ALBERT

Description: Viewgraphs on current analytical gaps for future needs for large space systems are presented. Topics covered include: future spacecraft; common control objectives; accuracy requirements; increasing complexity; promising approaches; and analytical gaps.

Description: Large scale space missions of the near future will depend upon successful multi-launch coordination and construction in the space environment. One of the main challenges is how to accomplish a valid global analysis of a construction project with the intent of improving safety, reducing overall mission cost, and total construction time. These three items are dependent on the interruptability of the project, which is the ability of the project to recover from unplanned interruptions; such as failure of the launch vehicle; sudden, on-orbit, crew illness; or damage from a space debris impact on the partially completed space structure. A new method for addressing and analyzing this type of problem is being developed. The method is called Program Interruptability and Risk Evaluation Technique, or PIRET. PIRET has been developed in order to model and analyze potential interruptability concerns of the construction of the U.S. Space Station Freedom (SSF), although PIRET is applicable to any complex, multi-launch structural assembly. This paper is a progress report on the continuing research of the NASA Center for Space Construction at the University of Colorado, Boulder into this area of space construction interruptability. The paper will define the problem of interruptability, will diagram the PIRET approach to space construction, will share results from a preliminary PIRET analysis of SSF, and will show that PIRET is a useful tool for modelling space construction interruptability.

Description: Large Space Structures do not have much damping, which necessitates the installation of a controller onto the structure. If the controller is improperly designed, the structure may become unstable and be destroyed. Since Large Space Structures are extremely expensive pieces of hardware, new controllers must not be tested first on the structure. They must first be tested in computer simulations. Until now, the usual procedure for simulating controlled Large Space Structures is to compute a reduced order modal representation of the structure and then apply the controller. However, this procedure entails modal truncation error. A new software package which is free from this error is currently under development within the Center for Space Construction. The more accurate finite element representation of the structure is used in the simulation, instead of the less accurate reduced order modal representation. This software also features an efficient matrix storage scheme, which effectively deals with the asymmetric system matrices which occur when control is added to the structure. Also, an integration algorithm was chosen so that the simulation is a reliable indicator of system stability or instability. The software package is fairly general in nature. Linearity of the finite element model and of the controller is the only assumption made. Actuator dynamics, sensor dynamics, noise, and disturbances can be handled by the package. In addition, output feedback of displacement, velocity, and/or acceleration signals can be simulated. Kalman state estimation was also implemented. This software was tested on a finite element model of a real Large Space Structure: The Mini-Mast Truss. Mini-Mast is a testbed at NASA-Langley which is currently under development. A 714 degree of freedom finite element model was computed, and a 19 state controller was designed for it. Torque wheel dynamics were added to the model, and the entire closed loop system was simulated with the software package.

Description: Guided wave modes in cladded or uncladded fiber-reinforced composite plates and tubes have been analyzed using a stiffness method in which the displacement variation through the thickness is approximated by polynomial interpolation functions. This allows for an arbitrary number of laminations and fiber orientations different from lamina to lamina. It is shown that dispersive behavior of guided modes depends significantly on the cladding, number of laminae, and interfaces between the adjacent laminae. A hybrid modeling technique is described in which an inner region containing cracks (or other defects) is discretized by finite elements, and the field in the exterior region is represented in terms of modes that are found using the stiffness method described above. It is found that the reflected and transmitted amplitudes of modes vary significantly with the size of a transverse or longitudinal (delamination) crack and frequency. We have also studied the impact response of a unidirectional fiber-reinforced plate. Received signals at the epicentral and other locations are shown. Strong longitudinal anisotropy of the graphite/epoxy plate causes the signal to be considerably different from that in an isotropic plate.

Description: One of the most difficult problems in controlling large systems and structures is compensating for the destructive interaction which can occur between the reduced-order model (ROM) of the plant, which is used by the controller, and the unmodeled dynamics of the plant, often called the residual modes. The problem is more significant in the case of large space structures because their naturally light damping and high performance requirements lead to more frequent, destructive residual mode interaction (RMI). Using the design/compensation technique of residual mode filters (RMF's), effective compensation of RMI can be accomplished in a straightforward manner when using linear controllers. The use of RMF's has been shown to be effective for a variety of large structures, including a space-based laser and infinite dimensional systems. However, the dynamics of space structures is often uncertain and may even change over time due to on-orbit erosion from space debris and corrosive chemicals in the upper atmosphere. In this case, adaptive control can be extremely beneficial in meeting the performance requirements of the structure. Adaptive control for large structures is also based on ROM's and so destructive RMI may occur. Unfortunately, adaptive control is inherently nonlinear, and therefore the known results of RMF's cannot be applied. The purpose is to present the results of new research showing the effects of RMI when using adaptive control and the work which will hopefully lead to RMF compensation of this problem.

Description: The objective of this program is to develop technology needed for structural evaluation of alternative space construction concepts. Those concepts are as follows: interactive effects on dynamic performance of various environment and self-generated disturbance; new materials concepts, failure mechanisms, and non-destructive evaluation/failure detection; develop stable control algorithms and design effective combination of hierarchical and adaptive controls; and assess control-structure integrated performance and stability.

Description: Partially constructed/assembled structures in space are complicated enough but their dynamics will also be operating in closed-loop with feedback controllers. The dynamics of such structures are modeled by large-scale finite element models. The model dimension L is extremely large (approximately 10,000) while the numbers of actuators (M) and sensors (P) are small. The model parameters M(sub m) mass matrix, D(sub o) damping matrix, and K(sub o) stiffness matrix, are all symmetric and sparse (banded). Thus simulation of open-loop structure models of very large dimension can be accomplished by special integration techniques for sparse matrices. The problem of simulation of closed-loop control of such structures is complicated by the addition of controllers. Simulation of closed-loop controlled structures is an essential part of the controller design and evaluation process. Current research in the following areas is presented: high-order simulation of actively controlled aerospace structures; low-order controller design and SCI compensation for unmodeled dynamics; prediction of closed-loop stability using asymptotic eigenvalue series; and flexible robot manipulator control experiment.

Description: Within the Center for Space Construction, the SIMSTRUC project's objectives center around the development of simulation tools for the realistic analysis of large space structures. The word 'tools' is the broad sense; it designates mathematical models, finite element/finite difference formulations, computational algorithms, implementations on advanced computer architectures, and visualization capabilities. The results of our activities during the first year within the SIMSTRUC project are reported. On the modeling side, an alternative approach to fluid/thermal/structure interaction analysis that is a departure from the 'loosely coupled' and 'unified' approaches that are being currently practiced are described. The advantages of our approach both in terms of accuracy and computational efficiency were demonstrated. On the computational side, a software architecture for parallel/vector and massively parallel supercomputers that speeds up finite element and finite difference computations by several orders of magnitude is presented. As an example, the simulation of the deployment of a space structure that used to require over six hours of a workstation using a conventional finite element software, now runs on a multiprocessor using a parallel computation strategy in less than three seconds. In order to promote the physical understanding of the simulation behavior, a real-time visualization capability on the Connection Machine, which allows the analyst to watch the graphical animation of the results at the same time these are generated, was also developed. It is believed that by combining efficient analytical formulations with the state-of-the-art high performance computer implementations and superfast visualization capabilities, SIMSTRUC is moving fast towards the real-time simulation of large space structures. The designers as well as the researchers will certainly benefit from this technology.

