ALBERT

Description: Technology is being developed to process signals from distributed sensors using distributed computations. These distributed sensors provide a new feedback capability for vibration control that has not been exploited. Additionally, the sensors proposed are of an optical and distributed nature and could be employed with known techniques of distributed optical computation (Fourier optics, etc.) to accomplish the control system functions of filtering and regulation in a distributed computer. This paper reviews a procedure for the analytic design of control systems for this application. For illustration, the procedure is applied to the problem of suppressing the vibrations of a simply supported beam. A simulator has been developed to study the effects of sensor and processing errors. An extensive study of the effects of these errors on estimation and regulation performance is presented.

Description: The problem of the hypersonic double ellipse in rarefied flow is treated by a particle method using the collision model first described by McDonald (1988). In the approach used here, the computational overhead is reduced by using simple cubic cells. The problem of the definition of complex geometries is addressed by developing an algorithm to define the relation of a body surface to the network of cells.

Description: Program LAURA (Langley Aerothermodynamic Upwind Relaxation Algorithm) is an upwind-biased, point-implicit relaxation algorithm for obtaining the numerical solution to the governing equations for 3D viscous hypersonic flows in chemical and thermal nonequilibrium. The algorithm is derived using a finite-volume formulation in which the inviscid components of flux across cell walls are described with a modified Roe's averaging and with second-order corrections based on Yee's Symmetric Total Variation Diminishing scheme. The code has been applied to Problem 8.2 of this workshop for the case of thermochemical nonequilibrium flow through a nozzle. Chemical reaction rates are defined with the model of Park (1987). Thermal nonequilibrium is modeled using a two-temperature approximation in which the vibrational energies of all molecules are assumed to be in equilibrium at a single temperature which is generally different from the translational-rotational temperature. Two grids were used to define the flow for the original problem, with a stagnation temperature of 6500 K. A third case with a stagnation temperature of 10,000 K is also presented. The solution domain includes the converging nozzle, subsonic flow domain in which the gas is substantially in thermochemical equilibrium and the diverging nozzle, hypersonic flow domain in which the gas is substantially in thermochemical nonequilibrium.

Description: Solutions have been computed and results are presented for Problem 1, the case of Mach 9 transitional flow past a 7 deg half-angle cone at zero incidence. The solutions were computed using a code developed for the integration of the parabolized Navier-Stokes equations. The algorithm employed in the code is based on a Roe-type flux-difference-splitting scheme applied following a finite-volume approach. The basic algorithm has been modified to make it implicit and second-order accurate in the crossflow directions. Results are presented in terms of surface pressure and heat transfer as well as boundary layer profiles of pitot pressure, Mach number, and tangential velocity. The case was recalculated several times in an effort to determine sensitivities to such parameters as grid density, wall temperature, turbulence model parameters, as well as freestream expansion. Comparisons with the experimental data are presented and discussed.

Description: Airloads measured on a two-bladed helicopter rotor in flight, from the Tip Aerodynamic and Acoustic Test, are compared with calculations from a comprehensive helicopter analysis (CAMRAD/JA), and the pressures compared with calculations from a full-potential rotor code (FPR). The flight test results cover an advance ratio range from 0.19 to 0.38. The lowest speed case is characterized by the presence of significant blade-vortex interactions. Good correlation of peak-to-peak vortex-induced loads and the corresponding pressures is obtained. The results of the correlation for this two-bladed rotor are substantially similar to the results for three- and four-bladed rotors, concerning the tip vortex core size for best correlation, calculation of the peak-to-peak loads on the retreating side, and calculation of vortex-induced loads on inboard radial stations.

Description: A new CFD potential code, FPX (eXtended Full-Potential), has been developed for application to both helicopters and tilt-rotors. The code solves the unsteady, three-dimensional full potential equation and is an extension of the rotor code, FPR. Both entropy and viscosity corrections are included to enhance the physical modeling capabilities. A number of efficiency related modifications have yielded a factor of two speed-up in the code. An axial flow capability has been added to treat tilt-rotor in forward flight (cruise mode). In order to employ streamwise periodicity and accurately solve for the propagation of acoustic signals in the tip region, an H-H topology has been added to the basic O-H grid system. Computations are performed for the XV-15 Standard and ATB blades at high-speed conditions. Comparisons are made for the blade aerodynamics and the induced fuselage cabin pressure for a range of Mach numbers. Grid generation, wake treatment, and far-field wall treatment are identified as problem areas with recommendations for future research.

Description: A preliminary test/theory correlation evaluation is conducted for wake measurement test results obtained by LDV for a B360 helicopter rotor, at conditions critical to the understanding of wake-rollup and blade-vortex interaction phenomena. The LDV data were complemented by acoustic, blade pressure, rotor performance, and blade/control load measurements.

