensors would require on-chip circuitry to cancel displacements due to centripetal acceleration and improve sensitivity and bandwidth. These findings may result in better accelerometer designs for this application.
Long duration spaceflight is known to cause a variety of biomedical stressors to the astronaut. One of the more functionally destabilizing effects of spaceflight involves microgravity-induced changes in vestibular or balance control. Balance control requires the integration of the vestibular, visual, and proprioceptive systems. In the microgravity environment, the normal gravity vector present on Earth no longer serves as a reference for the balance control system. Therefore, adaptive changes occur to the vestibular system to affect control of body orientation with altered, or non-present, gravity and/or proprioceptive inputs. Upon return to a gravity environment, the vestibular system must re-incorporate the gravity vector and gravity-induced proprioceptive inputs into the balance control regime. The result is often a period of postural instability, which may also be associated with space motion sickness (oscillopsia, nausea, and vertigo). Previous studies by the JSC Neuroscience group have found that returning astronauts often employ alterations in gait mechanics to maintain postural control during gait. It is believed that these gait alterations are meant to decrease the transfer of heel strike shock energy to the head, thus limiting the contradictory head and eye movements that lead to gait instability and motion sickness symptoms. We analyzed pre- and post-spaceflight tri-axial accelerometer data from the NASA/MIR long duration spaceflight missions to assess the heel to head transfer of heel strike shock energy during locomotion. Up to seven gait sessions (three preflight, four postflight) of head and shank (lower leg) accelerometer data was previously collected from six astronauts who engaged in space flights of four to six months duration. In our analysis, the heel to head transmission of shock energy was compared using peak vertical acceleration (a), peak jerk (j) ratio, and relative kinetic energy (a). A host of generalized movement variables was produced in an effort to isolate those that best highlighted vestibular adaptation due to spaceflight. Data suggest that astronauts used either head or body centered control to reduce the effects of heel strike shock on head position during normal walking at self-selected speeds. Moreover, the form of that control appears to fall under one of two categories: homeostatic or adaptive. Homeostatic control refers to tight constraint (small error) over the value of a given variable before and after spaceflight with little or no adaptive changes. Adaptive control refers to lesser constraint over a given movement variable with clear adaptation to earth gravity upon return from spaceflight. Heel strike shock absorption (ratio of heel to head peak acceleration) best-discriminated head and body centered control strategies. Further, peak jerk data was useful for illustrating pre- and postflight differences in segmental (shank versus head) movement energy. Results from kinetic energy analysis show high consistency between subjects and across test dates. Whether this result highlights a control strategy or is an artifact of approximating body segments using anthropometric tables is, at this point, unclear.
The Gravity Recovery and Climate Experiment (GRACE), launched on March 17, 2002, represents the state-of-the-art in geodetic observations of the static and time varying components of the Earth's geopotential field. The fundamental measurement used to observe gravity is the inter-satellite range and range rate between two coplanar, low altitude satellites obtained from a K-band ranging (KBR) system. In addition to the K-band ranging system, each satellite possess a Super-STAR Accelerometer, a GPS receiver/antenna package, Star Cameras and a Laser Retro Reflector (LRR) to complete the compliment of science instruments. The GRACE project has now released two years of Level 1B data derived from the science instruments and sensors. An integral component of our time variable gravity research is the reduction, calibration and analyses of these Level 1B data. In particular we have analyzed several months of K-band ranging (KBR1B), accelerometry (ACC1B) and GPS navigation (GNAV1B) data. Accelerometer calibration and KBR data reduction methodology and results will be presented. We discuss the impact of these analyses on the recovery of time variable gravity.
An inexpensive, light weight fiber optic accelerometer to convert input mechanical motion (e.g. acceleration) into digitized optical output signals. The output of the accelerometer may be connected directly to data processing apparatus without the necessity of space consuming analog to digital interface means.
An inexpensive, light weight fiber optic accelerometer to convert input mechanical motion (e.g. acceleration) into digitized optical output signals. The output of the accelerometer may be connected directly to data processing apparatus without the necessity of space consuming analog to digital interface means.
A low-cost, portable, and simplified system has been developed that is suitable for in-situ calibration and/or evaluation of multi-axis inertial measurement instruments. This system overcomes facility restrictions and maintains or improves the calibration quality for users of accelerometer-based instruments with applications in avionics, experimental wind tunnel research, and force balance calibration applications. The apparatus quickly and easily positions a multi-axis accelerometer system into a precisely known orientation suitable for in-situ quality checks and calibration. In addition, the system incorporates powerful and sophisticated statistical methods, known as response surface methodology and statistical quality control. These methods improve calibration quality, reduce calibration time, and allow for increased calibration frequency, which enables the monitoring of instrument stability over time.
The Mars Atmosphere and Volatile EvolutioN (MAVEN) spacecraft is a NASA orbiter designed to explore the Mars upper atmosphere, typically from 140 to 160 km altitude. In addition to the nominal science mission, MAVEN has performed several Deep Dip campaigns in which the orbit's closest point of approach, also called periapsis, was lowered to an altitude range of 115 to 135 km. MAVEN accelerometer data were used during mission operations to estimate atmospheric parameters such as density, scale height, along-track gradients, and wave structures. Density and scale height estimates were compared against those obtained from the Mars Global Reference Atmospheric Model and used to aid the MAVEN navigation team in planning maneuvers to raise and lower periapsis during Deep Dip operations. This paper describes the processes used to reconstruct atmosphere parameters from accelerometers data and presents the results of their comparison to model and navigation-derived values.
Navigation during aerobraking missions has historically relied solely on radiometric Doppler data. Accelerometer data, available on all modern spacecraft, has the potential to supplement Doppler data, increasing operational tempos, filling tracking data gaps, and improving the accuracy of orbit determination solutions. However, integration of Doppler and accelerometer data into the batch filter solutions used for operational navigation has proven to be practically challenging, due to the narrow region of adequate linear approximation for acceleration incurred by drag. This work proposes to use the accumulated velocity changes derived from these values as a more compatible data type. Demonstrations of results focus on NASA’s Maven and ESA’s TGO mission, and how this technique can be used to improve operations for the upcoming Maven aerobraking phase with reduced tracking data and lighter staffing requirements.
This report endeavors to show the possibility of determining the rate of acceleration and the advantage of having such an accelerometer in addition to other aviation instruments. Most of the discussions concern balloons.
Effect of propellant sloshing on stability of accelerometer controlled rigid space vehicle
Accelerometer test program to determine instrument error and reliability
Permanent magnet suspension over superconducting surface used as linear bearing for low level accelerometer
Strain gauge accelerometer based on anisotropic stress effect in P-N junctions using piezoelectric crystals
Feasibility of using p-n-junction devices as transducer for accelerometer - mechanical stress effects on electric characteristics of p-n junction devices
Design of rectilinear spring-mass accelerometer for lateral control of Saturn launch vehicle