Description: Microgravity offers a unique environment for studying polymer diffusion and polymer polymerization reactions. The absence of convection currents, which are the major mode of mixing at the molecular level on Earth, are eliminated or reduced in the microgravity environment. More importantly, the prediction of unique copolymer composition development in microgravity allows controlled formation of new compositions of matter. The absence of mixing at the molecular level should produce unique short block copolymers available for the first time for comonomer compositions which normally lead to random or long block copolymer under good mixing. The investigation of fundamental polymer diffusion and polymer polymerization processes in microgravity is proposed. This effort will involve fundamental studies of monomer and polymer diffusion; their effects on initiation, propagation, and especially termination kinetics rate constant; and the accurate evaluation of copolymerization reactivity ratios in microgravity. The experimental design is presented for these studies along with an evaluation technique for in situ monitoring of polymer diffusion and polymerization kinetics.

Description: The analysis of light scattered from an ensemble of particles has long been a preferred method for characterizing their physical properties. Instrumentation to perform the measurements which forms the basis for such analysis is available in many forms based upon a variety of different experimental techniques. A system is presented which is singularly applicable for making many types of measurements in a microgravity environment. The commercial version of this device, the DAWN-F, has been used in many labs throughout the world to perform analyses of particular importance for both research and production. Light scattering theory is reviewed and the structure and function of the system is described.

Description: Avalanche photodiodes (APD) are excellent small area, solid state detectors for photon counting. Performance possibilities include: photon detection efficiency in excess of 50 percent; wavelength response from 400 to 1000 nm; count rate to 10 (exp 7) counts per sec; afterpulsing at negligible levels; timing resolution better than 1 ns. Unfortunately, these performance levels are not simultaneously available in a single detector amplifier configuration. By considering theoretical performance predictions and previous and new measurements of APD performance, the anticipated performance of a range of proposed APD-based photon counting modules is derived.

Description: Traditional optical systems for photon correlation spectroscopy and laser anemometry have relied upon physically large and fairly expensive lasers, bulk-optics such as lenses of a few inches diameter, large mechanical mounts and carefully selected, fragile and bulky photon counting photomultiplier detectors. In some cases, experimental fluid dynamics at a desired position in a flow, perhaps deep inside complex machinery, is physically impossible or very difficult. Similar problems exist with photon correlation spectroscopy, e.g., remote and heterodyne experiments. Various optical and electro optical components were investigated and characterized with the aim of replacing existing photon correlation laser spectroscopy and anemometry techniques in miniaturized form, and with significant cost reduction. Very recently, a range of miniature, modular light scattering systems were constructed from little solid state optical and electro optical components, and experimentally verified measurement performance comparable to standard lab photon correlation spectroscopy and laser anemometry equipment.

Description: Images from an airborne, scanning radiometer operating at a frequency of 98 GHz have been analyzed. The millimeter-wave images were obtained in 1985-1986 using the JPL millimeter-wave imaging sensor. The goal of this study was to enhance the information content of these images and make their interpretation easier. A visual-interpretative approach was used for information extraction from the images. This included application of nonlinear transform techniques for noise reduction and for color, contrast, and edge enhancement. Results of using the techniques on selected millimeter-wave images are discussed.

Description: Future spacecraft design will be affected by collisions with man-made debris orbiting the earth. Most of this orbital space debris comes from spent rocket stages. It is projected that the source of future debris will be the result of fragmentation of large objects through hypervelocity collisions. Orbiting spacecraft will have to be protected from hypervelocity debris in orbit. The options are to armor the spacecraft, resulting in increased mass, or actively removing the debris from orbit. An active space debris sweeper is described which will utilize momentum transfer to the debris through laser-induced ablation to alter its orbital parameters to reduce orbital lifetime with eventual entry into the earth's atmosphere where it will burn. The paper describes the concept, estimates the amount of velocity change (Delta V) that can be imparted to an object through laser-induced ablation, and investigates the use of a neutral particle beam for the momentum transfer. The space sweeper concept could also be extended to provide a collision avoidance system for the space station and satellites, or could be used for collision protection during interplanetary travel.

Description: The design and use of the Space Station Freedom are discussed. The contributions to the Station from EAS, Japan, Canada, and the US are described. Consideration is given to the capability of the Station, the internal accommodations for crew and payloads, various applications for the modules, and the planning and operation of the payloads.

Description: It is shown how a commercial time interval counter can be used to measure the relative stability of two signals that are offset in frequency and mixed down to a beat note of about 1 Hz. To avoid the dead-time problem, the counter is set up to read the time interval between each beat note upcrossing and the next pulse of a 10 Hz reference pulse train. The actual upcrossing times are recovered by a simple algorithm whose outputs can be used for computing residuals and Allan variance. A noise floor-test yielded a delta f-f Allan deviation of 1.3 times 10 to the minus 9th power/tau relative to the beat frequency.

Description: Procedures for attitude determination based on Wahba's loss function are generalized to include the estimation of parameters other than the attitude, such as sensor biases. Optimization with respect to the attitude is carried out using the q-method, which does not require an a priori estimate of the attitude. Optimization with respect to the other parameters employs an iterative approach, which does require an a priori estimate of these parameters. Conventional state estimation methods require a priori estimates of both the parameters and the attitude, while the algorithm presented in this paper always computes the exact optimal attitude for given values of the parameters. Expressions for the covariance of the attitude and parameter estimates are derived.

Description: A correction factor to the number density measured by the Forward Scattering Spectrometer Probe (FSSP) which compensates for dead time and coincidence errors was determined by calculating the probabilities of, and the average number of particles in, the six possible types of dead time and coincidence events. These probabilities and averages were calculated by means of a probabilistic model based on Poisson statistics. A Monte Carlo computer simulation of the FSSP operation was also carried out and the number density correction factor was compared with the Monte Carlo data. For an actual number density of 2000/cu cm, it was found that the measured number density was of the order of 300/cu cm.

Description: Measurement of times of flight of sound waves can be used to determine temperatures in a gas. This paper describes a system, based on this principle, that is capable of giving the temperature profile in a nonisothermal gas volume, for example, prevalent in a large furnace. The apparatus is simple, rugged, accurate, and capable of being automated for process control applications. It is basically an acoustic waveguide where the outside temperature profile is transferred to a chosen gas contained inside the guide.

Description: The development of a unique noncontact temperature measurement device utilizing rotating analyzer ellipsometry is described. The technique circumvents the necessity of spectral emissivity estimation by direct measurement concomitant with radiance brightness. Simultaneous determinations of dielectric constants and refractive indices allow changes in the physical and chemical state of a heated surface to be monitored. The results of optical property measurements at 633 nm as functions of temperature between 1000 and 2500 K for eight transition metals including Hf, Ir, Mo, Nb, Pd, Pt, Ta, and V are presented together with preliminary results of oxidation studies on iridium.

Description: The status and results to date of the NASA-Lewis/USAF Astronautics study of technology for large spacecraft heat-dissipation by means of liquid-droplet radiation (LDR) are discussed. The LDR concept uses a droplet generator to create billions of 200-micron droplets of a heatsink fluid which will cool through radiation into deep space as they fly toward a dropet collector. This exposure to the space environment entails the maintenance of vapor pressure as low as 10 to the -7th torr; the fluid must also be very stable chemically. While certain oils are good fluids for LDR use at low temperatures, higher-temperature heatsink fluids include Li, Sn, and Ga liquid metals.

Description: A design concept developed for a polarimeter on the vector magnetograph of the SAMEX satellite that would be very sensitive to solar vector magnetic fields is described. A description of the Poincare sphere is presented, along with the instrument scientific requirements, to provide an understanding of how the polarimeter design has been selected. It is shown that the design goal of a polarimetric sensitivity of 0.0001 can be achieved in the linear measurements using a hybrid analyzer. It is also noted that the systematic errors that produce linear crosstalk into the circular measurement will require the use of the redundant polarization measurements for in-flight calibrations and corrections of the data.

