ALBERT

Description: In controller design for flexible structures, certain system modes are extremely important for the overall performance of the structure. A reduced-order model (ROM) based control focuses on these modes, providing a viable, active control algorithm for large systems. Unfortunately, unmodeled structure dynamics can interact with the ROM controller (CSI) and cause crippling deterioration of system performance, possibly to the point that system stability is lost. A residual model filter (RMF) eliminates one channel of control structure interaction (CSI), while adding only a simple, second-order filter to the control loop. Thus, the ROM controller can be designed independently, based strictly on performance criteria, and residual mode filters can then be selected to compensate for CSI. A flexible robot manipulator is used for preliminary experimentation with the ROM/RMF design methodology. Since the controller was to be implemented both with, and without compensation for CSI, the ROM control gains are carefully chosen such that closed loop stability is never compromised. In this way, RMF effectiveness is easily evaluated in terms of the improvement in system performance resulting from CSI compensation.

Description: A catalog of 2678 galaxies within an area of about 40 sq deg centered on the Fornax Cluster has been compiled based on 26 deep large-scale plates obtained with the 2.5-m Las Campanas Observatory reflector. The catalog includes 340 likely cluster members and 2338 likely background galaxies. Radial velocities are given for 89 of the galaxies. The spatial distributions of various types of galaxies have been modeled as the sum of a King (1962) model cluster component superimposed on a uniform background. Using maximum-likelihood fits to these distributions, a core radius of 0.7 deg is found for a King model fit to the cluster, suggesting that there are few cluster members contained in the sample of background galaxies.

Description: A generalized methodology to predict the fatigue life and reliability of a rotating disk such as used for aircraft engine turbines and compressors is advanced. The approach incorporates the computed life of elemental stress volumes to predict system life and reliability. Disk speed and thermal gradients as well as design varibles such as disk diameter and thickness and bolt hole size, number and location are considered.

Description: Six radio telescopes were operated as the first Southern Hemisphere VLBI array in April and May 1982. Observations were made at 2.3 and 8.4 GHz. This array provided VLBI modeling and hybrid imaging of celestial radio sources in the Southern Hemisphere, high-accuracy VLBI geodesy between Southern Hemisphere sites, and subarcsecond radio astrometry of celestial sources south of declination -45 deg. The goals and implementation of the array are discussed, the methods of modeling and hybrid image production are explained, and the VLBI structure of the sources that were observed is summarized.

Description: Results from IRAS and the technical details of the IRAS satellite are reviewed. The IRAS telescope operation is briefly described. The observation of the Vega phenomenon, or the orbiting clouds of dust which encircle main sequence stars, is discussed. Also, the discovery that a large number of solar-type stars have excess IR radiation due to orbiting shells or disks of solid material is examined. In addition, the prospects for future telescopes are considered.

Description: Thirteen lightcurves of asteroid 3 Juno from three different oppositions are given. The pole of Juno is less than 10 deg from ecliptic longitude 104 deg and latitude + 36 deg (or 316 and + 62 deg). The sidereal period is 0.3003969 + or - 0.0000003 (1 sigma) day and the rotation is prograde. There is little similarity between the Juno lightcurves from 8 oppositions which is unexplained at this time.

Description: The dynamics of the Pluto-Charon system are reviewed from a historical perspective. Although Pluto's orbit crosses Neptune's, an intricate system of nested resonances keeps these planets apart. Pluto's orbit is apparently chaotic as well. Pluto always keeps the same face turned toward Charon, and vice versa. Tides also damp Charon's orbital eccentricity and inclination. Precession of Pluto's orbital plane causes Pluto's obliquity to vary periodically from formally prograde to retrograde. Pluto is probably an original member of the Solar system, but not an escaped satellite of Neptune.

Description: A dynamic analysis of a 2240-kW (3000-hp) helicopter planetary system is presented. Results from both analytical and experimental studies show good correlation in gear-tooth loads. A parametric study indicates that the mesh damping ratio has a significant effect on maximum gear tooth load, stress, and vibration. Correlation with experimental results indicates that the Sun-planet mesh damping ratio can significantly differ from the planet ring mesh damping ratio. A numerical fast Fourier transform (FFT) procedure was applied to examine the mesh load components in the frequency domain and the magnitudes of multiple tooth pass frequencies excited by nonsynchronous meshing of the planets. Effects of tooth-spacing errors and tooth-profile modifications with tip relief are examined. A general discussion of results and correlation with the experimental study are also presented.

Description: It is shown that gamma-ray burst detectors on a network of microspacecraft can be used to directly determine burst directions to a few arcsec in both angular coordinates. This level of accuracy is sufficient to conduct searches for the quiescent counterpart of the burster at other wavelengths. It is maintained that the strawman instrument for the microspacecraft network, consisting of two 1 kg Na I detectors on opposite ends of the spacecraft, is capable of providing a nearly omnidirectional FOV with adequate sensitivity to gamma-ray bursts.

Description: This paper describes the process for manufacturing high-quality test specimens for uses in evaluations of interlaminar tensile strength of laminated composites. The chosen specimen configuration is a curved beam which experiences interlaminar tension in the region of greatest curvature when the beam is subjected to 'opening' forces. The manufacturing process uses a lock-mold tooling approach, the principle of which relies upon the difference in coefficients of thermal expansion between the internal rubber mandrel and the surrounding steel female mold. With this method, compaction pressures above those provided by a typical autoclave can be achieved.

Description: An analysis is provided for the capabilities of the Spacewatch Camera operated at Kitt Peak National Observatory by the University of Arizona for the detection of the large flux of small comets in the vicinity of earth that is proposed by Frank et al. (1986). The characteristics of this telescope are used to determine its optimum operational mode for the detection of these small comets. It is concluded that the Spacewatch Camera can detect these small comets near earth if the proposed large fluxes in prograde orbits are present. It is unlikely that previous optical telescope surveys would have detected these objects. A heretofore undetected, large flux of small objects was detected. The characteristics of these objects appear to be in general agreement with those of the comets proposed by Frank et al. (1986). No other known population of objects or other effects that could provide the observed optical signatures has been identified at this time. Because these initial results are of such great importance to our perception of the solar system, they should be conservatively treated as an initial result until confirmation is made with similar observations from other telescopes.

Description: The IRAS survey detectors show nonlinear characteristics in their gains and baselines. This behavior can be described by an exponentially decaying gain enhancement, dependent on previously observed flux. The baseline behavior has been modeled by a decaying function composed of the sum of two exponential functions. The scale lengths are 10 arcmin and 1.1 deg for 12 microns, and 8 arcmin and 43 arcmin for 25 microns. Amplitude changes due to this type of hysteresis are less than 1 percent. In addition there is a considerable response of all detectors to particles associated with the South Atlantic Anomaly. Attempts to correct for this effect were performed on the 12- , 60- and 100-micron detectors in the form of bias boosts. This note presents a correction procedure for the 25-micron detectors.

Description: New optical spectroscopic and UBV photometric observations of the bright Be/shell star V644 Mon (HD 51480) are presented. The object, which has been described as an interacting binary system, exhibits strong, variable Balmer emission as well as numerous metallic emission features in the blue. No signs of absorption features due to any late-type companion are seen at wavelengths below 6500 A.