Description: Computations were made for those test cases of Problem 3 which were designated as laminar flows, viz., test cases 3.1, 3.2, 3.4, and 3.5. These test cases corresponded to flows over a flat plate and a compression ramp at high Mach number and at high Reynolds number. The computations over the compression ramps indicate a substantial streamwise extent of separation. Based on previous experience with separated laminar flows at high Mach numbers which indicated a substantial effect with spatial grid refinement, a series of computations with different grid sizes were performed. Also, for the flat plate, comparisons of the results for two different algorithms were made.

Description: A development status evaluation is presented for CFD methods applicable to fuselage-integrated scramjet powerplant incorporating hypersonic vehicles; these methods are critically important due to the unavailability of experimental facilities for such elevated Mach number/high-enthalphy conditions. Advancements are required in algorithm robustness and speed, geometric flexibility, and the inclusion of more complete flow physics. The most serious deficiencies lie in turbulence modeling, the lack of complete transition-prediction methods, and combustion modeling.

Description: An overview is given of research activity on the application of computational fluid dynamics (CDF) for hypersonic propulsion systems. After the initial consideration of the highly integrated nature of air-breathing hypersonic engines and airframe, attention is directed toward computations carried out for the components of the engine. A generic inlet configuration is considered in order to demonstrate the highly three dimensional viscous flow behavior occurring within rectangular inlets. Reacting flow computations for simple jet injection as well as for more complex combustion chambers are then discussed in order to show the capability of viscous finite rate chemical reaction computer simulations. Finally, the nozzle flow fields are demonstrated, showing the existence of complex shear layers and shock structure in the exhaust plume. The general issues associated with code validation as well as the specific issue associated with the use of CFD for design are discussed. A prognosis for the success of CFD in the design of future propulsion systems is offered.

Description: An effort is currently being carried out by the Jet Propulsion Laboratory (JPL) to study mission feasibility and to define functional requirements for various subsystems of the Space Infrared Telescope Facility (SIRTF). As a major part of this effort, structural design requirements have been derived based on the stated mission objectives. Design concerns addressed by these requirements include the limits on mass and location of the center of gravity, launch stiffness and dynamic characteristics, design loads and analysis criteria, survivability of the TITAN IV/Centaur launch environment, thermal control for maintaining a near absolute-zero operating temperature, and helium cryogen volume and storage for a five-year mission. To illustrate how the structural design requirements can be met, a point design of the SIRTF flight hardware system was developed, modeled, and analyzed. A description of the key features of this point design, along with pertinent modeling and analysis results, are discussed in this Paper.

Description: The objectives of the Solar Probe mission and the current status of the Solar Probe thermal shield subsystem development are described. In particular, the discussion includes a brief description of the mission concepts, spacecraft configuration and shield concept, material selection criteria, and the required material testing to provide a database to support the development of the shield system.

Description: Future NASA missions such as the Great Observatories of the 21st Century, will require high dimensional stability (i.e., the system's ability to retain geometrical properties related to the system's performance) which will have to be maintained with micron to nanometer accuracy over the 5 to 10 years of mission lifetime. This paper examines the thermodynamic and other mechanisms which limit the dimensional stability of a space system. It is shown that the space system's performance will be limited below 0.1 per million dimensional stability.

Description: A central artificial-viscosity and an upwind-biased difference method are contrived to solve the Euler equations for flowfields over typical spacecrafts. The spatial discretization is based on either nodal or cell-vertex formulation in the domain extending from free stream to the end of the vehicle. The outer boundary is treated as a bow shock in the first method but is placed in the free stream in the second, which captures both bow and internal shocks using an approximate Riemann solver based on high-order extrapolation to the cell face. These methods were tested for the Shuttle and Hermes orbiters at wind-tunnel conditions and angles of attack ranging from 0 to 60 deg. The artificial-viscosity method incorporated with a shock-fitting procedure shows smeared crossflow and wing-shock positions and required 15 percent more CPU per node than the upwind method. Greater flexibility and robustness is demonstrated by the latter on a fixed grid for all cases considered.

Description: Research requirements to an ultra-high-Reynolds-number liquid helium facility are reviewed. Aerodynamic research areas under consideration include wave vortex hazard reduction, vortex control and diagnostics for maneuvering fighter aircraft, and performance of high-lift devices.

Description: The Internal Discharge Monitor (IDM) is designed to observe electrical pulses from common electrical insulators in space service. The IDM is flying on the Combined Release and Radiation Effects Satellite (CRRES). The sixteen insulator samples include G10 circuit boards, FR4 and PTFE fiberglass circuit boards, FEP Teflon, alumina, and wires with common insulations. The samples are fully enclosed, mutually isolated, and space radiation penetrates 0.02 cm of aluminum before striking the samples. The IDM results indicate the rate at which insulator pulses occur. Pulsing began on the seventh orbit. The maximum pulse rate occurred near orbit 600 when over 50 pulses occurred. The average pulse rate is approximately two per orbit, but nearly half of the first 600 orbits experienced no pulses. The pulse rate per unit flux of high energy electrons has not changed dramatically over the first ten months in space. These pulse rates are in agreement with laboratory experience on shorter time scales. Several of the samples have never pulsed. IDM pulses are the seeds of larger satellite electrical anomalies. The pulse rates are compared with space radiation intensities, L shell location, and spectral distributions from the radiation spectrometers on CRRES.