Description: The present analysis method for hot-wire data in supersonic turbulence takes sound field effects into account and yields greater accuracy in its treatment of flow variable fluctuations than existing methods despite requiring only a moderately accurate estimate of static pressure fluctuations. The method demonstrates the way in which neglecting pressure fluctuations will affect hot-wire data analysis, as well as indicating the probable direction the errors will take.

Description: Displays of multifrequency passive microwave data from the Special Sensor Microwave/Imager (SSM/I) flying on the Defense Meteorological Satellite Program (DMSP) spacecraft are presented. Observed brightness temperatures at 85.5 GHz (vertical and horizontal polarizations) and 37 GHz (vertical polarization) are respectively used to 'drive' the red, green, and blue 'guns' of a color monitor. The resultant false-color images can be used to distinguish land from water, highlight precipitation processes and structure over both land and water, and detail variations in other surfaces such as deserts, snow cover, and sea ice. The observations at 85.5 GHz also add a previously unavailable frequency to the problem of rainfall estimation from space. Examples of mesoscale squall lines, tropical and extra-tropical storms, and larger-scale land and atmospheric features as 'viewed' by the SSM/I are shown.

Description: A postdispersion system for astronomical observations with Fourier transform spectrometers in the thermal infrared has been developed which improves the sensitivity of radiation noise limited observations by reducing the spectral range incident on the detector. Special attention is given to the first-generation blocked impurity band detector. Planetary, solar, and stellar observations are reported.

Description: The measurement by a three-dimensional laser Doppler velocimeter of a turbulent flow has been numerically simulated. Errors associated with the probe volume geometry and the coincidence time window concept are revealed. One type of error occurs for high system data rates when multiple particles lead to system realizations. Another error occurs associated with a geometric bias discovered in the present study. This three-dimensional ldv geometric bias exists even for single-particle realizations and regardless of the system data rate. A technique for the elimination of the geometric bias is presented.

Description: A computer-controlled tunable diode laser spectrometer and spectral analysis software are described. The three-channel system records simultaneously the transmission of a subject gas, a temperature-stabilized etalon, and a calibration gas. The software routines are applied to diode laser spectra of HNO3 and NO2 to illustrate the procedures adopted for conversion of raw spectral data to useful transmission and harmonic spectra. Extraction of line positions, absorption intensities, collisional broadening coefficients, and gas concentrations from recorded spectra is also described.

Description: Optical interconnects are being considered for control signal distribution in phased array antennas. A packaged hybrid GaAs optical controller with a 1:16 demultiplexed output that is suitable for this application is described. The controller, which was fabricated using enhancement/depletion mode MESFET technology, operates at demultiplexer-limited input data rates up to 305 Mb/s and requires less than 200 microW optical input power.

Description: A technique has been developed to support the study of the effects of cosmic rays on integrated circuits. The system is designed to determine the particle distribution across the surface of an integrated circuit accurately while the circuit is bombarded by a particle beam. The system uses photomultiplier tubes, an octal discriminator, a computer-controlled NIM quad counter, and an IBM PC. It provides real-time operator feedback for fast beam tuning and monitors momentary fluctuations in the particle beam. The hardware, software, and system performance are described.

Description: A three-channel transportable radiometer that operates at 20.6, 31.65, and 90.0 GHz has been developed. The design of the radiometer is described and the results of various experimental applications of the radiometer are presented. The experiments include a comparison of brightness temperature measurements at various frequencies with the water vapor absorption models of Waters (1976) and Lieve (1989). Measurements of absorption ratios for cloud attenuation are given and the radiometer measurements are compared with oxygen absorption calculated using the Rasenkranz (1988) model.

Description: This paper describes a program of airborne radiometric imaging at 90 GHz and 140 GHz. Using high sensitivity (below 1 K) and high angular resolution (0.5-1.0 degree), high quality images have been made. The following measurements are discussed: cloud and fog penetration at 90 GHz, discrimination between agricultural and urban areas, discrimination between different vegetation types, detection of vehicles on roads, detection and classification of airports and airplanes, ship detection and quantitative oil spill sensing. The application of information enhancement techniques with automatic and real time application aspects is also described, and results of applied techniques for contrast and contour enhancement are shown.

Description: Mercuric iodide X-ray detectors have been undergoing tests in a prototype scanning electron microscope system being developed for unmanned space flight. The detector program addresses the issues of geometric configuration in the SEM, compact packaging that includes separate thermoelectric coolers for the detector and FET, X-ray transparent hermetic encapsulation and electrical contacts, and a clean vacuum environment.

Description: A review of unfurlable satellite antennas is presented. Typical application requirements for future space missions are first outlined. Then, U.S. and European mesh and inflatable antenna concepts are described. Precision deployables using rigid panels or petals are not included in the survey. RF modeling and performance analysis of gored or faceted mesh reflector antennas are then reviewed. Finally, both on-ground and in-orbit RF test techniques for large unfurlable antennas are discussed.

Description: The development and use of microspacecraft are examined. It is proposed that 10-50 microspacecraft per year can be launched; up to 50 microspacecraft can be dispatched with traditional launchers; and 1-3 experiments can be performed on the spacecraft. Various applications for the microspacecraft are discussed and specific examples of proposed missions are presented. Some systems and instruments designed for the microspacecraft are described.

Description: The recent development of Scanning Tunneling Microscopy technology allows the application of electron tunneling to position detectors for the first time. The vacuum tunnel junction is one of the most sensitive position detection mechanisms available. It is also compact, simple, and requires little power. A prototype accelerometer based on electron tunneling, and other sensor applications of this promising new technology are described.

Description: New methods have been developed to implement position sensors based on electron tunneling. The electron tunneling methods enable position to be detected with sub-Angstrom resolution using a compact mechanical structure and simple electronic control elements. A prototype accelerometer is the first sensor based on these principles; it shows reliable operation with a noise-limited sensitivity and a bandwidth of approximately 3 kHz. Based on these results, it is expected that tunnel sensors optimized for many applications will enable an entirely new class of sensors to be developed.

Description: The Particle Measuring Systems (PMS) Forwared Scattering Spectrometer Probe (FSSP-100) which was flown on the ER-2 during the Airborne Antarctic Ozone Experiment for the measurement of particles in polar stratospheric clouds has been evaluated and calibrated. The sample volume of the probe per 10-s sampling period increases from 257 cu cm for 1-micron particles to 412 for 15-micron particles, but there is substantial uncertainty in this value. Limitations in the measurements from this instrument and possible corrections are discussed. The uncertainty in the total particle mass measured by the probe may be as large as + or - 100 percent. Recommendations are given for the processing of data from the FSSP used in this project.

Description: A recent study by Rocketdyne for NASA identified laser anemometry, using a compact optical head, as a feasible diagnostic instrument for the Space Shuttle Main Engine (SSME) Model Verification experiments. Physical Research, Inc. (PRI) is presently under contract from NASA Lewis to develop and deliver such a laser anemometer system. For this application, it is desired to place the laser at a remote distance from the engine, and use single mode polarization preserving fiber optics for the transmission of the laser light to and from the measurement head. Other requirements are given. Analytical and experimental tools are being used to develop the technologies required for the laser anemometer. These include finite element analysis of the optical head and vibration tests for various optical and mechanical components. Design of the optical head and the fiber optic connectors are driven by the temperature and vibration requirements for the measurement environment. Results of the finite element analysis and the vibration tests of the components are included. Conceptual design of the fiber optic launcher and the optical probe has also been complete. Detailed design of the probe as well as the fabrication and assembly of the components is in progress.

