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: In the solar spectrum, CH vibration-rotation lines are excited to higher vibrational and much higher rotational quantum numbers than in any laboratory source. Observations were made, for the first time, of a very large number of new lines (1-0 and 2-1 up to J = 34.5, 3-2 up to J = 31.5, and even 4-3, never seen before, up to J = 24.5) on solar spectra obtained from space, with the ATMOS-SL3 instrument. A total of 558 lines have been used to derive new accurate molecular constants for the X 2Pi ground state of CH.

Description: The changes that projection effects produce in the evaluation of magnetic shear in off-disk center active regions by comparing angular shear calculated in image plane and heliographic coordinates are analyzed, and the procedure for properly evaluating magnetic shear by transforming the observed vector magnetic field into the heliographic system is described. This procedure is then used to evaluate magnetic shear along the magnetic neutral line in an active region that was observed on April 24, 1984 at a longitude offset of -45 deg. In particular, the number of 'critically sheared' pixels along an east-west directed segment of the neutral line in the leader sunspot group changes from 16 in the image plane magnetogram to 14 in the heliographic magnetogram. The critical shear as calculated in the image plane served as a good predictor for the location of flaring activity since the flare ribbons of the great flare of April 24 bracketed the inversion line where the critical shear was located. These results indicate that for this particular region, projection effects did not significantly affect the evaluation of critical shear.

Description: A total eclipse of the sun will be widely visible from the Western Hemisphere on July 11, 1991. Detailed predictions for this event are presented which include tables of geographic coordinates for the northern limit, southern limit and center line of the path of totality, local circumstances on the center line and for 95 cities within the partial and total eclipse paths, maps depicting the path of totality, the sky during totality and the lunar limb profile. The author discusses the general characteristics of the eclipse including local circumstances from various points along the central path, the Saros series history and effects caused by the lunar limb profile.

Description: A solar albedo model based on converting narrow-band satellite-derived reflectance to four major spectral regions (ultraviolet, visible, near-infrared, and shortwave middle-infrared) and weighted by the relative supply of global solar radiation is studied and developed. Narrow-band to broad-band conversions within visible and near-infrared regions are shown to be accurate; however, the transformations are indicated to be surface-feature dependent. Atmospheric aerosol and illumination effects are indicated to be nearly insensitive to spectral region integrations for solar albedo estimation, but are shown to be significant factors affecting the spectral and canopy albedo. The erectophile and spherical canopy albedos were sensitive to atmospheric and illumination condition, whereas the planophile was relatively insensitive. The contribution of a shortwave middle-infrared reflectance to the canopy albedo is shown to be an important component, accounting for albedo changes to 16 percent with increasing vegetation.

Description: Transient coronal EUV emission, recorded in an emission line of Fe XI at 180.4 A, has been observed prior to and during the initial stages of a solar flare. This emission provides direct evidence of the interactions between the lower corona and the chromosphere during flare initiation. The first EUV enhancement was correlated with activation and eruption of a filament, extended over a distance of about 120,000 km, and had an emission maximum at the site of filament disruption. A moving source of EUV emission also appeared along the trajectory of the erupting filament as it accelerated through the low corona. The mass of this source is estimated to be greater than that of the initial filament or surrounding corona, implying an additional mass ejection from the chromosphere. EUV emission during the impulsive phase of the flare consisted of transient sources along the photospheric magnetic neutral line, with intervening regions of lesser intensity that are interpreted as transient coronal loops below the erupting filament.

Description: The effect of the fluctuating buoyancy force on wave generation in a weakly magnetized plasma is considered. As expected, the efficiency of MHD wave generation is enhanced by including this force. However, it remains true that the observed variation of coronal emission at fixed spectral type cannot be accounted for by a wave generation process of the type discussed here.

Description: A potential field calculation for off disk-center vector magnetograms that uses all the three components of the measured field is investigated. There is neither any need for interpolation of grid points between the image plane and the heliographic plane nor for an extension or a truncation to a heliographic rectangle. Hence, the method provides the maximum information content from the photospheric field as well as the most consistent potential field independent of the viewing angle. The introduction of polarimetric noise produces a less tolerant extrapolation procedure than using the line-of-sight extrapolation, but the resultant standard deviation is still small enough for the practical utility of this method.

Description: A formalism is developed to understand better how Doppler shifts of spectrum lines as inferred from phase shifts in the Fourier transforms of line profiles are related to the underlying velocity structures which they are intended to measure. With a standard model atmosphere and a simplified, quasi-LTE treatment of line formation, the formalism is applied to the Ni I 6768 A line, which has been selected for use with a network of imaging interferometers under development by the Global Oscillations Network Group for research in helioseismology. Fourier phase shifts are found to be a remarkably linear measure of velocity even in the presence of gradients and unresolved lateral variations in the assumed velocity field. An assumed outward increase in amplitude of a model oscillatory velocity is noticeably reflected in the center-to-limb behavior of the simulated velocity measure, and a sample model of solar granulation is found to have a strong influence on the formation of the Fourier phase.