Description: A static aeroelastic analysis capability that calculates flexible air loads for generic configuration wings was developed. It was made possible by integrating a finite element structural analysis code (MSC/NASTRAN) and a panel code of aerodynamic analysis based on linear potential flow theory. The framework already built in MSC/NASTRAN was used, and the aerodynamic influence coefficient matrix was computed externally and inserted in the NASTRAN by means of a DMAP program. It was shown that deformation and flexible air loads of an oblique wing configuration including asymmetric wings can be calculated reliably by this code both in subsonic and supersonic speeds.

Description: Active vibration isolation systems contemplated for microgravity space experiments may be designed to reach given performance requirements in a variety of ways. An analogy to passive isolation systems proves to be illustrative but lacks the flexibility as a design tool of a control systems approach and may lead to poor designs. For example, it is shown that a focus on equivalent stiffness in isolation system design leads to a controller that sacrifices robustness for performance. Control theory as applied to vibration isolation is reviewed and passive analogies are discussed. The loop shaping trade-off is introduced and used to design a single-degree-of-freedom fedback controller. An algebraic control design methodology is contrasted to loop shaping and critiqued. Multi-axis vibration isolation and the problems of decoupled single loop control are introduced through a two-degree-of-freedom example problem. It is shown that center of mass uncertainty may result in instability when decoupled single loop control is used. This results from the ill-conditioned nature of the feedback control design. The use of the Linear Quadratic Regulator synthesis procedure for vibration isolation controller design is discussed.

Description: A recent study of total-pressure probes for use in highly turbulent streams is extended herein by developing probe systems that measure time-averaged static or ambient pressure and turbulence intensity. Arrangements of tubular probes of circular and elliptical cross section are described that measure the pressure at orifices on the sides of the probes to obtain different responses to the cross-stream velocity fluctuations. When the measured data are combined to remove the effect of the presence of the probes on the local pressure, the time-averaged static pressure and the cross-stream components of turbulence intensity can be determined. If a system of total pressure tubes, as described in an accompanying paper, is added to the static pressure group to form a single cluster, redundant measurements are obtained that permit accuracy and consistency checks.

Description: Distributed parameter models of the Solar Array Flight Experiment, the Mini-MAST truss, and Space Station Freedom assembly are discussed. The distributed parameter approach takes advantage of (1) the relatively small number of model parameters associated with partial differential equation models of structural dynamics, (2) maximum-likelihood estimation using both prelaunch and on-orbit test data, (3) the inclusion of control system dynamics in the same equations, and (4) the incremental growth of the structural configurations. Maximum-likelihood parameter estimates for distributed parameter models were based on static compliance test results and frequency response measurements. Because the Space Station Freedom does not yet exist, the NASA Mini-MAST truss was used to test the procedure of modeling and parameter estimation. The resulting distributed parameter model of the Mini-MAST truss successfully demonstrated the approach taken. The computer program PDEMOD enables any configuration that can be represented by a network of flexible beam elements and rigid bodies to be remodeled.

Description: Because of the precise pointing/shape control needs of future space systems coupled with a 10-20-year life requirement and very stringent limitations on system weight, a new approach to their control system design was developed. This approach, adaptive structures, exploits recent breakthroughs in advanced composite materials, sensors and actuators, and intelligent control concepts to provide an integrated structure/controller. Ground experiments, the focus of which to demonstrate and evaluate the emerging control hardware and methodologies on realistic three-dimensional testbeds, are also discussed.

Description: An adaptive control approach is investigated for the Space Station. The main components of the adaptive controller are the parameter identification scheme, the control gain calculation, and the control law. The control law is the Space Station baseline control law. The control gain calculation is based on linear quadratic regulator theory with eigenvalue placement in a vertical strip. The parameter identification scheme is a real-time recursive extended Kalman filter which estimates the inertias and also provides an estimate of the unmodeled disturbances due to the aerodynamic torques and to the nonlinear effects. An analysis of the inertia estimation problem suggests that it is possible to compute accurate estimates of the Space Station inertias during nominal CMG (control moment gyro) operations. The closed-loop adaptive control law is shown to be capable of stabilizing the Space Station after large inertia changes. Results are presented for the pitch axis.

Description: Flow over slender prolate spheroids at incidence is examined. The incidence angle is chosen high enough to cause streamwise separation of the flow in addition to crossflow separation generally observed at lower incidence angles. The freestream Mach number for the cases investigated here is subsonic, thus precluding the use of parabolized procedures. Laminar, transitional and turbulent flow cases are investigated.