Description: Spacecraft range measurements have provided the most accurate tests, to date, of some relativistic gravitational parameters, even though the measurements were made with ranging systems having error budgets of about 10 meters. Technology is now available to allow an improvement of two orders of magnitude in the accuracy of spacecraft ranging. The largest gains in accuracy result from the replacement of unstable analog components with high speed digital circuits having precisely known delays and phase shifts.

Description: For 22 years (from ATS-1 to GOES-H) a single technology has dominated imaging from geosynchronous altitudes. In 1990, with the scheduled launch of GOES-I, a major change will occur which will in turn open the way for the Geostationary Platform. The need for improved observations of severe storms has led NOAA to a decision to replace spinning geostationary spacecraft with a three-axis-stabilized type (non-spinning) vehicle already common among communications spacecraft and demonstrated by INSAT. Also, the current spin-scan imager with sounder channels will be replaced by separate instruments capable of independent aiming. The advantages and challenges of the changes are discussed.

Description: EDO Corporation, Barnes Engineering Division designed and constructed a high resolution thermal imaging system on contract to Lockheed for use in the SDI Star Lab. This employs a Pt Si CCD array which is sensitive in the spectral range of 3 to 5 microns. Star Lab will be flown in the Shuttle bay and consists basically of a large, reflecting, tracking telescope with associated sensors and electronics. The thermal imaging system is designed to operate in the focal plane of this telescope. The configuration of the system is illustrated. The telescope provides a collimated beam output which is focussed onto the detector array by a silicon objective lens. The detector array subtends a field of view of 1.6 degrees x 1.22 degrees. A beam switching mirror permits bypassing the large telescope to give a field of 4 degrees x 3 degrees. Two 8 position filter wheels are provided, and background radiation is minimized by Narcissus mirrors. The detector is cooled with a Joule-Thompson cryostat fed from a high pressure supply tank. This was selected instead of a more convenient closed-cycle system because of concern with vibration. The latter may couple into the extremely critical Starlab tracking telescope. The electronics produce a digitized video signal for recording. Offset and responsivity correction factors are stored for all pixels and these corrections are made to the digitized output in real time.

Description: A preliminary evaluation was made by ORNL of a two-color ratio pyrometer (TCRP) for temperature control in the Modular Electromagnetic Levitation (MEL) experiment. A discussion was presented by Eric Spjut at the 1987 NASA Non-Contact Temperature Measurement Workshop (NASA Conf. Publ. 2503, pp. 182-213) in which he described the non-linear characteristics of the time response of TCPs. Researchers replicated his model and results and note that the non-linear response behavior is minimized for small temperature steps at high temperatures. They then used the predicted response in a model for a proportional or integral feedback controller and predicted the control characteristics for heating and cooling a 5-mm diameter sphere of niobium at high (1500 to 2750 K) temperatures. The analysis shows that for a slow (25-ms) time response for a commercial RCRP, overshoots of several hundred kelvins will result from a 100-K decrease in the setpoint, and temperature tracking errors of 14 to 45 K will occur for control temperature ramps of 1000K/s. For a fast (greater than 0.1 ms) time response, the overshoot and ramp response errors are largely eliminated.

Description: The development of a noncontact temperature measurement device utilizing rotating analyzer ellipsometry is described. The technique circumvents the necessity of spectral emissivity estimation by direct measurement concomittant with radiance brightness. Using this approach, the optical properties of electromagnetically levitated liquid metals Cu, Ag, Au, Ni, Pd, Pt, and Zr were measured in situ at four wavelengths and up to 600 K superheat in the liquid. The data suggest an increase in the emissivity of the liquid compared with the incandescent solid. The data also show moderate temperature dependence of the spectral emissivity. A few measurements of the optical properties of undercooled liquid metals were also conducted. The data for both solids and liquids show excellent agreement with available values in the literature for the spectral emissivities as well as the optical constants.

Description: Commercially available types of infrared thermal imaging instruments, both viewers (qualitative) and imagers (quantitative) are discussed. The various scanning methods by which thermal images (thermograms) are generated will be reviewed. The performance parameters (figures of merit) that define the quality of performance of infrared radiation thermometers will be introduced. A discussion of how these parameters are extended and adapted to define the performance of thermal imaging instruments will be provided. Finally, the significance of each of the key performance parameters of thermal imaging instruments will be reviewed and procedures currently used for testing to verify performance will be outlined.

Description: A new, near-optimal feedback control technique is introduced that is shown to provide excellent vibration attenuation for those distributed parameter systems that are often encountered in the areas of aeroservoelasticity and large space systems. The technique relies on a novel solution methodology for the classical optimal control problem. Specifically, the quadratic regulator control problem for a flexible vibrating structure is first cast in a weak functional form that admits an approximate solution. The necessary conditions (first-order) are then solved via a time finite-element method. The procedure produces a low dimensional, algebraic parameterization of the optimal control problem that provides a rigorous basis for a discrete controller with a first-order like hold output. Simulation has shown that the algorithm can successfully control a wide variety of plant forms including multi-input/multi-output systems and systems exhibiting significant nonlinearities. In order to firmly establish the efficacy of the algorithm, a laboratory control experiment was implemented to provide planar (bending) vibration attenuation of a highly flexible beam (with a first clamped-free mode of approximately 0.5 Hz).

Description: Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Description: A flexible aircraft or space structure with active control is typically modeled by a large-order state space system of equations in order to accurately represent the rigid and flexible body modes, unsteady aerodynamic forces, actuator dynamics and gust spectra. The control law of this multi-input/multi-output (MIMO) system is expected to satisfy multiple design requirements on the dynamic loads, responses, actuator deflection and rate limitations, as well as maintain certain stability margins, yet should be simple enough to be implemented on an onboard digital microprocessor. A software package for performing an analog or digital control law synthesis for such a system, using optimal control theory and constrained optimization techniques is described.

Description: Simulation of structural response of multi-flexible-body systems by linearized flexible motion combined with nonlinear rigid motion is discussed. Advantages and applicability of such an approach for accurate simulation with greatly reduced computational costs and turnaround times are described, restricting attention to the control design environment. Requirements for updating the linearized flexibility model to track large angular motions are discussed. Validation of such an approach by comparison with other existing codes is included. Application to a flexible robot manipulator system is described.

Description: A simulation of the system made up of the Orbiter, Remote Manipulator System (RMS), and payload grappled by the RMS was completed. The simulation was used to study the stability of this overall system when its attitude is under control of the Orbiter's on-orbit Flight Control System (FCS). The simulation was also used to study the dynamics of the system when the RMS and its associated command software are in active control of the relative Orbiter to payload position and orientation. The simulation models all of the following elements: RMS boom bending (represented by two cubic bending models); RMS boom torsion; RMS joint gearbox compliance (represented by a non-linear wind-up model); flexibility at the RMS to Orbiter interface; flexibility at the RMS to payload interface; joint motor dynamics; joint servo-loop dynamics; RMS on-board computer command logic; data transfer delays between the RMS sensor and the RMS on-board computer and between the RMS on-board computer and RMS joint servos; on-orbit flight control nonlinear control logic; and the Reaction Control System (both Primary and Vernier) jet forces and moments.

