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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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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Model reference adaptive control of flexible robots in the presence of sudden load changes

Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition, such MRAC procedures are designed so that a feedforward augmented output follows the reference model output, thus, resulting in an ultimately bounded rather than zero output error. Thus, modifications are suggested and tested that: (1) incorporate feedforward into the reference model's output as well as the plant's output, and (2) incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error, and thus encourage further use of MRAC for more complex flexibile robotic systems.

Steinvorth, Rodrigo↗
NASA NTRS1994

Contribution of dietary and loading changes to the effects of suspension on mouse femora

The present study assessed the contributions of feeding changes and unloading to the overall measured effects of 2-wk hindlimb (Tail) suspension on the mouse femora. Feeding changes were addressed by considering the effects of matched feeding among suspended and control mice. The effects of hind limb unloading were considered by comparing suspended mice to mice equipped identically (though not suspended) and matched-fed. The feeding and unloading aspects of suspension appear to cause distinctly differing effects on the stereotypic modeling of the femora. Matched-feeding was accompanied by increased resorption surface in comparison to suspended mice, while unloading led to reduced bone formation at the mid-diaphysis of the femora. Reduced mineral content was observed in the bones of suspended mice when compared to the other mice groups, but without increased resorption surface. Thus, the unloading aspects of the antiorthostatic suspension protocol apparently causes reduced formation and mineralization in the femur.

Non-NASA Center↗
NASA NTRS2006

Terrestrial Water Mass Load Changes from Gravity Recovery and Climate Experiment (GRACE)

Recent studies show that data from the Gravity Recovery and Climate Experiment (GRACE) is promising for basin- to global-scale water cycle research. This study provides varied assessments of errors associated with GRACE water storage estimates. Thirteen monthly GRACE gravity solutions from August 2002 to December 2004 are examined, along with synthesized GRACE gravity fields for the same period that incorporate simulated errors. The synthetic GRACE fields are calculated using numerical climate models and GRACE internal error estimates. We consider the influence of measurement noise, spatial leakage error, and atmospheric and ocean dealiasing (AOD) model error as the major contributors to the error budget. Leakage error arises from the limited range of GRACE spherical harmonics not corrupted by noise. AOD model error is due to imperfect correction for atmosphere and ocean mass redistribution applied during GRACE processing. Four methods of forming water storage estimates from GRACE spherical harmonics (four different basin filters) are applied to both GRACE and synthetic data. Two basin filters use Gaussian smoothing, and the other two are dynamic basin filters which use knowledge of geographical locations where water storage variations are expected. Global maps of measurement noise, leakage error, and AOD model errors are estimated for each basin filter. Dynamic basin filters yield the smallest errors and highest signal-to-noise ratio. Within 12 selected basins, GRACE and synthetic data show similar amplitudes of water storage change. Using 53 river basins, covering most of Earth's land surface excluding Antarctica and Greenland, we document how error changes with basin size, latitude, and shape. Leakage error is most affected by basin size and latitude, and AOD model error is most dependent on basin latitude.

Seo, K.-W.↗
NASA NTRS2001

Minimizing Load Effects on NA4 Gear Vibration Diagnostic Parameter

NA4 is a vibration diagnostic parameter, developed by researchers at NASA Glenn Research Center, for health monitoring of gears in helicopter transmissions. The NA4 reacts to the onset of gear pitting damage and continues to react to the damage as it spreads. This research also indicates NA4 reacts similarly to load variations. The sensitivity of NA4 to load changes will substantially affect its performance on a helicopter gearbox that experiences continuously changing load throughout its flight regimes. The parameter NA4 has been used to monitor gear fatigue tests at constant load. At constant load, NA4 effectively detects the onset of pitting damage and tracks damage severity. Previous research also shows that NA4 reacts to changes in load applied to the gears in the same way it reacts to the onset of pitting damage. The method used to calculate NA4 was modified to minimize these load effects. The modified NA4 parameter was applied to four sets of experimental data. Results indicate the modified NA4 is no longer sensitive to load changes, but remains sensitive to pitting damage.

Dempsey, Paula J.↗
NASA NTRS1986

Investigation of potential driver modules and transmission lines for a high frequency power system on the space station

The objective was to assess the feasibility of using the Series Resonant inverter as the driver module for the high frequency power system on the Space Station. This study evaluates the performance of the Series Resonant driver when it was operated with a dc input voltage and run through a series of tests to determine its start-up performance, response to load changes, load regulation, and efficiency. Also, this study compares the Series Resonant driver to another kind of driver that uses a Power Transistor snubber. An investigation of the various types of transmission lines is initiated. In particular, a simplified approach is utilized to describe the optimal transmission line.

Brush, H. T.↗
NASA NTRS1991

Tuning maps for setpoint changes and load disturbance upsets in a three capacity process under multivariable control

Tuning maps are an aid in the controller tuning process because they provide a convenient way for the plant operator to determine the consequences of adjusting different controller parameters. In this application the maps provide a graphical representation of the effect of varying the gains in the state feedback matrix on startup and load disturbance transients for a three capacity process. Nominally, the three tank system, represented in diagonal form, has a Proportional-Integral control on each loop. Cross coupling is then introduced between the loops by using non-zero off-diagonal proportional parameters. Changes in transient behavior due to setpoint and load changes are examined by varying the gains of the cross coupling terms.

Litt, Jonathan S.↗
NASA NTRS1982

Improving Power-Supply Regulation for Pulsed Loads

Power supply voltage-regulator circuit speeds up response to sudden load changes. As load increases, additional feedback path is enabled. Path bypasses and provides faster loop response than normal feedback path. Steady-state instability due to faster loop response avoided by progressively disabling bypass loop and allowing normal feedback path to take over.

