An Iterative Guidance Scheme for Ascent to Orbit (Suborbital Start of the Third Stage)
Motion equations - iterative guidance scheme for ascent to orbit
ASCENT TRAJECTORY↗
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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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Repurposing the James Webb Space Telescope’s center of curvature optical bench hexapod for future mirror calibration testing at NASA Marshall’s x-ray & cryogenic facility
The James Webb Space Telescope’s (JWST) center of curvature optical bench (CoCOB) hexapod was repurposed to enhance NASA Marshall Space Flight Center’s X-Ray & Cryogenic Facility (XRCF) optical metrology capabilities. This upgrade unlocked higher test article load capacity and extended the allowable ranges of motion of the CoCOB hexapod. The hexapod was also coupled to a new long-stroke, linear motion axis to form a 7 degrees of freedom system and allow for high precision testing of larger diameter test articles. A 9 degrees of freedom motion system, consisting of a three-axis linear mount in an X-Y-Z configuration and a commercially available hexapod, was also designed to allow high resolution positioning of the focal plane instrumentation over a large range of motion. A modern control architecture and graphical user interface was developed for the CoCOB hexapod and additional motion stages to permit streamlined commanding and operation. This paper discusses the justification for re-using the CoCOB hexapod by highlighting its unique precision motion control capabilities in a high vacuum and optically clean environment. The design, key component selection, and environmental compatibility for each of the additional motion stages is presented along with testing results for achieved range, repeatability, and minimum step size performance for all motion axes. Finally, a summary of the motion control system architecture and its flexibility to address tomorrow’s optical metrology needs are presented.
hexapod↗
Coarse-fine residual gravity cancellation system with magnetic levitation
Aircraft flight along parabolic trajectories have been proposed and executed in order to achieve low cost, near free fall conditions of moderate duration. This paper describes a six degree of freedom experiment isolation system designed to cancel out residual accelerations due to mechanical vibrations and errors in aircraft trajectory. The isolation system consists of a fine motion magnetic levitator whose stator is transported by a conventional coarse motion stage. The levitator uses wide gap voice coil actuators and has the dual purpose of isolating the experiment platform from aircraft vibrations and actively cancelling residual accelerations through feedback control. The course motion stage tracks the levitated platform in order to keep the levitator's coils centered within their matching magnetic gaps. Aspects of system design, an analysis of the proposed control strategy and simulation results are presented. Feasibility experiments are also discussed.
Salcudean, S. E.↗
Six degree of freedom fine motion positioning stage based on magnetic levitation
The design of a magnetically suspended six degree of freedom positioning system capable of nanometer positioning is presented. The sample holder is controlled in six degrees of freedom (DOF) over 300 micrometers of travel in the X, Y, and Z directions. A design and control summary and test results indicating stability and power dissipation are included in the paper. The system is vacuum compatible, uses commercially available materials, and requires minimal assembly and setup.
Arling, R. W.↗
Technology and task parameters relating to the effectiveness of the bracing strategy
The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, referred to as the large or bracing arm, carries the second stage of motion. After the first stage has completed its motion it is braced to provide a more rigid base of motion with a more accurate relationship to the parts to be manipulated. The hypothesis is that more rapid completion of certain tasks is possible with lighter arms using the bracing strategy. While it is easy to make conceptual arguments why this should be so, it is less easy to specify even approximately when this will be true for some reasonably generic situation. There is no relevant experience base with bracing arms to be compared to non-bracing arms. Furthermore, if one were interested in obtaining such practical experience, there would be no methodical guidance on the selection of an interesting case, one in which the unproven approach, bracing, can show its superiority. If one such case exists, only the extent of applicability of the new approach is in question. One set of interesting cases is likely to be applications in which a large workspace must be covered, but where a series of small accurate moves will remain within a smaller region of the total workspace. A prototype application with these characteristics is set up and a skeleton design of arms using the competing strategies are compared.