Description: A three-dimensional finite element formulation for modeling the transient dynamics of constrained multibody space sructures with truss-like configurations is presented. Convected coordinate systems are used to define rigid-body motion of individual elements in the system. These systems are located at one end of each element and are oriented such that one axis passes through the other end of the element. Deformation of each element, relative to its convected coordinate system, is defined by cubic flexural shape functions as used in finite element methods of structural analysis. The formulation is oriented toward joint dominated structures and places the generalized coordinates at the joint. A transformation matrix is derived to integrate joint degree-of-freedom into the equations of motion of the element. Based on the derivation, a general-purpose code LATDYN (Large Angle Transient DYNamics) was developed. Two examples are presented to illustrate the application of the code. For the spin-up of a flexible beam, results are compared with existing solutions available in the literature. For the deployment of one bay of a deployable space truss (the Minimast), results are verified by the geometric knowledge of the system and converged solution of a successively refined model.

Description: Described here are Boeing software tools used for the development of control laws of flexible structures. The Boeing Company has developed a software tool called Modern Control Software Package (MPAC). MPAC provides the environment necessary for linear model development, analysis, and controller design for large models of flexible structures. There are two features of MPAC which are particularly appropriate for use with large models: (1) numerical accuracy and (2) label-driven nature. With the first feature MPAC uses double precision arithmetic for all numerical operations and relies on EISPAC and LINPACK for the numerical foundation. With the second feature, all MPAC model inputs, outputs, and states are referenced by user-defined labels. This feature allows model modification while maintaining the same state, input, and output names. In addition, there is no need for the user to keep track of a model variable's matrix row and colunm locations. There is a wide range of model manipulation, analysis, and design features within the numerically robust and flexible environment provided by MPAC. Models can be built or modified using either state space or transfer function representations. Existing models can be combined via parallel, series, and feedback connections; and loops of a closed-loop model may be broken for analysis.

Description: The goal is to develop the next generation guidance and control analysis and design tools to enable future missions and to improve productivity and reliability.

Description: A NASA program is about to start which has the objective to advance Controls-Structures Interaction (CSI) technology to a point where it can be used in spacecraft design for future missions. Because of the close interrelationships between the structure, the control hardware, and the analysis/design, a highly interdisciplinary activity is defined in which structures, dynamics, controls, computer and electronics engineers work together on a daily basis and are co-located to a large extent. Methods will be developed which allow the controls and structures analysis and design functions to use the same mathematical models. Hardware tests and applications are emphasized and will require development of concepts and test methods to carry out. Because of a variety of mission application problem classes, several time-phased, focus ground test articles are planned. They will be located at the Langley Researdh Center (LaRC), the Marshall Space Flight Center (MSFC) and at the Jet Propulsion Laboratory (JPL). It is anticipated that the ground tests will be subject to gravity and other environmental effects to the extent that orbital flights tests will be needed for verification of some technology items. The need for orbital flight experiments will be quantified based on ground test results and mission needs. Candidate on-orbit experiments will be defined and preliminary design/definition and cost studies will be carried out for one or more high-priority experiments.

Description: The optimal placement of discrete actuators and sensors is posed as a combinatorial optimization problem. Two examples for truss structures were used for illustration; the first dealt with the optimal placement of passive dampers along existing truss members, and the second dealt with the optimal placement of a combination of a set of actuators and a set of sensors. Except for the simplest problems, an exact solution by enumeration involves a very large number of function evaluations, and is therefore computationally intractable. By contrast, the simulated annealing heuristic involves far fewer evaluations and is best suited for the class of problems considered. As an optimization tool, the effectiveness of the algorithm is enhanced by introducing a number of rules that incorporate knowledge about the physical behavior of the problem. Some of the suggested rules are necessarily problem dependent.

Description: Actual design turn-around time has become shorter due to the use of optimization techniques which have been introduced into the design process. It seems that what, how and when to use these optimization techniques may be the key factor for future aircraft engineering operations. Another important aspect of this technique is that complex physical phenomena can be modeled by a simple mathematical equation. The new powerful multilevel methodology reduces time-consuming analysis significantly while maintaining the coupling effects. This simultaneous analysis method stems from the implicit function theorem and system sensitivity derivatives of input variables. Use of the Taylor's series expansion and finite differencing technique for sensitivity derivatives in each discipline makes this approach unique for screening dominant variables from nondominant variables. In this study, the current Computational Fluid Dynamics (CFD) aerodynamic and sensitivity derivative/optimization techniques are applied for a simple cone-type forebody of a high-speed vehicle configuration to understand basic aerodynamic/structure interaction in a hypersonic flight condition.

Description: The problem is to develop analysis methods, modeling stategies, and simulation tools to predict with assurance the on-orbit performance and integrity of large complex space structures that cannot be verified on the ground. The problem must incorporate large reliable structural models, multi-body flexible dynamics, multi-tier controller interaction, environmental models including 1g and atmosphere, various on-board disturbances, and linkage to mission-level performance codes. All areas are in serious need of work, but the weakest link is multi-body flexible dynamics.

Description: The double lead spiral platen parallel jaw end effector is an extremely powerful, compact, and highly controllable end effector that represents a significant improvement in gripping force and efficiency over the LaRC Puma (LP) end effector. The spiral end effector is very simple in its design and has relatively few parts. The jaw openings are highly predictable and linear, making it an ideal candidate for remote control. The finger speed is within acceptable working limits and can be modified to meet the user needs; for instance, greater finger speed could be obtained by increasing the pitch of the spiral. The force relaxation is comparable to the other tested units. Optimization of the end effector design would involve a compromise of force and speed for a given application.

Description: A sensor has been designed and tested for precise pointing applications. The device is able to sense extremely small rotary motion and is immune to cross-axis forces. The hardware and design characteristics of the torque sensor are presented. Test data, integrated control methodology, and future applications are included.

Description: The Deployable Retrievable Boom which was developed as a part of the joint U.S.-Italian Tethered Satellite System (TSS) is described. The design mission of the boom is to support, deploy, and retrieve an experiment package for the study of the electromagnetic field surrounding the satellite. The mechanism includes a jettisoning provision and deployable harness for the supported payloads connection. The boom is based on a tubular telescopic concept. Particular emphasis is placed on the payload harness connection capability and safety provisions.

Description: The development of a prototype Control Moment Gyroscope (CMG) is discussed. Physical characteristics and the results of functional testing are presented to demonstrate the level of system performance obtained. Particular attention is given to how the man-rated mission requirement influenced the choice of the materials, fabrication, and design details employed. Comparisons are made of the measured system responses against the prediction generated by computer simulation.

Description: A brief listing of the concerns of the working group on spacecraft charging is presented. Brief conclusions for each concern is also given.

Description: The effects of spacecraft charging on spacecraft materials are studied. Spacecraft charging interactions seem to couple environment to system performance through materials. Technology is still developing concerning both environment-driven and operating system-driven interactions. The meeting addressed environment but lacked specific mission requirements, as a result system definition are needed to prioritize interactions.

Description: An overview is presented of potential interactions that can occur on spacecraft operating in space environments. These interactions are discussed in detail. The environment acts on spacecraft in such a way that charging of exterior surfaces occurs. The consequences from this charging then affect system operational performance. Hence, it is the coupling of this exterior charging to system performance that is of concern here. These interactions were first discovered in the spacecraft charging phenomena in which the geomagnetic substorms charged external surfaces to a level that discharges occurred. As a result of the discharge, electronic systems either changed logic state (anomalous switching) or failed. These interactions can occur in all orbits. The type associated with geosynchronous orbits is called passive since the environment provides the charging mechanism. This type can also occur in polar orbits due to auroral charging environments. In low Earth orbits, the thermal plasma alleviates charging environment concerns, but system operations can induce similar effects.