Description: A systematic method for determining the optical placement of instrumentation on an arbitrary spacecraft is described. The method maximizes the resource utilization by minimizing the spacecraft's need for propulsive attitude control. The mathematical program developed with considerations toward reducing the size of the optimization effort is presented.

Description: The Mars Observer spacecraft implements the science and mission objectives for a planetary observer program with a design baseline evolving from existing, proven, flight subsystem designs and production techniques. The spacecraft conforms to a set of high-level functional requirements, allowing a development process with a high degree of flexibility in meeting performance, mission, and science requirements. The intent of the implementation approach is to procure a design-to-cost, reliable, production-type spacecraft that can accommodate the complement of science instruments and meet mission requirements with adequate margins.

Description: NASA's Aeroassist Flight Experiment (AFE) vehicle will be deployed from the Space Shuttle Orbiter in 1994 to make a data-gethering aeropass through the upper atmosphere before returning to orbit for Shuttle pickup. An axisymmetric, chemically-reacting viscous shock-layer code is presently used to calculate AFE heating rates which automatically accounts for the viscous-inviscid interaction and entropy layer-swallowing effects which are ignored by the conventional boundary-layer methods. Results are presented for the stagnation-point heating of the current AFE baseline trajectory.

Description: A large portion of the drag of a space station in LEO is generated by its solar array; for a baseline 25-kW solar array in 334-km orbit, 1800 kg of reboost propellant/year is needed to counteract solar array drag. A study is conducted of the drag reduction potential of three possible solar array orientations: sun-pointing, sun-pointing during illumination/edge-on during eclipse, and edge-on during entire orbit. An 18.5-percent drag-makeup propellant reduction is found to be obtainable with the sun-pointing/edge-on eclipse orientation technique.

Description: An unstructured-grid, finite-volume method has been developed for simulating the inviscid flow over spacecrafts of realistic configuration. The grid generation is accomplished by a new technique on the basis of the advancing-front concept. This simple technique is shown to be equally as powerful for a complex multibody as for a single vehicle. Second- or third-order accuracy is obtained via an innovative interpolation procedure similar to the conventional MUSCL approach. This method has been applied to the Shuttle orbiter and a representative Shuttle launch vehicle consisting of the orbiter, the external tank, and the solid rocket boosters. A comparison is discussed between the present results and other results obtained from structured- and unstructured-grid methods.

Description: Finite-difference approximations for steady-state compressible Navier-Stokes equations, whose two spatial dimensions are written in generalized curvilinear coordinates and strong conservation-law form, are presently solved by means of Newton's method in order to obtain a lifting-airfoil flow field under subsonic and transonnic conditions. In addition to ascertaining the computational requirements of an initial guess ensuring convergence and the degree of computational efficiency obtainable via the approximate Newton method's freezing of the Jacobian matrices, attention is given to the need for auxiliary methods assessing the temporal stability of steady-state solutions. It is demonstrated that nonunique solutions of the finite-difference equations are obtainable by Newton's method in conjunction with a continuation method.

Description: The presence of small levels of low-frequency accelerations on the Space Shuttle orbiters has degraded the microgravity environment for the science community. Growing concern about this microgravity environment has generated interest in systems that can isolate microgravity science experiments from vibrations. This interest has resulted primarily in studies of isolation systems with active methods of compensation. The development of a magnetically suspended, six-degree-of-freedom active vibration isolation prototype system capable of providing the needed compensation to the orbital environment is presented. A design for the magnetic actuators is described, and the control law for the prototype system that gives a nonintrusive inertial isolation respone to the system is also described. Relative and inertial sensors are used to provide an inertial reference for isolating the payload.

Description: An engineering approach was used to include the nonlinear effects of thickness and camber in an analytical aeroelastic analysis of casecades in supersonic acial flow (supersonic leading-edge locus). A hybrid code using Lighthill's nonlinear piston theory and Lane's linear potential theory was developed to include these nonlinear effects. Lighthill's theory was used to calculate the unsteady pressures on the noninterference surface regions of the airfoils in cascade. Lane's theory was used to calculate the unsteady pressures on the remaining interference surface regions. Two airfoil profiles were investigated (a supersonic throughflow fan design and a NACA 66-206 airfoil with a sharp leading edge). Results show that compared with predictions of Lane's potential theory for flat plates, the inclusion of thickness (with or without camber) may increase or decrease the aeroelastic stability, depending on the airfoil geometry and operating conditions. When thickness effects are included in the aeroelastic analysis, inclusion of camber will influence the predicted stability in proportion to the magnitude of the added camber. The critical interblade phase angle, depending on the airfoil profile and operating conditions, may also be influenced by thickness and camber. Compared with predictions of Lane's linear potential theory, the inclusion of thickness and camber decreased the aerodynamic stiffness and increased the aerodynamic damping at Mach 2 and 2.95 for a cascade of supersonic throughflow fan airfoils oscillating 180 degrees out of phase at a reduced frequency of 0.1.

