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A conceptual design and set of dynamic equations of a gimbaled AMCD adapted to a Large Space Telescope are presented. Such a system could provide maneuver capability and precision pointing by means of one external gimbal, wheel speed control, and small motions of the rim within the magnetic gap.
The sensor system is in essence a point design, specifically interfacing with the Harris, Inc., 1000 meter deployable mesh communication antenna. The design can, without large modification, be adapted to other large deployable antennas such as the Lockheed Wrap-rib, the General Dynamics Precision Erectable Truss and the TRW Advanced Sunflower antennas. Measurements are optical displacements. The elements of the system are a central cluster of receivers near the apex of the antenna and active bright targets at the antenna. The cluster defines a single coordinate frame from which all surface positions are referenced. The receivers continuously observe an extended array of sample points located throughout the reflecting surface and its supporting structure. For the Harris antenna, the surface samples are at the mesh gore lines and at the supporting hoop. Output data is in real-time, compatible with on-board processing and active control of antenna figure. Lifetime of the system is at least 10 years continuous operation in space.
The Comet Rendezvous/Asteroid Flyby will be the first mission in the Mariner Mark II program. The July 1990 launch will result in a fast flyby of the asteroid Tanete in May 1991 and a rendezvous with comet Kopff in February 1994, 879 days before comet perihelion. The spacecraft will return detailed data on the comet nucleus and its environment for nearly 1000 days. Several important comet characteristics will not be precisely known until the spacecraft performs its first measurements, which means that operations strategies must be adaptable to a range of conditions. In addition, the operation of a spacecraft in a dusty environment near a low-mass body imposes unique constraints on trajectory and orbit design.
Adaptive machining is method of machining large, somewhat flexible workpieces to close tolerances. Devised for machining precise weld lands on aft skirts of rocket nozzles, but underlying concept generally applicable to precise machining of any of large variety of workpieces deformed by thermal, gravitational, and/or machining forces. For example, in principle, method used to bore precise hole on unanchored end of long cantilever beam.
We present a computational model of a closed-loop, pilot-aircraft-visual scene-taxiway system created to shed light on possible sources of taxi error. Creating the cognitive aspects of the model using ACT-R required us to conduct studies with subject matter experts to identify experiential adaptations pilots bring to taxiing. Five decision strategies were found, ranging from cognitively-intensive but precise, to fast, frugal but robust. We provide evidence for the model by comparing its behavior to a NASA Ames Research Center simulation of Chicago O'Hare surface operations. Decision horizons were highly variable; the model selected the most accurate strategy given time available. We found a signature in the simulation data of the use of globally robust heuristics to cope with short decision horizons as revealed by errors occurring most frequently at atypical taxiway geometries or clearance routes. These data provided empirical support for the model.
Control of locomotion requires precise interaction between several sensorimotor subsystems. Exposure to the microgravity environment of spaceflight leads to postflight adaptive alterations in these multiple subsystems leading to postural and gait disturbances. Countermeasures designed to mitigate these postflight gait alterations will need to be assessed with a new generation of functional tests that evaluate the interaction of various elements central to locomotor control. The goal of this study is to determine how the multiple, interdependent, full- body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated. To explore this question two experiments were performed. In the first study (Study 1) we investigated how alteration in gaze tasking changes full-body locomotor control strategies. Subjects (n=9) performed two discreet gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2m in front at eye level. The second study (Study 2) investigated the potential of adaptive remodeling of the full-body gaze control systems following exposure to visual-vestibular conflict. Subjects (n=14) walked (6.4 km/h) on the treadmill before and after they were exposed to 0.5X minifying lenses worn for 30 minutes during self-generated sinusoidal vertical head rotations performed while seated. In both studies we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. Results from Study 1 showed that while reading numeral characters as compared to the central point target: 1) compensatory head pitch movements were on average 22% greater 2) the peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six subjects 3) the knee joint total movement was on average 11% greater during the period from the heel strike event to the peak knee flexion event in stance phase of the gait cycle. Results from Study 2 indicate that following exposure to visual-vestibular conflict changes in full-body strategies were observed consistent with the requirement to aid gaze stabilization during locomotion.