Description: Charging of dielectrics is a bulk, not a surface property. Radiation driven charge stops within the bulk and is not quickly conducted to the surface. Very large electric fields develop in the bulk due to this stopped charge. At space radiation levels, it typically requires hours or days for the internal electric fields to reach steady state. The resulting electric fields are large enough to produce electrical failure within the insulator. This type failure is thought to produce nearly all electric discharge anomalies. Radiation also induces bond breakage, creates reactive radicals, displaces atoms and, in general, severely changes the chemistry of the solid state material. Electric fields can alter this process by reacting with charged species, driving them through the solid. Irradiated polymers often lose as much as a percent of their mass, or more, at exposures typical in space. Very different aging or contaminant emission can be induced by the stopped charge electric fields. These radiation effects are detailed.

Description: The effects of thermal cycling on the thermal and mechanical properties of composite materials that are candidates for space structures are briefly described. The results from a thermal analysis of the orbiting Space Station Freedom is used to define a typical thermal environment and the parameters that cause changes in the thermal history. The interactions of this environment with composite materials are shown and described. The effects of this interaction on the integrity as well as the properties of GR/thermoset, Gr/thermoplastic, Gr/metal and Gr/glass composite materials are discussed. Emphasis is placed on the effects of the interaction that are critical to precision spacecraft. Finally, ground test methodology are briefly discussed.

Description: Component qualification and acceptance temperatures are derived from worst case thermal analyses and analytic uncertainty margin subject to certain specified temperature extremes. Temperature requirements are shown for equipment operation within specification and for survival and turn-on (need not operate within specification, but must not experience any degradation when returned to operational range). Temperature excursions for most equipment are seen to be 20 to 50 C above and below room temperature. Components without active electronics which are mounted outboard, such as solar arrays and antennas, are usually designed to withstand wider temperature excursions, particularly at the cold end. Batteries are tightly controlled at cold temperatures to increase life. Payload components such as extremely accurate clocks for precise navigation are controlled over a relatively narrow temperature range.

Description: Effective contamination control must encompass all aspects of ground and flight from design of the system through the end of mission life. Design systems are needed to minimize sensitivity to contamination, ease of cleaning, and contaminant production. Facilities and procedures are critical to maintaining cleanliness during ground operations. Flight operations should be planned so as to minimize contamination. More data from flights are required to assess the adequacy of designs and operations. Standards and specifications should include contamination control requirements.

Description: In the flight materials exposure data base extensive quantitative data is available from limited exposures in a narrow range of orbital environments. More data is needed in a wider range of environments as well as longer exposure times. Synergistic effects with other environmental factors; polar orbit and higher altitude environments; and real time materials degradation data is needed to understand degradation kinetics and mechanism. Almost no laboratory data exists from high fidelity simulations of the LEO environment. Simulation and test system are under development, and the data base is scanty. Theoretical understanding of hyperthermal atom surface reactions in the LEO environment is not good enough to support development of reliable accelerated test methods. The laser sustained discharge, atom beam sources are the most promising high fidelity simulation-test systems at this time.

Description: The Spacecraft Anomaly Data Base was useful in identifying trends in anomaly occurrence. Trends alone do not provide quantitative testimony to a spacecraft's reliability, but they do indicate areas that command closer study. An in-depth analysis of a specific anomaly can be expensive and difficult without access to the spacecraft. Statistically verified anomaly trends can provide a good reference point to begin anomaly analysis. Many spacecraft experience an increase in anomalies during the period of several days centered on the solar equinox, a period that is also correlated with sun eclipse at geostationary altitude and an increase in major geomagnetic storms. Increase anomaly occurrence can also be seen during the local time interval between midnight and dawn. This local time interval represents a region in Earth's near space that experiences an enhancement in electron plasma density due to a migration from the magnetotail during or following a geomagnetic substorm.

Description: The long-term performance of structural materials in the space environment is a key research activity within NASA. The primary concerns for materials in low Earth orbit (LEO) are atomic oxygen erosion and space debris impact. Atomic oxygen studies have included both laboratory exposures in atomic oxygen facilities and flight exposures using the Shuttle. Characterization of atomic oxygen interaction with materials has included surface recession rates, residual mechanical properties, optical property measurements, and surface analyses to establish chemical changes. The Long Duration Exposure Facility (LDEF) is scheduled to be retrieved in 1989 and is expected to provide a wealth of data on atomic oxygen erosion in space. Hypervelocity impact studies have been conducted to establish damage mechanisms and changes in mechanical properties. Samples from LDEF will be analyzed to determine the severity of space debris impact on coatings, films, and composites. Spacecraft placed in geosynchronous Earth orbit (GEO) will be subjected to high doses of ionizing radiation which for long term exposures will exceed the damage threshold of many polymeric materials. Radiation interaction with polymers can result in chain scission and/or cross-linking. The formation of low molecular weight products in the epoxy plasticize the matrix at elevated temperatures and embrittle the matrix at low temperatures. This affects both the matrix-dominated mechanical properties and the dimensional stability of the composite. Embrittlement of the matrix at low temperatures results in enhanced matrix microcracking during thermal cycling. Matrix microcracking changes the coefficient of thermal expansion (CTE) of composite laminates and produces permanent length changes. Residual stress calculations were performed to estimate the conditions necessary for microcrack development in unirradiated and irradiated composites. The effects of UV and electron exposure on the optical properties of transparent polymer films were also examined to establish the optimum chemical structure for good radiation resistance. Thoughts on approaches to establishing accelerated testing procedures are discussed.

Description: The effect of transient heat flux on heat flux sensor response and calibration is analyzed. A one dimensional case was studied in order to elucidate the key parameters and trends for the problem. It has the added advantage that the solutions to the governing equations can be obtained by analytic means. The analytical results obtained to date indicate that the transient response of a heat flux sensor depends on the thermal boundary conditions, the geometry and the thermal properties of the sensor. In particular it was shown that if the thermal diffusivity of the sensor is small, then the transient behavior must be taken into account.

Description: Measurements of heat flux to space shuttle main engine (SSME) turbine blade surfaces are being made in the Lewis heat flux calibration facility. Surface heat flux information is obtained from transient temperature measurements taken at points within the gauge. A 100-kW Vortek arc lamp is used as a source of thermal radiant energy. Thermoplugs, with diameters of about 0.190 cm and lengths varying from about 0.190 to 0.320 cm, are being investigated. The thermoplug is surrounded on all surfaces except the active surface by a pocket of air located in the circular annulus and under the back cover. Since the thermoplug is insulated, it is assumed that heat is conducted in a one-dimensional manner from the hot active surface to the cooler back side of the thermoplug. It is concluded that the miniature plug-type gauge concept is feasible for measurement of blade surface heat flux. It is suggested that it is important to measure heat flux near the hub on the suction surface and at the throat on SSME blades rotating in engines because stress and heat transfer coefficients are high in this region.

Description: The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base.

Description: The new concepts are presented for the Geostationary Earth Science Platform. Bus and payload arrangements, with instrument locations on the payload module and basic payload dimensions, are depicted and compared for each concept. The Titan 4 SRMU (with solid rocket motor upgrage) launch vehicle is described and compared to the standard Titan 4. The upgraded Titan 4 is capable of launching a 13,500 lb payload to GEO. The launch configuration showing each concept packaged within the 16 ft diameter payload envelope is presented. This presentation is represented by viewgraph only.