Description: Earlier airborne studies of the infrared bands between 5 and 8 microns have now been extended to a sample of southern sources selected from the IRAS Low Resolution Spectra (LRS) atlas. The correlation between the strongest bands at 6.2 and 7.7 microns is now based on a total sample of 40 sources and is very strong. A new emission band at 5.2 microns, previously predicted for polycyclic aromatic hydrocarbons (PAHs), is recognized in 27 sources; it too correlates with the dominant 7.7 micron band, showing that the 5.2 micron feature also belongs to the generic spectrum of PAH features at 3.3, 5.6, 6.2, 6.2, 7.7, 8.7, 11.3, and 12.7 microns. Sufficient sources are had now to define the relative strengths of most of these bands in three separate nebular environments: planetaries, H II regions, and reflection nebulae. Significant variations are detected in the generic spectra of PAHs in these different environments which are echoed by variations in the exact wavelength of the strong 7.7 micron peak. The earlier suggestion that, in planetaries, the fraction of total emission observed by IRAS that is carried by the PAH emissions is correlated with nebular gas-phase C/O ratio is supported by the addition of newly-observed southern planetaries, including the unusually carbon-rich (WC10) nebular nuclei. These (WC10) nuclei also exhibit a strong plateau of emission linking the 6.2 and 7.7 micron features.

Description: High resolution spectra of the 11.3 micron emission band in M82 and NGC 7027 were obtained using the University of Texas IR echelle spectrometer on the IRTF in April 1988. The spectral resolution was 0.004 micron, with coverage from 11.0 to 11.6 microns. Spectra were measured at ten positions along a 10 min. long slit. Analysis of the data is still in progress, but initial results show no clear evidence of narrow structure within the feature. The analysis will involve comparison of the observed spectra to laboratory and predicted spectra of Polycylic Aromatic Hydrocarbons (PAHs) and Quenched Carbonaceous Composite (QCCs) to determine which may be responsible for the emission. The spectra will be examined with a goal of determining whether the emission is caused by molecular or solid state material. The data are also examined for evidence of variations in the shape and strength of the 11.3 micron feature with position on the sky. In NGC 7027 the 10 min. long slit went across the edge of the ionized nebulae, allowing comparison of emission from both ionized and neutral regions.

Description: Images were obtained of the (fluorescent) molecular hydrogen 1-0 S(1) line, and of the 3.3 micron emission feature, in Orion's Bar and three reflection nebulae. The emission from these species appears to come from the same spatial locations in all sources observed. This suggests that the 3.3 micron feature is excited by the same energetic UV-photons which cause the molecular hydrogen to fluoresce.

Description: An approach is described to modeling the flexibility effects in spatial mechanisms and manipulator systems. The method is based on finite element representations of the individual links in the system. However, it should be noted that conventional finite element methods and software packages will not handle the highly nonlinear dynamic behavior of these systems which results form their changing geometry. In order to design high-performance lightweight systems and their control systems, good models of their dynamic behavior which include the effects of flexibility are required.

Description: Experiences of several organizations using worm gearing for spacecraft are discussed. Practical aspects and subtleties of using worm gearing for design and operation is included. Knowledge gained from these applications is analyzed, and guidelines for usage are proposed.

Description: Problems and challenges of designing flight telerobot mechanisms are discussed. Specific experiences are drawn from the following system developments: (1) the Force Reflecting Hand Controller, (2) the Smart End Effector, (3) the force-torque sensor, and a generic multi-degrees-of-freedom manipulator.

Description: The development of a mechanism for instrumentation and solar-array deployment is discussed. One part of the technology consists of a smart motor which can operate in either an analog mode to provide high speed and torque, or in the stepper mode to provide accurate positioning. The second technology consists of a coilable lattice mast which is deployed and rotated about its axis with a common drive system. A review of the design and function of the system is presented. Structural and thermal test data are included.

Description: The NASA Stabilized Payload Deployment System (SPDS) is discussed. The lightweight and heavy-duty system rolls payloads over the orbiter's side rather than ejecting them upward. The system will enhance the orbiter capability of carrying larger and heavier payloads. The design, function, and analysis of a new three-pin double swivel toggle release mechanism which is crucial to the successful deployment of the SPDS are described.

Description: The status of recently completed and already ongoing technology developments, as well as some of the most important future developments of the European Space Agency are discussed. Among the subjects considered are Scientific Satellites, Columbus space station development, applications spacecraft for communications, Earth observation and meteorology, and the Ariane V and Hermes space transportation systems.

Description: It is essential that high-performance centrifugal compressors be free of subsynchronous vibrations. A new high-performance centrifugal compressor has been developed by applying the latest rotordynamics knowledge and design techniques: (1) To improve the system damping, a specially designed oil film seal was developed. This seal attained a damping ratio three times that of the conventional design. The oil film seal contains a special damper ring in the seal cartridge. (2) To reduce the destabilizing effect of the labyrinth seal, a special swirl canceler (anti-swirl nozzle) was applied to the balance piston seal. (3) To confirm the system damping margin, the dynamic simulation rotor model test and the full load test applied the vibration exciting test in actual load conditions.

Description: New methods are presented that allow straightforward application of complex nonlinearities to finite element based rotor dynamic analyses. The key features are: (1) the methods can be implemented with existing finite element or dynamic simulation programs, (2) formulation is general for simple application to a wide range of problems, and (3) implementation is simplified because nonlinear aspects are separated from the linear part of the model. The new techniques are illustrated with examples of inertial nonlinearity and torquewhirl which can be important in rubbing turbomachinery. The sample analyses provide new understanding of these nonlinearities which are discussed.

Description: The stability of a high pressure compressor is investigated with special regard to the self-exciting effects in oil seals and labyrinths. It is shown how to stabilize a rotor in spite of these effects and even increase its stability with increasing pressure.

Description: The recent studies of the dynamic stiffness properties of fluid lubricated bearing and seals by the authors have yielded most of the generalized characteristics discussed and used in this paper. They include bearing and seal nonlinear fluid film properties associated with stiffness, damping, and fluid average circumferential velocity ratio. Analytical relationships yield the rotor system's dynamic stiffness characteristics. This paper shows the combination of these data to provide the fluid-induced rotor stability equations.

Description: A new type of electromagnetic bearing was built and tested. It consists of fixed AC-electromagnets in a star formation surrounding a conducting rotor. The bearing works by repulsion due to eddy-currents induced in the rotor. A single bearing is able to fully support a short rotor. The rotor support is inherently stable in all five degrees of freedom. No feedback control is needed. The bearing is also able to accelerate the rotor up to speed and decelerate the rotor back to standstill. The bearing design and the experimentation to verify its capabilities are described.

Description: Methods for including the effects of general race and housing compliance and outer race-to-housing deadband (clearance) in rolling element bearing mechanics analysis is presented. It is shown that these effects can cause significant changes in bearing stiffness characteristics, which are of major importance in rotordynamic response of turbomachinery and other rotating systems. Preloading analysis is demonstrated with the finite element/contact mechanics hybrid method applied to a 45 mm angular contact ball bearing.

Description: Active magnetic bearings can be implemented with frequency band-reject filtering that decreases the bearing stiffness and damping at a small bandwidth around a chosen frequency. The control scheme was used for reducing a rotor dynamic force, such as an imbalance force, transmitted to the bearing stator. The scheme creates additional system vibration modes at the same frequency. It also shows that the amount of force reduction is limited by the stability requirement of these modes.

Description: Many rotating machines such as compressors, turbines and pumps have long thin shafts with resulting vibration problems, and would benefit from additional damping near the center of the shaft. Magnetic dampers have the potential to be employed in these machines because they can operate in the working fluid environment unlike conventional bearings. An experimental test rig is described which was set up with a long thin shaft and several masses to represent a flexible shaft machine. An active magnetic damper was placed in three locations: near the midspan, near one end disk, and close to the bearing. With typical control parameter settings, the midspan location reduced the first mode vibration 82 percent, the disk location reduced it 75 percent and the bearing location attained a 74 percent reduction. Magnetic damper stiffness and damping values used to obtain these reductions were only a few percent of the bearing stiffness and damping values. A theoretical model of both the rotor and the damper was developed and compared to the measured results. The agreement was good.