Book, Wayne J.↗
Passive caging mechanism Patent
Three stage motion restraining mechanism for restraining and damping three dimensional vibrational movement of gimballed package during launch of spacecraft
Zaremba, J. G.↗
Diagnosing a PDS microdensitometer
A number of diagnostic tests are developed for the Photometric Data System PDS 2020G microdensitometer to monitor its performance and to isolate various electromechanical problems. A number of tests which help to diagnose problems with the photometer, positional accuracy and data collection are described. The tests include: (1) scanning a razor blade edge to study the response of the photometer and zero point losses in the coordinate system, (2) scanning a long straight line to evaluate the drunkness of the stage motions, (3) scanning photometric step wedge calibrations to study the response of the photometer, and (4) measurement of a series of high signal to noise plates of the same region of the sky to evaluate the overall performance of the microdensitometer. A variety of electronic tests to isolate electromechanical problems are also performed.
Vanaltena, W.↗
A Kinematic, Flexure-based Mechanism for Precise, Parallel Motion for the Hertz Variable-delay Polarization Modulator (VPM)
We describe the design of the linear motion stage for a Variable-delay Polarization Modulator (VPM) and of a grid flattener that has been built and integrated into the Hertz ground-based, submillimeter polarimeter. VPMs allow the modulation of a polarized source by controlling the phase difference between two linear, orthogonal polarizations. The size of the gap between a mirror and a very flat polarizing grid determines the amount of the phase difference. This gap must be parallel to better than 1% of the wavelength. A novel, kinematic, flexure-based mechanism is described that passively maintains the parallelism of the mirror and the grid to 1.5 pm over a 150 mm diameter, with a 400 pm throw. A single piezoceramic actuator is used to modulate the gap, and a capacitive sensor provides position feedback for closed-loop control. A simple device that ensures the planarity of the polarizing grid is also described. Engineering results from the deployment of this device in the Hertz instrument April 2006 at the Submillimeter Telescope Observatory (SMTO) in Arizona are presented.
Voellmer, G. M.↗
In-Situ Diagnostic for Assessing Hall Thruster Wear
The design of a new diagnostic to measure the net erosion of Hall thruster surfaces is presented. This diagnostic consists of a pair of optical non-contact profilometer pens mounted to a set of motion stages, which can interrogate the surface features of multiple components of interest including the hollow cathode assembly, magnet front pole covers, and discharge channel. By comparing scans of these surfaces to reference features, estimates of the component erosion rates can be acquired throughout long-duration lifetime tests without venting and removing the thruster from the vacuum facility for external profilometry. This work presents a detailed overview of the diagnostic design including the precision positioning system. In addition, preliminary data are shown which verify diagnostic operation and establish a baseline that will be used to track the erosion of the Hall Effect Rocket with Magnetic Shielding (HERMeS) Technology Demonstration Unit 3 (TDU-3) during an ongoing long-duration wear test.
Ahern, Drew M.↗
In-situ Diagnostic for Assessing Hall Thruster Wear
The design of a new diagnostic to measure the net erosion of Hall thruster surfaces is presented. This diagnostic consists of a pair of optical noncontact profilometer pens mounted to a set of motion stages, which can interrogate the surface features of multiple components of interest including the hollow cathode assembly, magnet front pole covers, and discharge channel. By comparing scans of these surfaces to reference features, estimates of the component erosion rates can be acquired throughout long-duration lifetime tests without venting and removing the thruster from the vacuum facility for external profilometry. This work presents a detailed overview of the diagnostic design including the precision positioning system. In addition, preliminary data are shown which verify diagnostic operation and establish a baseline that will be used to track the erosion of the Hall Effect Rocket with Magnetic Shielding (HERMeS) Technology Demonstration Unit 3 (TDU-3) during an ongoing long-duration wear test.