Description: The completion of the Space Station Propulsion Advanced Technology Programs established an in-depth data base for the baseline gaseous oxygen/gaseous hydrogen thruster, the waste gas resistojet, and the associated system operations. These efforts included testing of a full end-to-end system at National Aeronautics and Space Administration (NASA)-Marshall Space Flight Center (MSFC) in which oxygen and hydrogen were generated from water by electrolysis at 6.89 MPa (1,000 psia), stored and fired through the prototype thruster. Recent end-to-end system tests which generate the oxygen/hydrogen propellants by electrolysis of water at 20.67 MPa (3,000 psia) were completed on the Integrated Propulsion Test Article (IPTA) at NASA-Johnson Space Center (JSC). Resistojet testing has included 10,000 hours of life testing, plume characterization, and electromagnetic interference (EMI) testing. Extensive 25-lbf thruster testing was performed defining operating performance characteristics across the required mixture ratio and thrust level ranges. Life testing has accumulated 27 hours of operation on the prototype thruster. A total of seven injectors and five thrust chambers were fabricated to the same basic design. Five injectors and three thrust chambers designed to incorporate improved life, performance, and producibility characteristics are ready for testing. Five resistojets were fabricated and tested, with modifications made to improve producibility. The lessons learned in the area of producibility for both the O2/H2 thrusters and for the resistojet have resolved critical fabrication issues. The test results indicate that all major technology issues for long life and reliability for space station application were resolved.

Description: Space Station and satellite reservicing will require the ability to vent gas on orbit from liquid supply or storage tanks and to gage liquid quantity under microgravity conditions. In zero gravity, (zero-g) the vortex vent is capable of venting gas from a tank of liquid containing gas randomly distributed as bubbles. The concept uses a spinning impeller to create centrifugal force inside a vortex tube within a tank. This creates a gas pocket and forces the liquid through a venturi and back into the tank. Gas is then vented from the gas pocket through a liquid detector and then out through an exhaust port. If the liquid detector senses liquid in the vent line, the fluid is directed to the low-pressure port on the venturi and is returned to the tank. The advantages of this system is that it has no rotating seals and is compatible with most corrosive and cryogenic fluids. A prototype was designed and built at the NASA Johnson Space Center and flown on the KC-135 zero-g aircraft. During these test flights, where microgravity conditions are obtained for up to 30 sec, the prototype demonstrated that less than 0.10 percent of the volume of fluid vented was liquid when the tank was half full of liquid. The pressure volume temperature (PVT) gaging system is used in conjunction with the vortex vent to calculate the amount of liquid remaining in a tank under microgravity conditions. The PVT gaging system is used in conjunction with the vortex vent to gage liquid quantity in zero or low gravity. The system consists of a gas compressor, accumulator, and temperature and pressure instrumentation. To measure the liquid in a tank a small amount of gas is vented from the tank to the compressor and compressed into the accumulator. Pressure and temperature in the tank and accumulator are measured before and after the gas transfer occurs. Knowing the total volume of the tank, the volume of the accumulator, the volume of the intermediate lines, and initial and final pressures and temperatures, the mass of the gas leaving the tank is equated to the mass of the gas entering the accumulator. The volume of liquid remaining in the tank is calculated using the ideal gas law.

Description: A classification of infrared sensing instruments by type and application, listing commercially available instruments, from single point thermal probes to on-line control sensors, to high speed, high resolution imaging systems is given. A review of performance specifications follows, along with a discussion of typical thermographic display approaches utilized by various imager manufacturers. An update report on new instruments, new display techniques and newly introduced features of existing instruments is given.

Description: The design of a two color pyrometer with infrared optical fiber bundles for collection of the infrared radiation is described. The pyrometer design is engineered to facilitate its use for measurement of the temperature of small, falling samples in a microgravity materials processing experiment using a 100 meter long drop tube. Because the samples are small and move rapidly through the field of view of the pyrometer, the optical power budget of the detection system is severly limited. Strategies for overcoming this limitation are discussed.

Description: A multicolor imaging pyrometer was designed for accurately and precisely measuring the temperature distribution histories of small moving samples. The device projects six different color images of the sample onto a single charge coupled device array that provides an RS-170 video signal to a computerized frame grabber. The computer automatically selects which one of the six images provides useful data, and converts that information to a temperature map. By measuring the temperature of molten aluminum heated in a kiln, a breadboard version of the device was shown to provide high accuracy in difficult measurement situations. It is expected that this pyrometer will ultimately find application in measuring the temperature of materials undergoing radiant heating in a microgravity acoustic levitation furnace.

Description: The use of a gyrotron for space power beaming, especially in the form of a lunar orbiting power station is discussed. The advantages of phased array power beaming, output power, and the design of a quasi-optical gyrotron are discussed.

Description: Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Description: An overview is given of work in progress aimed at developing computational algorithms addressing two important aspects in the control of large flexible space structures; namely, the selection and placement of sensors and actuators, and the resulting multivariable control law design problem. The issue of sensor/actuator set selection is particularly crucial to obtaining a satisfactory control design, as clearly a poor choice will inherently limit the degree to which good control can be achieved. With regard to control law design, the researchers are driven by concerns stemming from the practical issues associated with eventual implementation of multivariable control laws, such as reliability, limit protection, multimode operation, sampling rate selection, processor throughput, etc. Naturally, the burden imposed by dealing with these aspects of the problem can be reduced by ensuring that the complexity of the compensator is minimized. Our approach to these problems is based on extensions to input/output oriented techniques that have proven useful in the design of multivariable control systems for aircraft engines. In particular, researchers are exploring the use of relative gain analysis and the condition number as a means of quantifying the process of sensor/actuator selection and placement for shape control of a large space platform.

Description: Information is given in viewgraph form on the modeling of nonlinear damping in distributed parameter systems.

Description: Asymptotic formulas for the characteristic root errors as well as transfer function gain and phase errors are presented for a number of traditional and new integration methods. Normalized stability regions in the lambda h plane are compared for the various methods. In particular, it is shown that a modified form of Euler integration with root matching is an especially efficient method for simulating lightly-damped structural modes. The method has been used successfully for structural bending modes in the real-time simulation of missiles. Performance of this algorithm is compared with other special algorithms, including the state-transition method. A predictor-corrector version of the modified Euler algorithm permits it to be extended to the simulation of nonlinear models of the type likely to be obtained when using the discretized structure approach. Performance of the different integration methods is also compared for integration step sizes larger than those for which the asymptotic formulas are valid. It is concluded that many traditional integration methods, such as RD-4, are not competitive in the simulation of lightly damped structures.

Description: Simulation efficiency and capability go hand in hand. The more capability you have the lower the efficiency will be. The efficiency and capabilities are discussed. The lesson learned about generic simulation is: Don't rule out any capabilities at the beginning, but keep each one on a switch so it can be bypassed when warranted by a specific application.

Description: Two important aspects of concurrent processing under development at TRW are discussed. These are: (1) the derivation of explicit mathematical models of multibody dynamic systems, and (2) a balanced computational load distribution (BCLD) among loosely coupled computational units (processors) of a concurrent processing system. The developed methodologies are demonstrated by way of an application to the Phase 1 of the Space Station - a task being performed by TRW under NASA/JSC contract NAS9-17778. The mathematical model of the Space Station consists of three interconnected flexible bodies capable of undergoing large, rigid-body motion with respect to each other. Body 1 is the main central body and contains the pressurized modules inboard of the two Alpha gimbals. Bodies 2 and 3 are the starboard and port bodies connected to Body 1 at the Alpha gimbals and include all components on the transverse booms outboard of the Alpha gimbals (including the solar arrays). The control systems in the model maintain Body 1 in a prescribed 3-axis attitude control mode, while producing large-angle rotations of the flexible solar arrays to position them normal to the sun-line.