Description: An efficient and highly accurate algorithm based on a spectral collocation method is developed for numerical solution of the compressible, two-dimensional and axisymmetric boundary layer equations. The numerical method incorporates a fifth-order, fully implicit marching scheme in the streamwise (timelike) dimension and a spectral collocation method based on Chebyshev polynomial expansions in the wall-normal (spacelike) dimension. The spectral collocation algorithm is used to derive the nonsimilar mean velocity and temperature profiles in the boundary layer of a 'fuselage' (cylinder) in a high-speed (Mach 5) flow parallel to its axis. The stability of the flow is shown to be sensitive to the gradual streamwise evolution of the mean flow and it is concluded that the effects of transverse curvature on stability should not be ignored routinely.

Description: Supersonic flows over a sharp and a flat-faced blunt fin mounted on a flat plate are simulated numerically. Several basic issues involved in the resultant three-dimensional steady flow separation are studied. Using the same number of grid points, different grid spacings are employed to investigate the effects of a grid resolution on the origin of the line of separation. Various shock strengths are used to study the so-called separation and unseparated boundary layer and to establish the existence or absence of secondary separation. The length of separation ahead of the flat-faced blunt fin, bifurcation of a horseshoe vortex, and the accessibility of a closed-type separation are investigated. The usual interpretation of the flow field from previous studies and new interpretations arising from the present simulation are discussed.

Description: The Vaisala-Brunt frequencies of atmospheric waves lie sufficiently near He-filled balloon buoyancy oscillation frequencies to cause a near-resonance condition, especially in the 11.6-24.4 km altitude range. This excitation will hold for such balloons irrespective of size and payload variations due to the independence of balloon buoyant frequencies from size. Vertical perturbations of approximately 5-min period should accordingly be anticipated by balloon flight-control system designers.

Description: Numerical solutions of the thin-layer approximation of the 3D Navier-Stokes equations are presented for flows around an ogive-cylinder body with and without a splitter plate. It is suggested that the presence of the splitter plate prevents the interaction between flows on either side of the symmetry plane. It is concluded that, as a result of the enforced symmetry, the antisymmetric mode of the convective instability near the apex of the body cannot be excited and, therefore, the vortices remain symmetric, staying low and parallel to the upper body surface. The antisymmetric mode of the absolute instability mechanism cannot be initiated, which suppresses the alternate shedding of vortices from the cylindrical portion of the body. High-frequency fluctuations of the shear layer are found to remain virtually unaffected by the presence of the splitter plate.

Description: In this study, the vibration and orientation control of large space structures using the linear quadratic regulator technique is investigated. Emphasis is placed on the control of both a class of optimally designed structures and uniform structures meeting the mission requirements using a long free-free beam in orbit as an example. The open loop and closed loop dynamics are compared and the transient responses are obtained to determine the effectiveness of the control system design.

Description: Improved algorithms for the solution of the three-dimensional, time-dependent Euler equations are presented for aerodynamic analysis involving unstructured dynamic meshes. The improvements have been developed recently to the spatial and temporal discretizations used by unstructured-grid flow solvers. The spatial discretization involves a flux-split approach that is naturally dissipative and captures shock waves sharply with at most one grid point within the shock structure. The temporal discretization involves either an explicit time-integration scheme using a multistage Runge-Kutta procedure or an implicit time-integration scheme using a Gauss-Seidel relaxation procedure, which is computationally efficient for either steady or unsteady flow problems. With the implicit Gauss-Seidel procedure, very large time steps may be used for rapid convergence to steady state, and the step size for unsteady cases may be selected for temporal accuracy rather than for numerical stability. Steady flow results are presented for both the NACA 0012 airfoil and the Office National d'Etudes et de Recherches Aerospatiales M6 wing to demonstrate applications of the new Euler solvers. The paper presents a description of the Euler solvers along with results and comparisons that assess the capability.

Description: An extension is undertaken of a previous numerical study in order to improve current understanding of nonequilibrium flow effects over slender bodies. Upon extension of the parametric study to encompass smaller nose radii, the downstream influence of equilibrium nonequilibrium flow is found to be much smaller than for the larger nose radii. A comparison of individual stagnation nonequilibrium heating rates demonstrates that a relative comparison of the ratios was not indicative of the actual heating reduction.

Description: Hypersonic rarefied flow about the Aeroassist Flight Experiment vehicle has been investigated using a three-dimensional direct simulation Monte Carlo method. Calculations are performed for the transitional flows encountered during the vehicle's atmospheric entry for altitudes of 110 and 100 km with an entry velocity of 9.9 km/s. The simulations are performed using a five-species reacting gas model that account for rotational and vibrational internal energies. The solutions indicate that dissociation is important at altitudes of 110 km and below. Results are presented for surface pressures, convective heating, flowfield structure, and aerodynamic coefficient variations with altitude.