Ahern, Drew M.↗
In-Situ Diagnostic for Assessing Hall Thruster Wear
The design of a new diagnostic to measure the net erosion of Hall thruster surfaces is presented. This diagnostic consists of a pair of optical non-contact profilometer pens mounted to a set of motion stages, which can interrogate the surface features of multiple components of interest including the hollow cathode assembly, magnet front pole covers, and discharge channel. By comparing scans of these surfaces to reference features, estimates of the component erosion rates can be acquired throughout long-duration lifetime tests without venting and removing the thruster from the vacuum facility for external profilometry. This work presents a detailed overview of the diagnostic design including the precision positioning system. In addition, preliminary data are shown which verify diagnostic operation and establish a baseline that will be used to track the erosion of the Hall Effect Rocket with Magnetic Shielding (HERMeS) Technology Demonstration Unit 3 (TDU-3) during an ongoing long-duration wear test.
Ahern, Drew M.↗
The Effect of Anode Configuration on the Plasma Plume of a 25-A class Hollow Cathode
The effect of anode configuration on the plasma plume properties of a 25-A class hollow cathode are experimentally characterized. At a nominal operating condition of 20.8 A and 14.7 sccm of xenon, the cathode was operated with two axially-segmented anodes of different diameters at varying distance from the cathode. A fast, reciprocating motion stage was used to rapidly insert an ion saturation probe and an emissive probe on cathode centerline, and from those measurements, spatial profiles of plasma density, plasma potential, and electron temperature were calculated. For both anode diameters, maximum plasma potential and electron temperature increased with increasing anode distance. However, the 64-mm diameter anode was found to be significantly more sensitive to position, with measurements indicating that parameters changed continuously with position instead of an instantaneous mode change at a certain critical distance. The 254-mm diameter, in contrast, showed much more similar plasma property profiles across the range of anode positions tested and much smaller changes per unit increase in distance. These results are discussed in the context of assessing anode design for component-level cathode tests.
Space propulsion↗
The Effect of Anode Configuration on the Plasma Plume of a 25-A class Hollow Cathode
The effect of anode configuration on the plasma plume properties of a 25-A class hollow cathode are experimentally characterized. At a nominal operating condition of 20.8 A and 14.7 sccm of xenon, the cathode was operated with two axially-segmented anodes of different diameters at varying distance from the cathode. A fast, reciprocating motion stage was used to rapidly insert an ion saturation probe and an emissive probe on cathode centerline, and from those measurements, spatial profiles of plasma density, plasma potential, and electron temperature were calculated. For both anode diameters, maximum plasma potential and electron temperature increased with increasing anode distance. However, the 64-mm diameter anode was found to be significantly more sensitive to position, with measurements indicating that parameters changed continuously with position instead of an instantaneous mode change at a certain critical distance. The 254-mm diameter, in contrast, showed much more similar plasma property profiles across the range of anode positions tested and much smaller changes per unit increase in distance. These results are discussed in the context of assessing anode design for component-level cathode tests.
space propulsion↗
Emitter Surface Temperature Measurements of a 25-A Class Hollow Cathode
The axial emitter surface temperature profile is experimentally characterized for a 25-A class hollow cathode operating across a range of operating conditions. Profiles were measured using aratio pyrometry diagnostic featuring a fiber optic inserted into the emitter region using a fast motion stage. Emitter temperature is found to increase with increasing discharge current, decreasing flow rate, and increasing magnetic field strength. Across a range of 10 –29 A, the maximum emitter temperature increased 176 ºC, an order of magnitude more than the changes measured for flow rate or magnetic fields strength. Profiles were generally self-similar across all operating conditions, and the difference between maximum and minimum emitter temperature never surpassed 10%, indicating that this cathode design results in satisfactory emitter utilization across its operating envelope
space propulsion↗
AN ANALYSIS OF THE CONING MOTIONS OF THE FINAL STAGES OF THREE NASA SCOUT DEVELOPMENT VEHICLES
Coning motions of the final stages of three nasa scout development vehicles
SCOUT LAUNCH VEHICLE↗
Miniature High-Force, Long-Stroke SMA Linear Actuators