Description: The efforts of Mechanical Dynamics, Inc. in obtaining a general formulation for flexible bodies in a multibody setting are discussed. The efforts being supported by MDI, both in house and externally are summarized. The feasibility of using lumped mass approaches to modeling flexibility in a multibody dynamics context is examined. The kinematics and kinetics for a simple system consisting of two rigid bodies connected together by an elastic beam are developed in detail. Accuracy, efficiency and ease of use using this approach are some of the issues that are then looked at. The formulation is then generalized to a superelement containing several nodes and connecting several bodies. Superelement kinematics and kinetics equations are developed. The feasibility and effectiveness of the method is illustrated by the use of some examples illustrating phenomena common in the context of spacecraft motions.

Description: An Optimal Integral Controller that readily accommodates Sensor Failure - without resorting to (Kalman) filter or observer generation - has been designed. The system is based on Navy-sponsored research for the control of high performance aircraft. In conjunction with a NASA developed Numerical Optimization Code, the Integral Feedback Controller will provide optimal system response even in the case of incomplete state feedback. Hence, the need for costly replication of plant sensors is avoided since failure accommodation is effected by system software reconfiguration. The control design has been applied to a particularly ill-behaved, third-order system. Dominant-root design in the classical sense produced an almost 100 percent overshoot for the third-order system response. An application of the newly-developed Optimal Integral Controller - assuming all state information available - produces a response with no overshoot. A further application of the controller design - assuming a one-third sensor failure scenario - produced a slight overshoot response that still preserved the steady state time-point of the full-state feedback response. The control design should have wide application in space systems.

Description: Most of the presently available control system design techniques applicable to flexible structure problems were developed to design controllers for rigid body systems. Although many of these design methods can be applied to flexible dynamics problems, recently developed techniques may be more suitable for flexible structure controller design. The purpose of this presentation is to examine briefly the peculiarities of the dynamics of flexible structures and to stimulate discussion about top level controller design approaches when designing controllers for flexible structures. Presented here is a suggestion of a set of categories of design methods for designing controllers for flexible structures as well as a discussion of the advantages and disadvantages of each category. No attempt has been made herein to select one category of design techniques as the best for flexible structure controller design. Instead, it is hoped that the structure suggested by these categories will facilitate further discussion on the merits of particular methods that will eventually point to those design techniques suitable for further development.

Description: A researcher proposes a cooperative effort among specialists who use or develop software for simulating and analyzing the control of flexible aerospace systems. A comparison of existing software for modeling control systems and flexible structures, applied to several example problems would be quite valuable. The comparison would indicate computational efficiency and capabilities with respect to handling nonlinearities and graphical output. Because of the diversity of applications of such software, the researcher believes that the proposed cooperative effort can transcend projects involving specific applications. Comparisons of software capability and efficiency can be made and gaps can be identified. In this way the results of the cooperative effort can provide guidance for individual projects. Several charts which outline the objectives and approach of the proposed cooperative effort are given here.

Description: Development of a responsive, high-bandwidth missile autopilot for airframes which have structural modes of unusually low frequency presents a challenging design task. Such systems are viable candidates for modern, state-space control design methods. The PC-MATLAB interactive software package provides an environment well-suited to the development of candidate linear control laws for flexible missile autopilots. The strengths of MATLAB include: (1) exceptionally high speed (MATLAB's version for 80386-based PC's offers benchmarks approaching minicomputer and mainframe performance); (2) ability to handle large design models of several hundred degrees of freedom, if necessary; and (3) broad extensibility through user-defined functions. To characterize MATLAB capabilities, a simplified design example is presented. This involves interactive definition of an observer-based state-space compensator for a flexible missile autopilot design task. MATLAB capabilities and limitations, in the context of this design task, are then summarized.

Description: The TSIM software is described. This is a package which uses an interactive FORTRAN-like simulation language for the simulation on nonlinear dynamic systems and offers facilities which include: mixed continuous and discrete time systems, time response calculations, numerical optimization, automatic trimming of nonlinear aircraft systems, and linearization of nonlinear equations for eigenvalues, frequency responses and power spectral response evaluation. Details are given of the application of TSIM to the analysis of aeroelastic systems under the RAE Farborough extension FLEX-SIM. The aerodynamic and structural data for the equations of motion of a flexible aircraft are prepared by a preprocessor program for incorporation in TSIM simulations. Within the simulation, the flexible aircraft model may then be selected interactively for different flight conditions and modal reduction techniques applied. The use of FLEX-SIM is demonstrated by an example of the flutter prediction for a simple aeroelastic model. By utilizing the numerical optimization facility of TSIM, it is possible to undertake identification of required parameters in the TSIM model within the simulation.

Description: Existing modeling and control software packages are either inadequate or inefficient for applications to flexible space structures. Some additional software developments are wanted for effective design and evaluation of the control systems. The following are discussed: (1) linear-quadratic optimal regulators as usual can be designed using various modern control design software packages, (2) modal dashpots are very effective output-feedback vibration controllers for flexible structures, not only effective for augmenting a small amount of active damping to a large number of vibration modes (like the so-called low-authority structural controllers), but also effective for quick suppression of large vibrations (like high-authority structural controllers), and (3) the actual performance of any control design needs to be evaluated against a faithful model of the flexible structure to be controlled. The potential of destabilization or serious performance degradation needs to be detected by numerical simulation of the structure with the control loops being closed.

Description: Several radiation models for low density nonequilibrium hypersonic flow are studied. It is proposed that these models should be tested by the 3-D VRFL code developed at NASA/JSC. A modified and optimized radiation model may be obtained from the testing. Then, the current VRFL code could be expanded to solve hypersonic flow problems with nonequilibrium thermal radiation.

Description: The magnitude, variance and directionality of the velocity perturbations of the fragments of a satellite can shed valuable information regarding the nature and intensity of the fragmentation. Up until now, the only method used to calculate the three orthogonal components of the velocity change consisted of inverting the process of evaluating the changes in the orbital elements of the fragments due to velocity perturbing forces. But the traditional method failed in five different cases: (1) when the parent satellite's orbit was circular; (2) and (3) when the true anomaly of the parent was either 0 deg or 180 deg; and (4) and (5) when the argument of latitude of the parent was 90 deg or 270 deg. Described here is a new method of calculating the velocity perturbations which is free from the shortcomings of the traditional method and could be used in all occasions, provided the fragmentation data and the orbital elements data are consistent with one another.

Description: The improvement in the sphere data processing, concerning the signal to noise ratio, is discussed. Frequency analysis of the radar data is effectuated. It reveals a specific frequency component in the radar angle error, which may originate from the tracking radar mechanism itself. An optimal (Wiener) filter is applied to the radar data in order to suppress the systematic angular error components selectively. Using this technique, a significant improvement in the signal to noise ratio is achieved. The resolution of sphere measurements, previously limited by the length of the polynomial filter in the sphere data processing algorithm, is improved.

Description: Load and stress recovery from transient dynamic studies are improved upon using an extended acceleration vector in the modal acceleration technique applied to structural analysis. Extension of the normal LTM (load transformation matrices) stress recovery to automatically compute margins of safety is presented with an application to the Hubble space telescope.

Description: The objectives of modal tests for large complex spacecraft structural systems are outlined. The comparison criteria for the modal test methods, namely, the broadband excitation and the sine dwell methods, are established. Using the Galileo spacecraft modal test and the Centaur G Prime upper stage vehicle modal test as examples, the relative advantage or disadvantage of each method is examined. The usefulness or shortcomings of the methods are given from a practical engineering viewpoint.