Description: The fluid forces on a centrifugal impeller rotating and whirling in a vaned diffuser are analyzed on the assumption that the number of impeller and diffuser vanes is so large that the flows are perfectly guided by the vanes. The flow is taken to be two dimensional, inviscid, and incompressible, but the effects of impeller and diffuser losses are taken into account. It is shown that the interaction with the vaned diffuser may cause destabilizing fluid forces. From these discussions, it is found that the whirling forces are closely related to the steady head-capacity characteristics of the impeller. This physical understanding of the whirling forces can be applied also to the cases with volute casings. At partial capacities, it is shown that the impeller forces change greatly when the flow rate and whirl velocity are near to the impeller or vaned diffuser attributed rotating stall onset capacity, and the stall propagation velocity, respectively. In such cases the impeller forces may become destabilizing for impeller whirl.

Description: The shrouded-impeller leakage path forces calculated by Childs (1987) have been analyzed to answer two questions. First, because of certain characteristics of the results of Childs, the forces could not be modeled with traditional approaches. Therefore, an approach has been devised to include the forces in conventional rotordynamic analyses. The forces were approximated by traditional stiffness, damping and inertia coefficients with the addition of whirl-frequency-dependent direct and cross-coupled stiffness terms. The forces were found to be well-modeled with this approach. Finally, the effect these forces had on a simple rotor-bearing system was analyzed, and, therefore, they, in addition to seal forces, were applied to a Jeffcott rotor. The traditional methods of dynamic system analysis were modified to incorporate the impeller forces and yielded results for the eigenproblem, frequency response, critical speed, transient response and an iterative technique for finding the frequency of free vibration as well as system stability. All results lead to the conclusion that the forces have little influence on natural frequency but can have appreciable effects on system stability. Specifically, at higher values of fluid swirl at the leakage path entrance, relative stability is reduced. The only unexpected response characteristics that occurred are attributed to the nonlinearity of the model.

Description: The dynamic coefficients of seals are calculated for shaft movements around an eccentric position. The turbulent flow is described by the Navier-Stokes equations in connection with a turbulence model. The equations are solved by a finite-difference procedure.

Description: Lateral fluid forces on two-dimensional centrifugal impellers, which whirl on a circular orbit in a vaneless diffuser, were reported. Experiments were further conducted for the cases in which a three-dimensional centrifugal impeller, a model of the boiler feed pump, whirls in vaneless and vaned diffusers. The influence of the clearance configuration between the casing and front shroud of the impeller was also investigated. The result indicated that the fluid dynamic interaction between the impeller and the guide vanes induces quite strong fluctuating fluid forces to the impeller, but nevertheless its influence on radial and tangential force components averaged over a whirling orbit is relatively small.

Description: A recent survey by Roby (1987) discovered that the relatively weak high excitation lines of N 1 near 7468 and 8680 A were undetectable in the majority of HgMn stars, leading to upper limits on the N abundance of roughly ten times below that of the solar N abundance. Standard stars with similar temperatures (10,000 to 13,000 K) did exhibit these same N lines and were found to have roughly solar N abundances. The N abundances were redetermined in two HgMn stars and four standard stars using the strong, low excitation lines of N 1 found in the ultraviolet. The observational data consisted of high quality, high resolution, co-added International Ultraviolet Explorer spectra which was previously collected and reduced. Examination of the spectra plus considerations of signal/noise and severe line blending led to the choice of three promising N 1 lines located at 1742.7, 1745.3 and 1411.9 A. The atomic data for these lines were previously calculated using the best laboratory measurements found in a search of the relevant literature. The chosen N lines turned out to be blended significantly with Fe 2 lines. To obtain the abundances for N synthetic spectra were computed to match the observed spectra. The synthetic spectra were calculated using lie-blanketed model atmospheres, stellar parameters, and abundances for the other elements based upon previous work by S. Adelman. The N abundance was then adjusted to give the best fit of the observed line profiles. In the 2 HgMn stars, the N lines were again found to be undetectable, but the stronger intrinsic strength of the new lines yield more stringent upper limits than those obtained previously. Model atmosphere and abundances were updated in two stars where new results were reported. An additional N 1 line and an additional standard star were added to the program. A line opacity model was developed for a missing feature adjacent to the N 1 line at 1745.2 A, leading to a 25 percent improvement in the determined from this line.

Description: Laboratory experiments were performed to study the temperature dependence of the absorption spectrum of the coronene molecule (C24H12), believed to be representative of the polycyclic aromatic hydrocarbon (PAH) molecules present in the interstellar medium. The main results is that both line positions and total intensities are almost unchanged when varying the temperature so that the spectrum is mostly temperature independent in the explored range, supporting the modeling of the IR emission originally made by Leger and Puget where room temperature was used in the calculations. In the structure of the band shape, small temperature correlated changes are observed. Qualitative arguments are given to interpret them.

Description: Space-based, observational diffuse galactic light (DGL) levels at 4400 A are presented as a function of galactic latitude (b). A peak in the ratio of DGL to direct starlight is apparent at the absolute value of b = 5 to 15 deg, where one third of the celestial brightness is due to scattered light. Another salient feature is the general decrease in the relative contribution of the DGL at intermediate and high galactic latitudes. The relationship DGL (S sub 10(V)sub G2V, 4400 A) = 2.4 x 10 (exp -20 N(sub H I) atoms/sq cm may be used to estimate the brightness of DGL from neutral hydrogen column densities when N(sub H I) is less than 2 x 10(exp 21) atoms/sq cm. The results presented here have been used to characterize the interstellar dust in the general interstellar medium. A galaxy model that reproduces observed brightness levels was used to compare theoretical and observed DGL values. This determines two grain parameters - the albedo and the asymmetry of the scattering phase function (g). The results are albedo = .61 + or - .07, and g = .6 + or - .2.

Description: The Ultraviolet Imaging Telescope (UIT) was designed to be able to obtain deep images of nearby galaxies with a single frame. This ability makes it ideal for many imaging problems of the interstellar dust. The instrument has a forty arc-minute field of view with two arc-second resolution. It has 11 ultraviolet filters and a grating which is used as a grism for full field spectroscopy. In a thirty minute exposure (one orbital night) the limiting magnitude for hot objects is V = 25, or a UV mag of 22 for point sources and a UV mag of 26 for extended sources. Programs are planned for the observation of dust in reflection nebulae H II regions, planetaries, dark nebulae, the diffuse galactic light, and dust in other galaxies are planned. The UIT was integrated into the Astro Spacelab Payload and is scheduled to be launched on the Columbia in Nov. 1989.

Description: NGC 2023 is a bright reflection nebula illuminated by the central star HD37903. At 2 microns the nebula is seen solely by reflected light from the central star but in the NIR there is excess radiation that is supposed to arise from thermal emission from a population of small grains (Sellgren, 1984). The unexpectedly high surface brightness at R and I wavelengths has led to the suggestion that even at these wavelengths there is a significant contribution from this thermal emission process (Witt, Schild, and Kraiman, 1984). If the nebula is seen by reflected starlight then this radiation will be linearly polarized. The level of polarization depends on the scattering geometry, grain size distribution, etc., and is typically 20 to 40 percent for nebulae such as NGC 1999 which is morphologically similar to NGC 2023. If, in any waveband, there is a contribution of radiation from emission processes this radiation will be unpolarized and will serve to dilute the scattered radiation to give a lower level of observed polarization. A study of the wavelength dependence of polarization in nebulae in which there may be thermal emission from grains will indicate the contribution from this process to the total luminosity. Polarization maps were produced in BVRI wavebands for the NGC 2023 nebulosity which confirm that at all wavelengths it is a reflection nebula illuminated by a central star. The wavelength dependence of polarization at representative points in the nebula and in a scatter plot of polarization in V and I wavebands at all points at which measurements are given. Results indicate that throughout the nebula there is a general trend for the level of polarization to increase with wavelength and that maximum levels of polarization occur at the longest wavelengths. No evidence is seen in the data for any significant contribution from the thermal emission from grains in the BVRI luminosity of NGC 2023.