A multilayer dielectric device has been fabricated as a prototype of a low-loss, low-distortion, transmissive optical phase modulator that would provide as much as a full cycle of phase change for all frequency components of a transmitted optical pulse over a frequency band as wide as 6.3 THz. Arrays of devices like this one could be an alternative to the arrays of mechanically actuated phase-control optics (adaptive optics) that have heretofore been used to correct for wave-front distortions in highly precise optical systems. Potential applications for these high-speed wave-front-control arrays of devices include agile beam steering, optical communications, optical metrology, optical tracking and targeting, directional optical ranging, and interferometric astronomy. The device concept is based on the same principle as that of band-pass interference filters made of multiple dielectric layers with fractional-wavelength thicknesses, except that here there is an additional focus on obtaining the desired spectral phase profile in addition to the device s spectral transmission profile. The device includes a GaAs substrate, on which there is deposited a stack of GaAs layers alternating with AlAs layers, amounting to a total of 91 layers. The design thicknesses of the layers range from 10 nm to greater than 1 micrometer. The number of layers and the thickness of each layer were chosen in a computational optimization process in which the wavelength dependences of the indices of refraction of GaAs and AlAs were taken into account as the design was iterated to maximize the transmission and minimize the group-velocity dispersion for a wavelength band wide enough to include all significant spectral components of the pulsed optical signal to be phase modulated.
Previously, it was difficult to fabricate deformable mirrors made by piezoelectric actuators. This is because numerous actuators need to be precisely assembled to control the surface shape of the mirror. Two approaches have been developed. Both approaches begin by depositing a stack of piezoelectric films and electrodes over a silicon wafer substrate. In the first approach, the silicon wafer is removed initially by plasmabased reactive ion etching (RIE), and non-plasma dry etching with xenon difluoride (XeF2). In the second approach, the actuator film stack is immersed in a liquid such as deionized water. The adhesion between the actuator film stack and the substrate is relatively weak. Simply by seeping liquid between the film and the substrate, the actuator film stack is gently released from the substrate. The deformable mirror contains multiple piezoelectric membrane layers as well as multiple electrode layers (some are patterned and some are unpatterned). At the piezolectric layer, polyvinylidene fluoride (PVDF), or its co-polymer, poly(vinylidene fluoride trifluoroethylene P(VDF-TrFE) is used. The surface of the mirror is coated with a reflective coating. The actuator film stack is fabricated on silicon, or silicon on insulator (SOI) substrate, by repeatedly spin-coating the PVDF or P(VDFTrFE) solution and patterned metal (electrode) deposition. In the first approach, the actuator film stack is prepared on SOI substrate. Then, the thick silicon (typically 500-micron thick and called handle silicon) of the SOI wafer is etched by a deep reactive ion etching process tool (SF6-based plasma etching). This deep RIE stops at the middle SiO2 layer. The middle SiO2 layer is etched by either HF-based wet etching or dry plasma etch. The thin silicon layer (generally called a device layer) of SOI is removed by XeF2 dry etch. This XeF2 etch is very gentle and extremely selective, so the released mirror membrane is not damaged. It is possible to replace SOI with silicon substrate, but this will require tighter DRIE process control as well as generally longer and less efficient XeF2 etch. In the second approach, the actuator film stack is first constructed on a silicon wafer. It helps to use a polyimide intermediate layer such as Kapton because the adhesion between the polyimide and silicon is generally weak. A mirror mount ring is attached by using adhesive. Then, the assembly is partially submerged in liquid water. The water tends to seep between the actuator film stack and silicon substrate. As a result, the actuator membrane can be gently released from the silicon substrate. The actuator membrane is very flat because it is fixed to the mirror mount prior to the release. Deformable mirrors require extremely good surface optical quality. In the technology described here, the deformable mirror is fabricated on pristine substrates such as prime-grade silicon wafers. The deformable mirror is released by selectively removing the substrate. Therefore, the released deformable mirror surface replicates the optical quality of the underlying pristine substrate.
Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.
Under the ARPA SMS Partnership Program for Synthesis and Processing of Smart Materials, Lockheed Missiles and Space company, Inc. has developed a demonstration prototype vibration cancelling mount using electrostrictive ceramic and shape-memory alloy actuators. Shape-memory actuators provide an adaptive-passive, self-damping support for isolation, while the electrostrictive actuators are employed to provide force and position control. The demonstration device was designed to address generic requirements for vibration stabilization of precision spacecraft instruments. It is reconfigurable to operate in any of four modes; passive isolation, active-passive isolation using force cancellation, active precision positioning, and active disturbance rejection. The presentation summarizes design of the device design and results of experimental evaluations of the device in isolation (active and passive) and positioning modes. Rejection of payload-borne disturbances is also discussed with reference to predictions from experimentally calibrated simulations. Finally, avenues for further development and refinement of the device are discussed.