Description: The mean flow structure upstream, around within, and in the near wake of a turbulent junction or horseshoe vortex is reported for an incompressible subsonic flow. Measurements of the primitive variables of velocity and pressure are reported on all surfaces bounding the region of the vortex flow and on three transverse and one streamwise plane within the flowfield itself for comparisons between the measured and any calculated flow variables. Detailed surface flow visualizations and some direct force measurements of surface shear stress are also available. The data is a highly detailed, coherent, self-consistent set offered to the computational fluid mechanics community as a standard test case for the evaluation of the capability of numerical solvers intended for predicting the flowfield in such a complex, separated, three-dimensional turbulent flow. This data base is available for copying to user supplied tapes or for transmission via BITNET, as well as in two National Technical Information Service (NTIS) reports.

Description: High-temperature effects alter the physical and transport properties of a gas, air in particular, due to vibrational excitation and gas dissociation, and thus the chemical reactions have to be considered in order to compute the flow field. Linear stability of high-temperature boundary layers is investigated under the assumption of chemical equilibrium and this gas model is labeled here as real gas model. In this model, the system of stability equations remains of the same order as for the perfect gas and the effect of chemical reactions is introduced only through mean flow and gas property variations. Calculations are performed for Mach 10 and 15 boundary layers and the results indicate that real gas effects cause the first mode instability to stabilize while the second mode is made more unstable. It is also found that the second mode instability shifts to lower frequencies. There is a slight destabilizing influence of real gas on the Goertler instability as compared to the perfect gas results.

Description: An evaluation is conducted of the accuracy of the 'Preston tube' surface pitot-pressure skin friction measurement method relative to the already proven laser interferometer skin-friction meter in a swept shock wave/turbulent boundary-layer interaction. The Preston tube was used to estimate the total shear-stress distribution in a fin-generated swept shock-wave/turbulent boundary-layer interaction. The Keener-Hopkins calibration method using the isentropic relation to calculate the Preston-tube Mach number produces the best results.

Description: A vortex-sheet method for solving the axisymmetric inverse problem is presented, and an iterative, interactive computer program for computing the body shape starting from an assumed shape is developed. The method eliminates the calculation of the direct problem at every iteration using the given velocity. The singular integral that arises in the problem formulation has been integrated analytically. The efficiency of the vortex-sheet method is demonstrated using three test cases, and the obtained body shapes and the corresponding surface velocity distributions are presented.

Description: Patched grid calculations within the framework of an implicit, flux vector split upwind/relaxation algorithm for the Euler equations are presented. Aspects of computing on patched grids are discussed including the effect of a metric-discontinuous interface on the convergence rate of the algorithm, and the effect of curvature along an interface. Applications to a converging-diverging nozzle including effects of choking and bypass slots in two dimensions are presented.

Description: When the highly turbulent flowfields at the edges of jets, in augmentors, and in other jet-mixing devices are surveyed with conventional pitot probes, the values indicated by the instruments may contain a significant increment brought about by the dynamics of the eddies. Although the influence of turbulence on the measurements is usually negligible in streams where the turbulence level is 1 percent or less, the effect of turbulence on static and total pressure measurements can be around 20 percent when the turbulence level exceeds 40 percent. This paper describes a theoretical study that develops probe shapes that directly measure the time-averaged total pressure based on the streamwise component of the velocity vector to obtain a direct measurement of the streamwise momentum. The difference between the time-averaged pressure indicated by such a probe and one that measures the total head based on the entire velocity vector yields the cross-stream turbulence intensity.

Description: The development of an Autonomous Space Processor for Orbital Debris (ASPOD) is the ultimate goal. The craft will process, in situ, orbital debris using resources available in low Earth orbit (LEO). The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. This year, focus was on development of a versatile robotic manipulator to augment an existing robotic arm; incorporation of remote operation of robotic arms; and formulation of optimal (time and energy) trajectory planning algorithms for coordinating robotic arms. The mechanical design of the new arm is described in detail. The versatile work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time-optimal and energy-optimal problem. The optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamics programming.

Description: The topics covered are presented in viewgraph form and include the following: flexible structure control; decentralized control for flexible multi-body systems; control of structures during assembly; decentralized control using structural partitioning; reduced-orded model-based controller design; ROM/residual mode filters (RMF) control of large flexible structures;RMF in a distributed parameter system (DPS); LSS active control simulation; 3-D truss beam; mobile transporter with RMS; and flexible robot manipulator.