Description: The 3 micron spectra is presented for the Orion bar region and the Red Rectangle. In both objects spectra were obtained at more than one location, corresponding to different distances from the excitation source. The well known 3.3 and 3.4 micron emission bands are seen in both objects as well as the recently discovered features at 3.46, 3.51, and 3.57 microns in the Orion bar spectra. The spectra show that the relative strengths of the 3 micron emission features vary within the Orion bar. As distance from the exciting star increases, the 3.4 and 3.51 micron features increase, and the 3.46 micron feature decreases in strength, relative to the strong 3.3 micron feature. These are two possible interpretations which are postulated, each of which involves the breaking of bonds by UV radiation, which removes the modes responsible for the 3.4 micron emission near the star. The two possible bond ruptures are the CH bond in small polycyclic aromatic hydrocarbons (PAHs), or the bond to an aliphatic subgroup. It has to be pointed out that neither interpretation appears entirely satisfactory. The vibrational overtone interpretation cannot explain the presence or behavior of the 3.46 micron feature, whereas the laboratory spectra of aliphatic sidegroups contain many more features in the 3 micron region than are observed in the astronomical sources.

Description: An articulated structure is defined as an assembly of flexible bodies that may be coupled by kinematic connections and force elements that permit large relative displacement and rotation. Kinematics of such systems is defined using one reference frame for each body in the system and deformation modal coordinates that define displacement fields within flexible bodies. Deformation kinematics are defined by both elastic vibration and static correction deformation modes. Linear elastic deformation is presumed; i.e., a linear stress-strain relation is valid and relative displacements within each elastic component are small enough so that the theory of linear elasticity applies. Coupling of reference and modal coordinates leads to a system of nonlinear equations of motion. Methods of automatically generating and solving these equations of motion are outlined.

Description: The performance of dry-lubricated, angular contact ball bearings in vacuum at a temperature of 20 degrees K has been investigated, and is compared with the in-vacuo performance at room temperatures. Bearings were lubricated using dry-lubricant techniques which have been previously established for space applications involving operations at or near room temperature. Comparative tests were undertaken using three lubricants: molybdenum disulphide, lead, and PTFE. Results obtained using the three lubricants are presented.

Description: The ring-like interstellar visual echoes of radii 33 and 54 arcsec detected around SN 1987A should coincide with infrared echoes (thermal reradiation) from dust at T approximately equal to 15 to 30 K. Whether these infrared echoes are detectable at present is considered. They will be brightest at approximately 100 microns, the range of the Texas infrared photometer. Detectability depends on the ratio zeta congruent to tan(sub a)/tan(sub s)P(theta), where tan(sub a) and tan(sub s) are the visual absorption and scattering optical thicknesses of the echo layer, and P is the phase function function for small-angle scattering (theta approximately equal to 2 to 4 degrees). Zeta approximately greater than 1 is needed for a detectable signal (approximately 0.3 Jy), but zeta cannot be much less than 1; otherwise the visual echoes could not be as bright as they are. Typical dust mixtures of Mathis-Rumpl-Nordsieck type have zeta much less than 1. Zeta remains small even if a population of very small grains with power-law index as steep as approximately 5.5 is added. A population with even more small grains and/or fewer large grains could have a zeta similar to 1 and be detectable at present, but this seems unlikely. The echoes will move, but should remain accessible for many years and should be detected eventually.

Description: The circumstellar grains of two hot evolved post asymptotic giant branch (post AGB) stars, HD 89353 and HD 213985 were examined. From ultraviolet spectra, energy balance of the flux, and Kurucz models, the extinction around 2175 A was derived. With visual spectra, an attempt was made to detect 6614 A diffuse band absorption arising from the circumstellar grains so that we could examine the relationship of these features to the infrared features. For both stars, we did not detect any diffuse band absorption at 6614 A, implying the carrier of this diffuse band is not the carrier of the unidentified infrared features not of the 2175 A bump. The linear ultraviolet extinction of the carbon-rich star HD 89353 was determined to continue across the 2175 A region with no sign of the bump; for HD 213985 it was found to be the reverse: a strong, wide bump in the mid-ultraviolet. The 213985 bump was found to be positioned at 2340 A, longward of its usual position in the interstellar medium. Since HD 213985 was determined to have excess carbon, the bump probably arises from a carbonaceous grain. Thus, in view of the ultraviolet and infrared properties of the two post AGB stars, ubiquitous interstellar infrared emission features do not seem to be associated with the 2175 A bump. Instead, the infrared features seem related to the linear ultraviolet extinction component: hydrocarbon grains of radius less than 300 A are present with the linear HD 89353 extinction; amorphous anhydrous carbonaceous grains of radius less than 50 A might cause the shifted ultraviolet extinction bump of HD 213985.

Description: The reliability of a theoretical model that solves the radiative transfer equation in dust clouds surrounding a central star is checked. In particular, it is found that both classical scattering by dust and the back-heating effects are negligible in the radiative transfer when envelopes similar to IRC+10216 are taken into consideration. In addition, new fits of IRC+10216 spectra are presented which were obtained, when the source is in different luminosity phases, under the assumption that amorphous carbon grains are in the circumstellar envelope. The same model is currently used to simulate the emission from carbon-rich sources showing the silicon carbide feature at 11.3 microns.

Description: The infrared sky is dominated on large scales by emission from interplanetary dust, which produces the zodiacal emission (ZE), and interstellar dust. These two components of the infrared background differ in angular and spectral distribution, allowing the two to be separated easily in some places. A method of determining the emission from interplanetary dust near the Earth's orbit is described, and the results are compared to predictions for realistic materials with the interplanetary size distribution measured in situ.

Description: No single model has been able to account for all of the observed spectroscopic properties of interstellar or circumstellar dust. The reason for this is that, despite the agreement that the grains are composed of silicaceous/metal oxide and carbonaceous material, there is strong disagreement as to their exact structure and composition. This led Draine and Lee (1984) to use interstellar extinction data to define an interstellar graphitic material; new observational findings have made even that identification uncertain. But the great advantage of their approach is that they used observations at all of the wavelengths available to define the material. Here, the authors attempt a variation of that approach. They examine recent UV and IR data and attempt to put constraints on the possible types of interstellar grain composition, and to connect these constraints with grain models. A summary of some of the important constraints imposed by the observations is given.

Description: Among various candidate materials for interstellar dust, amorphous carbon (AC) is playing an increasingly important role (Greenstein, 1981; Hecht et al., 1984; Jura, 1983, 1986). Furthermore, recent in situ measurements have clearly shown the presence of carbonaceous grains in the coma of comet Halley (Kissel et al., 1986). Laboratory investigations on AC grains may be very useful to better interpret observations and to support theoretical elaborations. Recently, the authors started an international research program which also includes UV extinction analyses on AC samples, by using synchrotron light. Preliminary results obtained in a first shift of measurements, last June, are given. At the present stage of the data analysis, the authors can only draw some preliminary considerations. A wide band falling at around 240 nm is detected in all the analyzed samples. It intensity seems to decrease with increasing the dust collecting distance. A peak at 150 nm decreases in intensity with increasing the collecting distance. The band seems absent in the samples characterized by a larger amount of dust. A feature at about 200 nm is detected in some samples. At the moment the authors tend to attribute it to the transmission properties of the LiF substrates at the wavelength and/or to some problems in the experimental setup. It is unclear if a hump at 120 nm is real or due to instrumental effects. The profile of the spectra does not show substantial changes when the samples are cooled down to about 100 K. The present results appear to be in general agreement with previous findings, but their analysis is in progress and the interpretation is still on the way.