Description: A model of the radio emission region for kilometric type II bursts is used to interpret systematic variations observed in the temporal behavior of the burst parameters. The temporal behavior of the burst parameters observed by the ISEE-3 spacecraft is reviewed, and it is pointed out that the phase and modulation of the antenna signal vary in a systematic way with both time and observing frequency. The source azimuth is observed to drift with time, with the magnitude and sense of the drift depending on the location of the radio source relative to the observer. The modulation factor usually decreases uniformly with time and is frequently peaked near the burst onset. The model of the radio emission region is developed and used to obtain the intensity, phase, and modulation of the radio signal. Model results are used to show how the behavior of the burst parameters are related to attributes of the source region. It is shown that the temporal behavior of the radio parameters for an observed type II burst is well represented by the model.

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: Spacecraft and interplanetary remote sensing observations of wave spectra are used to constrain the possible role of Alfven waves in the acceleration of high-speed streams in the solar wind. The observations suggest a method for extrapolating the wave energy flux near 1 AU back to the sun in a way that accounts for dissipation. Applying this method both for typical parameters and in the case of a well-studied high-speed stream leads to the conclusion that the Alfven waves observed in the solar wind were not sufficiently energetic near the sun to accelerate the streams.

Description: A large sample of type II events is the basis of the present study of the properties of interplanetary type II bursts' radio-emission properties. Type II spectra seem to be composed of fundamental and harmonic components of plasma emission, where the intensity of the fundamental component increases relative to the harmonic as the burst evolves with heliocentric distance; burst average flux density increases as a power of the associated shock's average velocity. Solar wind density structures may have a significant influence on type II bandwidths.

Description: The principal observations obtained by the Ion Composition Instrument (ICI) flown on the ISEE-3/ICE spacecraft, which was in the solar wind from September 1978 to the end of 1982, before being directed to the far magnetotail of the Earth are discussed. Almost continuous observations were made of the abundances of 3He++, 4He++, 06+, 07+, Ne, Si and Fe in various charge states, and of their bulk speeds and temperatures. The results show that there is a strong tendency in the collisionless solar wind for the ionic temperatures to be proportional to the masses. For heavier ions these temperatures exceed typical coronal electron temperatures. 4He++, especially in high speed streams, moves faster than H+, and travels at the same speed as heavier ions. The mechanism leading to this heating and rapid streaming is still not entirely clear.

Description: A detector sharing the orbital rate of Venus has a unique perspective on solar periodicities. Fourier analysis of the 8.6 year record of solar EUV output gathered by the Langmuir probe on Pioneer Venus Orbiter shows the influences of global oscillation modes located in the convective envelope and in the radiative interior. Seven of the eight lowest angular harmonic r-mode familes are detected by their rotation rates which differ almost unmeasurably from ideal theoretical values. This determines a mean sidereal rotation rate for the envelope of 457.9 + or - 2.0 nHz which corresponds to a period of 25.3 days. Many frequencies are aliased at + or - 106 nHz by modulation from the lowest angular harmonic r-mode in the envelope.

Description: Blueshifted X-ray spectral line components in Fe and Ca spectra of a large long-duration flare observed on June 5, 1979. It is found that blueshifted emission exists for a time interval of at least 28 minutes indicating upflowing plasma at about 250 km/s. Emission measures for both the blueshifted and stationary plasma are derived and the results are interpreted in terms of chromospheric evaporation. The total amount of hot upflowing plasma during the flare rise time exceeds the amount of stationary plasma contained in the loop close to the time of the peak of the flare. This result contradicts the simplest version of the evaporation model. Evaporation can account for the observations only if some of the upflowing plasma cools on time scales much shorter than the rise time of the event, which was about 40 minutes.

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: 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: The theoretical model of Tu (1988) for the turbulent evolution of solar wind fluctuations assumed the constancy of the ratio alpha(1) between the energy in inward and outward propagating Alfven waves. Here, this model is extended to reflect the observed evolution in the propagation directions of the interplanetary fluctuations. The radial dependence of alpha(1) is determined by direct time domain correlations of the normalized cross helicity. The theoretical results match the observations at least as well as those of the previous, constant alpha(1), model. Measured values of alpha(1) are then used to find the value of the cascade constant that determines the overall level of the energy spectrum. The value of 1.25 for this constant is very close to the value observed in fluid turbulence if it is assumed that the correspondence between fluid and magnetofluid theories should be made for uncorrelated (zero cross helicity) MHD turbulence.