Improved long-stroke shape-memory-alloy (SMA) linear actuators are being developed to exert significantly higher forces and operate at higher activation temperatures than do prior SMA actuators. In these actuators, long linear strokes are achieved through the principle of displacement multiplication, according to which there are multiple stages, each intermediate stage being connected by straight SMA wire segments to the next stage so that relative motions of stages are additive toward the final stage, which is the output stage. Prior SMA actuators typically include polymer housings or shells, steel or aluminum stages, and polymer pads between successive stages of displacement-multiplication assemblies. Typical output forces of prior SMA actuators range from 10 to 20 N, and typical strokes range from 0.5 to 1.5 cm. An important disadvantage of prior SMA wire actuators is relatively low cycle speed, which is related to actuation temperature as follows: The SMA wires in prior SMA actuators are typically made of a durable nickel/titanium alloy that has a shape-memory activation temperature of 80 C. An SMA wire can be heated quickly from below to above its activation temperature to obtain a stroke in one direction, but must then be allowed to cool to somewhat below its activation temperature (typically, less than or equal to 60 C in the case of an activation temperature of 80 C) to obtain a stroke in the opposite direction (return stroke). At typical ambient temperatures, cooling times are of the order of several seconds. Cooling times thus limit cycle speeds. Wires made of SMA alloys having significantly higher activation temperatures [denoted ultra-high-temperature (UHT) SMA alloys] cool to the required lower return-stroke temperatures more rapidly, making it possible to increase cycle speeds. The present development is motivated by a need, in some applications (especially aeronautical and space-flight applications) for SMA actuators that exert higher forces, operate at greater cycle speeds, and have stronger housings that can withstand greater externally applied forces and impacts. The main novel features of the improved SMA actuators are the following: 1) The ends of the wires are anchored in compact crimps made from short steel tubes. Each wire end is inserted in a tube, the tube is flattened between planar jaws to make the tube grip the wire, the tube is compressed to a slight U-cross-section deformation to strengthen the grip, then the crimp is welded onto one of the actuator stages. The pull strength of a typical crimp is about 125 N -- comparable to the strength of the SMA wire and greater than the typical pull strengths of wire-end anchors in prior SMA actuators. Greater pull strength is one of the keys to achievement of higher actuation force; 2) For greater strength and resistance to impacts, housings are milled from aluminum instead of being made from polymers. Each housing is made from two pieces in a clamshell configuration. The pieces are anodized to reduce sliding friction; 3) Stages are made stronger (to bear greater compression loads without excessive flexing) by making them from steel sheets thicker than those used in prior SMA actuators. The stages contain recessed pockets to accommodate the crimps. Recessing the pockets helps to keep overall dimensions as small as possible; and, 4) UHT SMA wires are used to satisfy the higher-speed/higher-temperature requirement.
Cummin, Mark A.↗
Nose selection and vehicle motion dynamics for the second stage of a two-stage sounding rocket system.
Nose selection and vehicle motion dynamics for second stage of two-stage sounding rocket system, discussing nose shapes effect on altitude performance, overall vehicle stability, bending moments, etc
TWO-STAGE ROCKET↗
Feedback Linearization in a Six Degree-of-Freedom MAG-LEV Stage
A six degree-of-freedom electromagnetically suspended motion control stage (the Angstrom Stage) has been designed and constructed for use in short-travel, high-resolution motion control applications. It achieves better than 0.5 nm resolution over a 100 micron range of travel. The stage consists of a single moving element (the platen) floating in an oil filled chamber. The oil is crucial to the stage's operation since it forms squeeze film dampers between the platen and the frame. Twelve electromagnetic actuators provide the forces necessary to suspend and servo the platen, and six capacitance probes measure its position relative to the frame. The system is controlled using a digital signal processing board residing in a '486 based PC. This digital controller implements a feedback linearization algorithm in real-time to account for nonlinearities in both the magnetic actuators and the fluid film dampers. The feedback linearization technique reduces a highly nonlinear plant with coupling between the degrees of freedom into one that is linear, decoupled, and setpoint independent. The key to this procedure is a detailed plant model. The operation of the feedback linearization procedure is transparent to the outer loop of the controller, and so a proportional controller is sufficient for normal operation. We envision applications of this stage in scanned probe microscopy and for integrated circuit measurement.
Ludwick, Stephen J.↗