Description: Visual extinction of distant clusters seen through the Coma cluster seem to suggest that dust may be present in the hot x ray emitting intracluster gas. However, the Infrared Astronomy Satellite (IRAS) failed to detect any infrared emission from the cluster at the level expected from the extinction measurements. Researchers carried out a detailed analysis of the properties of intracluster dust in the context of a model which includes continuous injection of dust by the cluster galaxies, grain destruction by sputtering, and transient grain heating by the hot plasma. Computed infrared fluxes are in agreement with the upper limit obtained from the IRAS. The calculations, and the constraint implied by the IRAS observations, suggest that the intracluster dust must be significantly depleted compared to interstellar abundances. Researchers discuss possible explanations for the discrepancy between the observed visual extinction and the IRAS upper limit.

Description: First results of an on-going program to determine the wavelength dependence of the interstellar optical polarization of reddened stars in the Small Magellanic Cloud (SMC) are presented. IUE observations of reddened stars in the SMC (Bouchet et al. 1985) generally show marked differences in the extinction law as compared to both the Galaxy and the Large Megallanic Cloud. The aim here is to determine the wavelength dependence of the optical linear polarization in the direction of several such stars in the SMC in order to further constrain the dust composition and size distribution in that galaxy.

Description: Near-IR absorption features produced by core-mantle dust grains are observed in many protostellar objects. The high spatial resolution observations (less or equal to 3 in.) could be helpful to monitor the expected changes of the features. Cep A/IRS 6 is a suitable candidate to carry out such a kind of study. It is located in an active star formation region and consists of a young object associated with an extended reflection nebula. The ice feature was observed in four positions of Cep A/IRS 6 with a 2.7 in. aperture. The observations were carried out at the IRTF using the cooled grating array spectrometer CGAS. The 2.4 to 3.8 micron spectra of two positions are presented.

Description: Survey observations were conducted for H alpha-emission stars in the Orion region using the Kiso Schmidt telescope and partly the CTIO Curtis Schmidt telescope. In the area of about 25 square degrees, a total of 236 H alpha-emission objects, mostly supposed to be T Tau type stars, have been detected among which 155 are new ones including 6 non-stellar objects. Celestial coordinates and V-magnitude are measured for the detected objects. Eye estimation of the H alpha-emission intensity is also made at three epochs in a time span of about two years, where notable variation of H alpha intensity was found in 68 out of 236 objects. Besides a remarkable concentration along the northern dark cloud complex, a loose concentration is noticed near the Orion Belt region, fairly well coinciding with the distribution of the Orion OBIb association members. A comparison with the Av-map is also made to see the relationship between the distribution of emission-line objects and that of interstellar dust.

Description: Based on the idea that star formation goes on progressively in molecular clouds, a search was conducted for protostars by mapping compact H II regions at a frequency of 250 GHz. The IRAM 30 m radio telescope was used with a (3)He cooled bolometer. Twenty compact H II regions usually obtaining twice the expected free-free flux density, positionally coincident with the H II region, were observed. Even fine structure within the H II regions can be traced in the maps as in the case of G75.84+0.40 near ON-2. The high degree of coincidence between the 250 and 5 GHz map of Harris shows that the excess flux density observed must come from dust mixed with the ionized gas. Part of the dust must however be accumulated in the outer part of the H II region, since in some cases the contours are shifted outwards relative to the radio maps. This is consistent with the fact that in those cases where enough information is available to make a model fit, temperatures were derived of 80 + or - 30 K.

Description: An infrared defined (60 micron) sample of IRAS sources were systematically studied in order to investigate star formation in the outer Galaxy. Five percent of the sample are point sources with IRAS spectra that suggest the emission is from a dust shell surrounding a mature star. Ninety five percent have spectra where flux density strictly rises with wavelength. The sources are extended, and it is shown that Point Source Catalog fluxes seriously underestimate total fluxes. CO kinematic distances were reliably assigned to two thirds of the sources. Most of the infrared luminosities correspond to B spectral types. Six cm continuum emission were detected from all sources inferred to have spectral type B1 or earlier. The combined IRAS/CO/6 cm data show these sources are young, moderately massive stars that are embedded in interstellar clouds. The young embedded sources define a distinct band in an IRAS color-colar diagram. Normal IRAS galaxies fall in the same band, consistent with the interpretation that their infrared emission is due to star formation.

Description: A near infrared (2.2 micron) polarization survey of about 190 sources was conducted toward nearby dark clouds. The sample includes both background field stars and embedded young stellar objects. The aim is to determine the magnetic field structure in the densest regions of the dark clouds and study the role of magnetic fields in various phases of star formation processes, and to study the grain alignment efficiency in the dark cloud cores. From the polarization of background field stars and intrinsically unpolarized embedded sources, the magnetic field structure was determined in these clouds. From the intrinsic polarization of young stellar objects, the spatial distribution was determined of circumstellar dust around young stars. Combining the perpendicularity between the disks and magnetic fields with perpendicularity between the cloud elongation and magnetic fields, it is concluded that the magnetic fields might have dominated nearly all aspects of cloud dynamics, from the initial collapse of the clouds right through to the formation of disks/tori around young stars in these low to intermediate mass star forming clouds of the Taurus, Ophiuchus, and Perseus.

Description: Several new red and reddened stars are detected in the most heavily reddened associations Cyg OB2. About 47 IRAS sources are detected in Cyg OB2. Their flux distributions, and colors, suggest that they are young stellar objects embedded in dust envelopes or disks (some of them may be proto stars) and are most likely members of the Cyg OB2 association. The large values of the flux ratio L sub IR/L sub VIS suggests that the central objects are obscured because of very large extinction.

Description: Observations are presented of the H II region complex in W51 made with a mm interferometer. W51 is a region of massive star formation approx. 7 kpc distant from the sun. This region has been well studied in both the IR and submillimeter, the radio, as well as the maser transitions. These previous observations have revealed three regions of interest: (1) W51MAIN, a know of bright maser emission near two compact H II regions W51e1 and W51e2 (W51MAIN is also the peak of the 400 micron emission indicating that the bulk of the mass is centered there; (2) W51IRS1 is a long curving structure seen at 20 micron and at 2 and 6 cm but not at 400 micron; (3) W51IRS2 (also known as W51NORTH) is another compact H II region slightly offset from an 8 and a 20 micron peak and a collection of masers. Some conclusions are as follows: (1) SO and H(13)CN emission are similar and coincide with outflow activity; (2) HCO+ spectra show evidence for overall collapse of the W51 cloud toward W51MAIN; (3) A previously undetected continuum peak, W51DUST, coincides with the molecular peak H(13)CN-4; and (4) Dust emission at 3.4 mm reveals that about half of the 400 micron emission comes from the ultracompact H II region e2, and the rest from W51e1 and W51DUST.

Description: Two of the most promising explanations for the origin of the interstellar emission features observed at 3.29, 3.4, 6.2, 7.7, 8.6, and 11.3 microns are: quenched carbonaceous composite (QCC) and polycyclic aromatic hydrocarbons (PAHs). High resolution spectra are given of the 3.29 micron emission feature which were taken with the Cooled Grating Array Spectrometer at the NASA Infrared Telescope Facility and previously published. These spectra show that the peak wavelength of the 3.29 micron feature is located at 3.295 + or - 0.005 micron and that it is coincident with the peak absorbance of QCC. The peak wavelength of the 3.29 micron feature appears to be the same in all of the sources observed thus far. However, the width of the feature in HD 44179 and Elias 1 is only 0.023 micron, which is smaller than the 0.043 micron width in NGC 7027, IRAS 21282+5050, the Orion nebula, and BD+30 deg 3639. Spectra of NGC 7027, QCC, and PAHs is shown. QCC matches the 3.29 micron interstellar emission feature very closely in the wavelength of the peak, and it produces a single feature. On the other hand, PAHs rarely match the peak of the interstellar emission feature, and characteristically produce multiple features.