Gulick, C. R.↗
NASA NTRS2007

Models of Active Glacial Isostasy Roofing Warm Subduction: Case of the South Patagonian Ice Field

Modern geodetic techniques such as precise Global Positioning System (GPS) and high-resolution space gravity mapping (Gravity Recovery and Climate Experiment, GRACE) make it possible to measure the present-day rate of viscoelastic gravitational Earth response to present and past glacier mass changes. The Andes of Patagonia contain glacial environments of dramatic mass change. These mass load changes occur near a tectonically active boundary between the Antarctic and South American plates. The mechanical strength of the continental side of this boundary is influenced by Neogene ridge subduction and by the subduction of a youthful oceanic slab. A ridge of young volcanos parallels the Pacific coastline. Release of volatiles (such as water) at depth along this ridge creates a unique rheological environment. To assess the influence of this rheological ridge structure on the observational land uplift rate, we apply a two dimensional viscoelastic Earth model. A numerical study is presented which examines the sensitivity of the glacial loading-unloading response to the complex structure at depth related to the subducting slab, the viscous wedge between slab and continental lithosphere, and the increase of elastic thickness from oceanic to continental lithosphere. A key feature revealed by our numerical experiments is a continuum flow wherein the slab subdues the material transport toward oceanic mantle and crust. The restricted flow is sensitive to the details of slab mechanical strength and penetration into the upper mantle. The reduced viscosity within the mantle wedge, however, enhances the load-induced material transport everywhere within the asthenosphere.

crustal mass changes↗
NASA NTRS1983

Digital Single-Phase Power-Factor Controller

Digital circuit has faster response to load changes. Digital power-factor controller senses changing motor-load torques by sampling open-circuit voltage across gate-controlled silicon switch. Circuit responds more rapidly to hanging loads than analog power-factor controllers because no low-pass filter is in feedback loop.

Dabney, R. W.↗
NASA NTRS1993

Direct model reference adaptive control of robotic arms

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Kaufman, Howard↗
NASA NTRS1986

Simulator Tests Controller Performance

Compact servosystem applies simulated dynamic loads, enabling realistic appraisal of motor and its control system without inconvenience of attaching real load. System simulates moments of inertia, rotational vibrations, changing load torques, and other characteristics of large or complex loads, without loads themselves and without awkwardness (and inaccuracy) of gravity-compensating devices used with such loads.

Lembeck, M. F.↗
NASA NTRS1993

Monitoring Loads In Fiber-Reinforced Composite Materials

In new method of determining load on specimen, direction of stress wave propagation measured by array of acoustic sensors attached to specimen. Responses of sensors analyzed by strain-energy-density calculations to calculate load. Change in anisotropy of elasticity caused by applied load and corresponding induced strain. Is means to monitor applied load corresponding to measurable shift in direction of propagation of stress wave. Monitoring device based on this method made integral part of airframe in which unidirectional section of structure, such as spar cap or longeron, carries primary load.

Prosser, William H.↗
NASA NTRS1993

Estimating Wear Of Installed Ball Bearings

Simple inspection and measurement technique makes possible to estimate wear of balls in ball bearing, without removing bearing from shaft on which installed. To perform measurement, one observes bearing cage while turning shaft by hand to obtain integral number of cage rotations and to measure, to nearest 2 degrees, number of shaft rotations producing cage rotations. Ratio between numbers of cages and shaft rotations depends only on internal geometry of bearing and applied load. Changes in turns ratio reflect changes in internal geometry of bearing provided measurements made with similar bearing loads. By assuming all wear occurs on balls, one computes effective value for this wear from change in turns ratio.

Keba, John E.↗
NASA NTRS1971

A comparison of closed loop thermionic reactor control schemes.

The dynamics of the constant-voltage and constant-emitter-temperature control schemes are described. The closed loop responses to load changes, converter failures and reactivity perturbations are shown. Both control schemes inherently allow load voltages to vary during transients. An alternative control scheme is proposed which allows constant load voltage while preserving constant emitter temperatures.

Sawyer, C. D.↗
NASA NTRS1990

Composite structure global fracture toughness via computational simulation

A computational method for the simulation of damage and fracture propagation in laminated composites is presented. A quantitative evaluation of the global fracture toughness of composites is shown as a tool for monitoring the fracture stability of composites under sustained loading. Changes in overall structural properties such as natural frequencies and the fundamental buckling load are also computed with increasing load-induced damage. Structural degradation, delamination, fracture, and damage propagation are included in the simulation. An angle-plied composite plate structure subjected to inplane tensile loading is used as an example to demonstrate some of the feature of the computational method.

Minnetyan, L.↗
NASA NTRS1982

The relationship of compliance changes during fatigue loading to the fracture of composite materials

The study outlined here is based on measurements of the change in engineering stiffness values induced by the development of damage in composite laminates during quasi-static or cyclic (fatigue) loading. These changes are found to be related to the individual details of the damage events in the laminates, as well as to the residual strength and life of the laminates. It is believed that the stiffness changes can also be used to relate composite material behavior under cyclic loading to its behavior under quasi-static loading. Results are presented for both notched and unnotched laminates. Compliance changes are found to be caused by damage events that bring about both global and local redistributions of stress. It is also found that the redistributions of stress determine the residual strength of the laminate. The quantitative link between compliance changes and fracture strength is the mechanics of the internal stress redistributions.

Reifsnider, K. L.↗
NASA NTRS1979

Fast-response power saver for induction motors

With control circuit, induction motors run more efficiently at light loads and respond to sudden load changes. It also anticipates power needs so that motor can respond instantly (to a load applied by a clutch, for example).

Nola, F. J.↗