The present conference on the identification and control of flexible flight structures with computational techniques encompasses existing and planned testbeds, modeling techniques, adaptive control, and numerical computation and simulation. Specific issues addressed include the NASA/MFSC ground test facility, an active control test on the NASA Minimast, the Astrex testbed for large precision space structures, the dynamic analysis of truss-beam modeling, combined structure-controls-integrated optimization, distributed parameter modeling applicable to the control of flexible flight structures, and approaches to nonclassically damped dynamic systems. Also addressed are adaptive control concepts, techniques for vibration and decentralized slew maneuver control, the discretization of second-order-in-time differential equations which are applicable to nonlinear wave problems, the finite-dimensional approximations of Riccati equations, and numerical simulations of actively controlled space structures.
This paper will discuss the development of thin-shell, nano-laminate mirror substrates that are capable of being electro-actively figured. This technology has the potential to substantially reduce the cost of space based optics by allowing replication of ultra-lightweight primary mirrors from a master precision tool.
An account is given of analyses conducted in the development of a lightweight/deformable-reflector concept for large segmented precision telescope applications. The stiffness of the reflector, which is of GRP face sheet/composite honeycomb core sandwich construction, is governed by the requirement that the lowest natural frequency be no lower than 100 Hz. The reflector surface-deformation method involved embedding an inplane actuator on the back facesheet of the reflector structure; no substructure is required, and the corrections required of the actuators are of the order of microns. An account is given of the high fidelity reflector analytical model used to predict the structural behavior of the reflectors in the micronic deflection regime.
In order to minimize the effects of parameter variations in the dynamics of an optical tracking telescope, a model referenced parameter adaptive control system is described that - in conjunction with more traditional forms of compensation - achieves a reduction of rms pointing error by more than a factor of six. The adaptive compensation system utilizes open loop compensation, closed loop compensation, and model reference compensation to provide the precise input to force telescope axis velocity to follow the ideal velocity.
Moire interferometry by reflection has been demonstrated using a real reference grating of 1200 lines/mm. The method is shown to be well adapted to thermal environments. Thermal expansion coefficients of graphite-epoxy composites have been measured with high precision over a wide range from nearly zero to 3300 microstrains in the temperature range 297-422 K. Random errors characterized by one standard deviation can be as small as one microstrain.
Precise drill press equipped with rotary-indexing microscope. Microscope and drill exchange places when turret rotated. Microscope axis first aligned over future hole, then rotated out of way so drill axis assumes its precise position. New procedure takes less time to locate drilling positions and produces more accurate results. Apparatus adapted to such other machine tools as milling and measuring machines.
NEID (NN-explore Exoplanet Investigations with Doppler spectroscopy) is an optical, fiber-fed spectrometer installed on the WIYN 3.5m Telescope. The radial velocity precision that NEID is expected to reach requires the stellar jitter (i.e., the slight irregular movement of the stellar image induced by atmospheric turbulence, wind-shake, etc.) to be controlled within 0.05 arc-seconds 90% of the time in nominal observing conditions (i.e., 0.8-arcsecond seeing and mild winds). To achieve that, the NEID Port Adapter incorporates a fast, first-order wavefront correction system, which implements an Electron-Multiplying CCD camera and a tip/tilt piezo stage to capture and stabilize the stellar image. Here, we use on-sky data to demonstrate the performance of this system under various observing conditions.
A control system for a permanent magnet motor driven by a multiphase line commutated inverter is provided with integration for integrating the back EMF of each phase of the motor. This is used in generating system control signals for an inverter gate logic using a sync and firing angle (alpha) control generator connected to the outputs of the integrators. A precision full wave rectifier provides a speed control feedback signal to a phase delay rectifier via a gain and loop compensation circuit and to the integrators for adaptive control of the attenuation of low frequencies by the integrators as a function of motor speed. As the motor speed increases, the attenuation of low frequency components by the integrators is increased to offset the gain of the integrators to spurious low frequencies.