Description: A statistical examination of 126 extinction curves has revealed the presence of a second broad absorption feature similar in nature to the 2200 A feature. The feature is centered on wavelength 1706 A, has a full half-width of 350 A, and a mean central height of 0.21 magnitudes. The strength of the feature increases with E(B-V) supporting an interstellar origin, and on average it is 18 times weaker than the 2200 A feature.

Description: An analysis is presented for the variability of absolute IR, optical, and UV extinction, A(sub lambda), derived through the ratio of total-to-selective extinction, R, for 31 lines of sight for which reliable UV extinction parameters were derived. These data sample a wide range of environments and are characterized by 2.5 is less than or equal to R is less than or equal to 6.0. It was found that there is a strong linear dependence between extinction expressed as A(sub lambda)/A(sub V) and 1/R for 1.25 micron is less than or equal to lambda is less than or equal to 0.12 micron. Differences in the general shape of extinction curves are largely due to variations in shape of optical/near-UV extinction corresponding to changes in R, with A(sub lambda)/A(sub V) decreasing for increasing R. From a least-squares fit of the observed R-dependence as a function of wavelength for 0.8/micron is less than or greater than 1/lambda is less than or equal to 8.3/micron, an analytic expression was generated from which IR, optical, and UV extinction curves of the form A(sub lambda)/A(sub V) can be reproduced with reasonable accuracy from a knowledge of R. It was also found that the absolute bump strength normalized to A(sub V) shows a general decrease with increasing R, suggesting that some fraction of bump grains may be selectively incorporated into coagulated grains. Finally, it was found that absolute extinction normalized by suitably chosen color indices results in a minimization of the R-dependence of portions of the UV curve, allowing A(sub lambda) to be estimated for these wavelengths independent of R.

Description: The development of an approach to the visual perception of object surface information using laser range data in support of robotic grasping is discussed. This is a very important problem area in that a robot such as the EVAR must be able to formulate a grasping strategy on the basis of its knowledge of the surface structure of the object. A description of the problem domain is given as well as a formulation of an algorithm which derives an object surface description adequate to support robotic grasping. The algorithm is based upon concepts of differential geometry namely, Gaussian and mean curvature.

Description: The soft X-ray excess component is studied for a signal to noise limited subsample of 14 quasars from the WE87 sample observed with the Einstein Imaging Proportional Counter (IPC). Detailed analysis of the IPC data, combined with Einstein Monitor Proportional Counter (MPC) data where possible, and use of accurate galactic N sub H values allows estimation of the strength of any excess and improvement of constraints on the spectral slope at higher X-ray energies. A significant excess in 9 of the 14 objects is found. It is confined in all but one case to below 0.6 keV and variable in the two cases where there are multiple observations. The relation of the soft excess to other continuum properties of the quasars is investigated.

Description: A survey of the diffuse soft X-ray background as seen directly by the Einstein Observatory Imaging Proportional Counter (IPC) is presented. A source free region of the detector 1 by 1 degree field is used. The background in the 0.16 to 3.5 keV spectral region is viewed. The data covers roughly 5 percent of the sky, with some bias in coverage towards the galactic plane. The moderate energy resolution of the IPC enables the characterization and the production of maps of the background as a function of energy within the Einstein passband. The results are compared with previous observations of the diffuse X-ray background. The implications for galactic structure and for the soft component of the extragalactic X-ray background are discussed.

Description: The current state of development of the NASA/GSFC (Goddard Space Flight Center) Split-Rail Parallel Gripper (SRPG) is described. The SPRG has been shown to be a high performance gripper for industrial robots. It has a precise wide throw and at the same time, it is light, simple, compact, rugged, and jam-proof against side loads. Originated at the National Bureau of Standards (NBS), this gripper is undergoing further development at NASA/GSFC in pursuit of two goals: as a potential gripper for robots in space and as the basis for sensory-interactive industrial gripper as part of NASA's technology utilization program. The gripper design features, its principles of operation and how it is constructed are described. Test results are included.

Description: The NASA Goddard telerobotic program is structured to increase the scope and efficiency of what man can accomplish in space through the use of robotics. The main focus is to service Space Station Freedom and its payloads, but robotic assembly of Space Station Freedom and platforms is also anticipated. The approach being taken to achieve this by telerobotics, where manipulators can be controlled by human operators or computer programs. The Goddard Space Flight Center (GSFC) has the responsability to develop the Flight Telerobotic Servicer (FTS) for Space Station Freedom. The current plan at GSFC in support of telerobotics for Space Station Freedom and the in-orbit servicing of platforms are reviewed. Plans for ground demonstrations involving the use of an engineering test bed and an operational facility are discussed.

Description: The X-ray spectra of 27 Seyfert galaxies measured with the Solid State Spectrometer (SSS) onboard the Einstein Observatory is investigated. This new investigation features the utilization of simultaneous data from the Monitor Proportional Counter (MPC) and automatic correction for systematic effects in the SSS. The new results are that the best-fit single power law indices agree with those previously reported, but that soft excesses are inferred for at least 20 percent of the measured spectra. The soft excesses are consistent with either an approximately 0.25 keV black body or Fe-L line emission.

Description: The results of the search for iron features performed on 40 of the 48 EXOSAT spectral survey sources are discussed. In thrirteen of the sources the spectral fit was improved by the inclusion of an iron emission line at approximately 6.5 keV. In three of these, an ionized absorption edge improved the spectral fit. In one source, the spectral fit was improved by the addition of a cold iron absorption edge at approximately 7.1 keV. Line equivalent widths are not well determined. A statistical analysis of the line fits suggest an inverse correlation between line equivalent width and intrinsic source luminosity. Comparison of the host galaxy axial ratio with the line equivalent width suggests that larger equivalent widths occur in sources with more nearly face on host galaxies.

Description: Massive X ray binaries consist of an early type primary lossing mass via a strong stellar wind driven by the stars radiation field, and an accreting neutron star companion. The X rays from the neutron star affect the wind dynamics by changing the temperature and ionization structure. The effect of the accretion powered X rays on the radiative line force that drives the stellar wind is calculated. The consequences of these calculations for the wind dynamics in massive X ray binaries is discussed.

Description: The stability properties of radiative shocks in spherically symmetric accretion flows onto white dwarfs is discussed. Accretion rates that result in shock thicknesses ranging from thin to settling solutions are investigated. Models for white dwarf masses from 0.3 to 1.2 of the solar mass are presented. The effects of unequal ion and electron temperatures, electron thermal conduction, bremsstrahlung, and Compton cooling are included. It is shown that thick two-temperature shocks are unstable to oscillations in the fundamental mode for white dwarf mass up to and including 1.0 of the solar mass. The possibility that the 0.3 to 1.0 Hz optical Quasi-Periodic Oscillations (QPOs) observed in four AM Her type cataclysmic binaries are due to the first overtone instability. Low accretion rate shock instabilities may be responsible for the tens of seconds to several minute X-ray QPOs observed in some AM Her objects.

Description: Timing analysis of the pointed observations of 5 selected binary X ray pulsars, in two categories of disk-fed and wind-fed sources, by HEAO 1 A-2 is reported. The power spectral analysis was performed on the data in the frequency range from approx. 1 MHz to 6.25 Hz. The coherent signal of the pulsation, the continuum of the power spectrum, varies in time and differs among sources. Quasi-Periodic Oscillation (QPO) is probably related to a fast spinning but weakly magnetized neutron star in the low mass X ray binaries. QPO was searched for in this frequency range to see if scaling laws exist among these two systems which may have possessed different order of magnitude of magnetic field strengths and the inner disk radii. One possible QPO is found centering at 0.062 Hz in 4U0115+63 during a flare.