Description: A typical docking target employs a three-point design of retroreflective tape, one at each endpoint of the center-line, and one on the tip of the central post. Scenes, sensed via laser diode illumination, produce pictures with spots corresponding to desired reflection from the retroreflectors and other reflections. Control corrections for each axis of the vehicle can then be properly applied if the desired spots are accurately tracked. However, initial acquisition of these three spots (detection and identification problem) are non-trivial under a severe noise environment. Signal-to-noise enhancement, accomplished by subtracting the non-illuminated scene from the target scene illuminated by laser diodes, can not eliminate every false spot. Hence, minimization of docking failures due to target mistracking would suggest needed inclusion of added processing features pertaining to target locations. In this paper, we present a concurrent processing scheme for a modified docking target scene which could lead to a perfect docking system. Since the non-illuminated target scene is already available, adding another feature to the three-point design by marking two non-reflective lines, one between the two end-points and one from the tip of the central post to the center-line, would allow this line feature to be picked-up only when capturing the background scene (sensor data without laser illumination). Therefore, instead of performing the image subtraction to generate a picture with a high signal-to-noise ratio, a processed line-image based on the robust line detection technique (Hough transform) can be used to fuse with the actively sensed three-point target image to deduce the true locations of the docking target. This dual-channel confirmation scheme is necessary if a fail-safe system is to be realized from both the sensing and processing point-of-views. Detailed algorithms and preliminary results are presented.

Description: In the development of the technology for autonomous rendezvous and docking, key infrastructure capabilities must be used for effective and economical development. This need involves facility capabilities, both equipment and personnel, to devise, develop, qualify, and integrate ARD elements and subsystems into flight programs. One effective way of reducing technical risks in developing ARD technology is the use of the Low Earth Orbit test facility. Using a reusable free-flying testbed carried in the Shuttle, as a technology demonstration test flight, can be structured to include a variety of sensors, control schemes, and operational approaches. This testbed and flight demonstration concept will be used to illustrate how technologies and facilities at MSFC can be used to develop and prove an ARD system.

Description: Since 1984 the European Space Agency (ESA) has been working to develop an autonomous rendezvous and docking capability to enable Hermes to dock automatically with Columbus. As a result, ESA (with Matra, MBB, and other space companies) have developed technologies that are directly supportive of the current NASA initiative for Automated Rendezvous and Capture. Fairchild and Matra would like to discuss the results of the applicable ESA/Matra rendezvous and capture developments and suggest how these capabilities could be used together with an existing NASA Explorer Platform satellite to minimize new development and accomplish a cost-effective automatic closure and capture demonstration program.

Description: The described efforts support a NASA Space Assembly and Servicing Working Group activity to draft guideline interface standards. The general requirements are to provide a simple, reliable, and durable system. Interface requirements developed include lateral position offset, axial and lateral velocities, and angular misalignment. A survey of concepts and simulation studies of spacecraft docking, existing docking/end effector performance criteria, and space proven, qualified docking data was conducted and evaluated, in order to provide recommended mechanical interface guidelines and interface tolerances for manual and autonomous capture operations. The criterion for the selection of the guidelines was maximum capability to handle malfunctions. Originally the guidelines for a zero velocity docking were considered to be covered within the grasping/berthing definition. It is acknowledged that perhaps a separate category needs to be established for this operation. The draft standard was delivered to the AIAA for review, revision, and issuance as the first U.S. national standard guideline on interfaces. The intent is to develop the guidelines into an International Standards Organization standard.

Description: Proximity operations can be defined as the maneuvering of two or more spacecraft within 1 nautical mile range, with relative velocity less than 10 feet per second. The passive vehicle is nontranslating and should provide for maintenance of the desired approach attitude. It must accommodate the active (translating) vehicle induced structural loads and performance characteristics (mating hardware tolerances), and support sensor compatibility (transponder, visual targets, etc.). The active vehicle must provide adequate sensor systems (relative state information, field-of-view, redundancy), flight control hardware (thruster sizing, minimal cross-coupling, performance margins, redundancy) and software (reconfigurable, attitude/rate modes, translation and rotation fine control authority) characteristic, and adequate non-propulsive consumables such as power. Operational concerns must be considered. These include the following: (1) the desired approach trajectory and relative orientation; (2) the active vehicle thruster plume effects (forces, torques, contamination) on the passive vehicle; and (3) procedures for contingencies such as loss of communications, sensor or propulsion failures, and target vehicle loss of control.

Description: In November 1990 General Dynamics demonstrated an AR&D system for members of the Strategic Avionics Technology Working Group. This simulation utilized prototype hardware derived from the Cruise Missile and Centaur avionics systems. The object of this proof of concept demonstration was to show that all the accuracy, reliability, and operational requirements established for a spacecraft to dock with Space Station Freedom could be met by the proposed AR&D system.

Description: The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.

Description: The presentation addressed the different tradeoffs necessary to get an automated rendezvous and capture system design that meets the current requirements. The topics covered are piloted versus autonomous capture design considerations, navigation sensor selection tradeoffs, control algorithm design requirements and concepts, performance evaluation through simulation, system mission readiness verification and validation, and advanced AR&C control system technologies.