Description: Ginga observations of several low mass X ray binaries displaying pronounced dips of variable depth and duration in their X ray light curves are analyzed. The periodic occultation of the central X ray source by azimuthal accretion disk structure is considered. A series of spectra selected by intensity from the dip data from XB1916-053, are presented. The effects of a rapidly changing column density upon the spectral fitting results are modeled. EXO0748-676 was observed in March 1989 for three days. The source was found to be in a bright state with a 1 to 20 keV flux of 8.8 x 10 (exp -10) erg/sqcms. The data include two eclipses, observed with high time resolution.

Description: The Broad Band X Ray Telescope (BBXRT) is a new X ray spectrophotometer scheduled for launch Apr. 26, 1990, for a 10 day mission aboard the Space Shuttle Columbia. High quality spectra between 0.3 and 12 keV of about 100 different sources are expected. BBXRT has the best energy resolution for examining features due to the K-shell of Fe, seen in the spectra of X ray binaries. The resolution is sufficient to make sensitive searches for broadened emission lines, to resolve multiple features, and to determine the ionization state of the emitting plasma by measuring line energies. Simulated spectra of several sources are presented.

Description: The results of timing and spectral analyses of the X-ray sources Aql X-1 (X1908+005) and 4U1820-30 (NGC6624) are reported using data obtained with the Einstein SSS (Solid State Spectrometer) and MPC (Monitor Proportional Counter) instruments. A classic type I burst was observed from Aql X-1 in both detectors and a coherent modulation with a period of 131.66 + or - 0.02 ms and a pulsed fraction of 10 percent was detected in the SSS data. There is no evidence for a loss of coherance during the approximately 80 sec when the burst is observable. The 2 sigma upper limit on the rate of change of the pulse period is 0.00005s/s. It is argued that an asymmetrical burst occurring on a neutron star rotating at 7.6 Hz offers a plausible explanation for the oscillation. The data from 4U1820-30 show that the amplitude of the 685 sec modulation, identified as the orbital period, is independent of energy down to 0.6 keV. The SSS data show that the light curve in the 0.6 to 4.5 keV band is smoother than at higher energies.

Description: Emission lines are probes of the conditions in the accretion flows associated with binary X-ray sources. The hard X-ray iron K line, soft X-ray lines, and UV lines, and what they indicate about the conditions in binary X-ray sources are discussed. These lines are interpreted using an X-ray illuminated accretion disk model. The structure and dynamics of the heated disk, its spectral signatures, and the major unsolved theoretical issues surrounding them are investigated.

Description: The observations of the M giant star, IRAS 09371+1212, in the 40 to 70 microns emission bands, are reported. This star has a circumstellar CO envelope, and a unique infrared color, attributed to ice emission bands. The observations performed in February 1988, using grating spectrometer, showed that the far infrared bands of ice are the strongest known in the sky, and that its dust temperature (50K) is the lowest known for a circumstellar envelope. The 43 microns band of ice is also detected in several very cold circumstellar envelopes.

Description: The data concerning low resolution airborne spectra from 5 to 8 microns available for a sample of 40 sources selected from the Infrared Astronomy Satellite low resolution spectral Atlas with polycyclic aromatic hydrocarbon (PAH) emission features, are discussed. A new emission band at 5.2 microns, previously predicted for PAHs, was found in 33 sources; it also correlates with the 7.7 microns band. This extends the spectrum of narrow observed PAH features to 3.3, 5.2, 5.6, 6.2, 6.9, 7.7, 8.7, 11.3, and 12.7 microns. From the data the relative strengths of most of these bands are defined in three separate nebular environments: planetaries, H II regions, and reflection nebulae. The differences in the PAHs spectra in those environments are analyzed.

Description: The infrared spectrum emitted by nebular dust, heated by the ionizing stars in H II blisters and spherical H II regions, is calculated for various model parameters. Absorption of the non-ionizing radiation in a neutral layer is included. Heating by the Lyman alpha photon field is taken into account. The dust is composed of silicate and graphite grains, and evaporation of the grains in the inner region is considered. The models are presented with a view to interpretation of infrared observations of dusty H II regions and can be applied directly to the infrared astronomy satellite survey data. The continuum emission is compared with calculated fine structure line emission.

Description: The major scientific issues raised in this meeting about Active Galactic Nuclei (AGN) are summarized. The X-ray background and the capabilities of missions to be launched in the next 5 years (GRANAT, ROSAT, BBXRT, GRO, Astro-D, SAX, Spectrum-X-gamma, XTE) are discussed. Each one of these missions is considerably more powerful than its predecessor and will add to the knowledge of AGN and the X-ray background. By the end of the 1990's both of the X-ray astronomy Great Observatories, Advanced X-ray Astrophysics Facility (AXAF) and X-ray Multi mirror Mission (XMM), should be flying, each one of them more powerful than the intermediate scale missions of the early 1990's.

Description: The principal sources of the cosmic X-ray background (CXB) can be objects indicative of a physically early stage of active galactic nuclei (AGN) evolution. Such an evolutionary scenario is examined by using the HEAO-1 A2 X-ray selected sample of bright AGN as a diagnostic of anisotropies in the unresolved background. The observed limit on CXB global anisotropy is used to place an upper bound on the present-epoch volume emissivity of unresolved X-ray sources. Considering the A2 AGN count, CXB surface brightness fluctuations observed at higher energies (via HEAO-1 A4) suggest that present-epoch AGN could have the broadband spectral structure needed for the redshifted contributions of more luminous AGN with this same spectrum to account for the entire CXB.

Description: X-ray spectral surveys of large samples of Seyfert galaxies are discussed. The spectral shape in the 0.1 to 20 keV energy range is considered. Two new spectral survey are undertaken, one involving 105 Imaging Proportional Counter (IPC) observations of 75 Seyfert galaxies, the other using IPC and Monitor Proportional Counter (MPC) data from 28 observations of 23 Seyfert galaxies. The X-ray spectra of active galactic nuclei (AGN) are complex, with in most cases considerable steepening at the lowest energies. At higher energies (2 to 20 keV), the existence of a universal, canonical power law is confirmed, independent of X-ray luminosity over four orders of magnitude.

Description: The Manipulator Emulator Testbed (MET) is to provide a facility capable of hosting the simulation of various manipulator configurations to support concept studies, evaluation, and other engineering development activities. Specifically, the testbed is intended to support development of the Space Station Remote Manipulator System (SSRMS) and related systems. The objective of this study is to evaluate the math models developed for the MET simulation of a manipulator's rigid body dynamics and the servo systems for each of the driven manipulator joints. Specifically, the math models are examined with regard to their amenability to pipeline and parallel processing. Based on this evaluation and the project objectives, a set of prioritized recommendations are offered for future work.

Description: A test apparatus was constructed and was applied to investigate static and dynamic characteristics of annular seals for turbopumps. The fluid forces acting on the seals were measured for various parameters such as the preswirl velocity, the pressure difference between the inlet and outlet of the seal, the whirling amplitude, and the ratio of whirling speed to spinning speed of the rotor. Influence of these parameters on the static and dynamic characteristics was investigated from the experimental results. As a result, preswirl affects the dynamic characteristics strongly. Especially, the preswirl opposing the rotating direction has a stabilizing role on the rotor system.

Description: A new seal test facility for measuring high-pressure seal rotor-dynamic characteristics has recently been made operational at Case Western Reserve University (CWRU). This work is being sponsored by the Electric Power Research Institute (EPRI). The fundamental concept embodied in this test apparatus is a double-spool-shaft spindle which permits independent control over the spin speed and the frequency of an adjustable circular vibration orbit for both forward and backward whirl. Also, the static eccentricity between the rotating and non-rotating test seal parts is easily adjustable to desired values. By accurately measuring both dynamic radial displacement and dynamic radial force signals, over a wide range of circular orbit frequency, one is able to solve for the full linear-anisotropic model's 12 coefficients rather than the 6 coefficients of the more restrictive isotropic linear model. Of course, one may also impose the isotropic assumption in reducing test data, thereby providing a valid qualification of which seal configurations are well represented by the isotropic model and which are not. In fact, as argued in reference (1), the requirement for maintaining a symmetric total system mass matrix means that the resulting isotropic model needs 5 coefficients and the anisotropic model needs 11 coefficients.