Description: The subject project can be described as the development and testing of a digitally controlled docking mechanism. The mechanism consists of a 6 DOF parallel manipulator for docking interface pre-alignment, and a machine vision sensor for real-time target tracking. The parallel manipulator also can be used for capture/latching, energy attenuation, and structural rigidization of docking, but the scope of this paper is the proof-of-concept demonstration of autonomous pre-alignment of a docking mechanism using machine vision.

Description: Detailed analysis of the Automatic Rendezvous and Capture problem indicate a need for three different regions of mathematical description for the GN&C algorithms: (1) multi-vehicle orbital mechanics to the rendezvous interface point, i.e., within 100 nm; (2) relative motion solutions (such as Clohessy-Wiltshire type) from the far-field to the near-field interface, i.e., within 1 nm and; (3) close proximity motion - the near-field motion where the relative differences in the gravitational and orbit inertial accelerations can be neglected from the equations of motion. Limit boundaries to these regions can be precisely defined by further analysis and will be functions of the tracking measurement accuracies and the computer resources available for the solution of the algorithms. This paper analyzes the relative motion in Regions 2 and 3 above and present the derivation and discussion of the general case of non-spherical gravitational perturbed relative motion. Mathematical deviations from the numerically integrated spherical gravity case and solutions from the Clohessy-Wiltshire equations are presented in the analysis. Based upon this preliminary analysis, it is recommended that further efforts be used to assess the relative position and velocity differences in Region 2 due to non-spherical gravity harmonics and that viable GN&C algorithms be developed to include these gravity perturbations (especially the effects of the first gravity harmonic, J2).

Description: A Panoramic viewing system for Automated Rendezvous and Capture (PARC) has been proposed as a visual information feedback system for terminal docking/berthing. The system relies on a unique Panoramic Annular Lens (PAL) which captures an image of its surroundings in real time. This paper describes the evolution of the PAL along with technical details of its imaging capabilities. Several examples are given of radial metrology, where PAL imaging systems are used to perform visual inspections and measurements. Digital image acquisition and processing techniques, used to interpret various features appearing in the images and to transform images for improved human viewing, are also included. These discussions are followed by a potential application for PARC involving berthing of active and passive mechanical assemblies associated with Space Station Freedom.

Description: NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Description: IR&D efforts in recent years have focused on effective means of performing automated rendezvous and proximity operations. The primary focus for application has been to the Space Shuttle Orbiter and potential derivations, such as the Reusable Cargo Vehicle (RCV), studied in FY 1990. All candidate vehicle mission scenarios have included approach to docking or berthing with the Space Station Freedom (SSF). Results to date indicate that application of appropriate guidance algorithms can reduce docking contact or relative offset conditions, resulting in potential simplification of capture systems.

Description: The Satellite Servicing Project at GSFC in the early 80's developed a facility for servicing observatories in orbit when docked on the shuttle. The facility includes a three point docking ring and one or two umbilicals to provide power, data and command capability to docked payloads. This facility was used in the 1984 repair of the Solar Maximum satellite. It will be used for the Hubble repair mission in 1993, and it is planned to be used on the Explorer Platform retrieval mission in 1995 and for servicing AXAF in the late 90's. The basic three point docking mechanisms and umbilical interfaces were adopted by the OMU Project for that vehicle's remote rendezvous and docking mission capability. This would have assured a common interface for a serviceable payload for either shuttle based or remote servicing, i.e., HST. For OMU remote servicing, quick reaction docking latches were under development when that Project was cancelled. Although there is no remote servicing capability being funded at present, the EOS spacecraft configuration does include three pins compatible with the FSS latches as a contingency planning measure.

Description: The dynamic nature of the Cargo Transfer Vehicle's (CTV) mission and the high level of autonomy required mandate a complete fault management system capable of operating under uncertain conditions. Such a fault management system must take into account the current mission phase and the environment (including the target vehicle), as well as the CTV's state of health. This level of capability is beyond the scope of current on-board fault management systems. This presentation will discuss work in progress at TRW to apply artificial intelligence to the problem of on-board fault management. The goal of this work is to develop fault management systems. This presentation will discuss work in progress at TRW to apply artificial intelligence to the problem of on-board fault management. The goal of this work is to develop fault management systems that can meet the needs of spacecraft that have long-range autonomy requirements. We have implemented a model-based approach to fault detection and isolation that does not require explicit characterization of failures prior to launch. It is thus able to detect failures that were not considered in the failure and effects analysis. We have applied this technique to several different subsystems and tested our approach against both simulations and an electrical power system hardware testbed. We present findings from simulation and hardware tests which demonstrate the ability of our model-based system to detect and isolate failures, and describe our work in porting the Ada version of this system to a flight-qualified processor. We also discuss current research aimed at expanding our system to monitor the entire spacecraft.