Description: One of the main problems in designing a centrifugal pump is to achieve a good efficiency while not neglecting the dynamic performance of the machine. The first aspect leads to the design of grooved seals in order to minimize the leakage flow. But the influence of these grooves to the dynamic behavior is not well known. Experimental and theoretical results of the rotordynamic coefficients for different groove shapes and depths in seals is presented. In addition, the coefficients are applied to a simple pump model.

Description: A method to calculate the dynamic coefficients of seals with arbitrary geometry is presented. The Navier-Stokes equations are used in conjunction with the k-e turbulence model to describe the turbulent flow. These equations are solved by a full 3-dimensional finite-difference procedure instead of the normally used perturbation analysis. The time dependence of the equations is introduced by working with a coordinate system rotating with the precession frequency of the shaft. The results of this theory are compared with coefficients calculated by a perturbation analysis and with experimental results.

Description: The compressible, turbulent, time dependent and three dimensional flow in a labyrinth seal can be described by the Navier-Stokes equations in conjunction with a turbulence model. Additionally, equations for mass and energy conservation and an equation of state are required. To solve these equations, a perturbation analysis is performed yielding zeroth order equations for centric shaft position and first order equations describing the flow field for small motions around the seal center. For numerical solution a finite difference method is applied to the zeroth and first order equations resulting in leakage and dynamic seal coefficients respectively.

Description: The basic equations are derived for compressible flow in a stepped labyrinth gas seal. The flow is assumed to be completely turbulent in the circumferential direction where the friction factor is determined by the Blasius relation. Linearized zeroth and first-order perturbation equations are developed for small motion about a centered position by an expansion in the eccentricity ratio. The zeroth-order pressure distribution is found by satisfying the leakage equation while the circumferential velocity distribution is determined by satisfying the momentum equations. The first order equations are solved by a separation of variables solution. Integration of the resultant pressure distribution along and around the seal defines the reaction force developed by the seal and the corresponding dynamic coefficients. The results of this analysis are presented in the form of a parametric study, since there are no known experimental data for the rotordynamic coefficients of stepped labyrinth gas seals. The parametric study investigates the relative rotordynamic stability of convergent, straight and divergent stepped labyrinth gas seals. The results show that, generally, the divergent seal is more stable, rotordynamically, than the straight or convergent seals. The results also show that the teeth-on-stator seals are not always more stable, rotordynamically, then the teeth-on-rotor seals as was shown by experiment by Childs and Scharrer (1986b) for a 15 tooth seal.

Description: A new type of vibration damper for rotor systems was developed and tested. The damper contains electroviscous fluid which solidifies and provides Coulomb damping when an electric voltage is imposed across the fluid. The damping capacity is controlled by the voltage. The damper was incorporated in a flexible rotor system and found to be able to damp out high levels of unbalanced excitation. Other proven advantages include controllability, simplicity, and no requirement for oil supply. Still unconfirmed are the capabilities to eliminate critical speeds and to suppress rotor instabilities.

Description: High speed motion pictures have revealed several operating regimes in a squeeze film damper. Pressure measurements corresponding to these distinct regimes were made to examine their effect on the performance of such dampers. Visual observation also revealed the means by which the pressure in the feed groove showed higher amplitudes than the theory predicts. Comparison between vapor and gaseous cavitation are made based on their characteristic pressure wave, and the effect this has on the total force and its phase.

Description: The active control of rotordynamic vibrations and stability by magnetic bearings and electromagnetic shakers was discussed extensively in the literature. These devices, though effective, are usually large in volume and add significant weight to the stator. The use of piezoelectric pushers may provide similar degrees of effectiveness in light, compact packages. Analyses are contained which extend quadratic regulator, pole placement and derivative feedback control methods to the prescribed displacement character of piezoelectric pushers. The structural stiffness of the pusher is also included in the theory. Tests are currently being conducted at NASA Lewis Research Center with piezoelectric pusher-based active vibration control. Results performed on the NASA test rig as preliminary verification of the related theory are presented.

Description: A 21 MW electric power generating unit comprises a gas turbine, a planetary gear, and a generator connected together by gear couplings. For simplicity of the design and high performance the pinion of the gear has no bearing. It is centered by the planet wheels only. The original design showed a strong instability and a natural frequency increasing with the load between 2 and 6.5 MW. In this operating range the natural frequency was below the operating speed of the gas turbine, n sub PT = 7729 RPM. By shortening the pinion shaft and reduction of its moment of inertia the unstable natural frequency was shifted well above the operating speed. With that measure the unit now operates with stability in the entire load range.

Description: Some problems associated with non-synchronous vibrations are analyzed by describing three cases experienced with fairly large rotating machines in operating conditions. In each case, a brief description is first given of the machine and of the instrumentation used. The experimental results are then presented, with reference to time or frequency domain recordings. The lines followed in diagnosis are then discussed and, lastly, the corrective action undertaken is presented.

Description: Aero-engine structures have very low inherent damping and so artificial damping is often introduced by pumping oil into annular gaps between the casings and the outer races of some or all of the rolling-element bearings supporting the rotors. The thin oil films so formed are called squeeze film dampers and they can be beneficial in reducing rotor vibration due to unbalance and keeping to reasonable limits the forces transmitted to the engine casing. However, squeeze-film dampers are notoriously non-linear and as a result can introduce into the assembly such phenomena as subharmonic oscillations, jumps and combination frequencies. The purpose of the research is to investigate such phenomena both theoretically and experimentally on a test facility reproducing the essential features of a medium-size aero engine. The forerunner of this work was published. It was concerned with the examination of a squeeze-film damper in series with housing flexibility when supporting a rotor. The structure represented to a limited extent the essentials of the projected Rolls Royce RB401 engine. That research demonstrated the ability to calculate the oil-film forces arising from the squeeze film from known motions of the bearing components and showed that the dynamics of a shaft fitted with a squeeze film bearing can be predicted reasonably accurately. An aero-engine will normally have at least two shafts and so in addition to the excitation forces which are synchronous with the rotation of one shaft, there will also be forces at other frequencies from other shafts operating on the squeeze-film damper. Theoretical and experimental work to consider severe loading of squeeze-film dampers and to include these additional effects are examined.

Description: A lot of large chemical fertilizer plants producing 1000 ton NH3/day and 1700 ton urea/day were constructed in the 1970's in China. During operation, subsynchronous vibration takes place occasionally in some of the large turbine-compressor sets and has resulted in heavy economic losses. Two cases of subsynchronous vibration are described: Self-excited vibration of the low-pressure (LP) cylinder of one kind of N2-H2 multistage compressor; and Forced subsynchronous vibration of the high-pressure (HP) cylinder of the CO2 compressor.

Description: The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

Description: There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Description: For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

Description: The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.

Description: SOFIA will be a three meter class telescope operating in a Boeing 747, offering astronomers routine access to infrared wavelengths unavailable from the ground, and with the means to observe transient astronomical events from anywhere in the world. The concept is based on 15 years of experience with NASA's Kuiper Airborne Observatory (KAO), which SOFIA will replace in the mid 1990's. SOFIA's wavelength range covers nearly four decades of the electromagnetic spectrum: from the visible, throughout the infrared and submillimeter, to the microwave region. Relative to the KAO, SOFIA will be roughly ten times more sensitive for compact sources, enabling observations of fainter objects and measurements at higher spectral resolution. Also, it will have three times the angular resolving power for wavelengths greater than 30 microns, permitting more detailed imaging at far infrared wavelengths.