Description: The astrophysical mechanisms involved in solar particle events (SPEs) and the effects of SPEs on the equipment and crews of space missions in earth orbit are reviewed. The major features of class I (radio type III and V) and class II (radio type II and IV) SPEs are summarized; the relative abundances of electrons, protons, and heavier particles in the two SPE classes are discussed; and published observational data showing the contributions of different SPE particle populations to the background radiation are presented in graphs.

Description: Infrared (IR) observations of the sun could greatly benefit from the quality of the South Pole as an IR site, and the potential for multi-day sequences of uninterrupted observations. A nearly continuous picture of the evolution of the magnetic field in solar active regions could be obtained using vector magnetographs, especially vector magnetographs which incorporate IR array detectors. Observations of the sun over a range of wavelengths in the IR continuum could also be used to study the vertical propagation characteristics of the solar p-mode oscillations.

Description: It is shown that one viable driver of the solar p-modes is radiative pumping in the upper photosphere where the opacity is dominated by the negative hydrogen ion. This new option is suggested by the similar magnitudes of two energy flows that have been evaluated by independent empirical methods. The similarity indicates that the p-modes are radiatively pumped in the upper photosphere and therefore provide the required nonradiative cooling.

Description: The possibility to detect the chromospheric flares based on the natural VLF emission intensity data on the Earth's surface is considered. Diagnostics of the change of solar x ray burst flux at 0.5 to 4A and its estimation are discussed as possible.

Description: Large scale transient waves are an essential part of atmospheric dynamics. Some of these waves (like 27 day waves) could have a solar nature. The contribution of the 27 day planetary waves to a total long period spectrum of the atmospheric processes during one solar cycle was investigated. Ivanovsky and Krivolutsky proposed that the 27 day wave has a resonant nature. The real atmospheric processes were investigated. The method of 2-D wave analysis used is described by Krivolutsky. It was concluded that the resonant nature of the 27 day wave is not unicum. There are long periods waves (50 day wave) in stratosphere which belong to the resonant waves, too. It is a very interesting fact for the solar activity-weather problem.

Description: Measurements from the Solar Backscatter Ultraviolet (SBUV) provide solar UV flux in the 160 to 400 nm wavelength range, backed up by independent measurement in the 115 to 305 nm range from the Solar Mesosphere Explorer (SME). The full disc UV flux from spatially resolved measurements of solar activity was modeled, which provides a better understanding of why the UV variations have their observed temporal and wavelength dependencies. Long term, intermediate term, and short term variations are briefly examined.

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: The effects of solar radiation in aerospace environments on aerospace systems are examined. It was concluded that most materials degrade to solar radiation. The information available on short term effects on materials provides a limited data base. Flight data on coating degradation seems to be confused by contamination. Other conclusions of data examination are listed.

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 discussion of the nature of solar physics is followed by a brief review of recent advances in the field. These advances include: the first direct experimental confirmation of the central role played by thermonuclear processes in stars; the discovery that the 5-minute oscillations of the Sun are a global seismic phenomenon that can be used as a probe of the structure and dynamical behavior of the solar interior; the discovery that the solar magnetic field is subdivided into individual flux tubes with field strength exceeding 1000 gauss. Also covered was a science strategy for pure solar physics. Brief discussions are given of solar-terrestrial physics, solar/stellar relationships, and suggested space missions.

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 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 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 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: A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described.

Description: The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

Description: Three questions are addressed: what mission must a cryogenic seal perform; what are the contrasts between desirable and available seal materials; and how realistic must test conditions be. The question of how to quantify the response of a material subject to large strains and which is susceptible to memory effects leads to a discussion of theoretical issues. Accordingly, the report summarizes some ideas from the rational mechanics of materials. The report ends with a list of recommendations and a conclusion.

Description: Researchers developed a prototype digital camera system for obtaining H-alpha images of solar flares with 0.1 s time resolution. They intend to operate this system in conjunction with SMM's Hard X Ray Burst Spectrometer, with x ray instruments which will be available on the Gamma Ray Observatory and eventually with the Gamma Ray Imaging Device (GRID), and with the High Resolution Gamma-Ray and Hard X Ray Spectrometer (HIREGS) which are being developed for the Max '91 program. The digital camera has recently proven to be successful as a one camera system operating in the blue wing of H-alpha during the first Max '91 campaign. Construction and procurement of a second and possibly a third camera for simultaneous observations at other wavelengths are underway as are analyses of the campaign data.

Description: Researchers describe the conceptual design of a new imaging vector magnetograph currently being constructed at the University of Hawaii. The instrument combines a modest solar telescope with a rotating quarter-wave plate, an acousto-optical tunable prefilter as a blocker for a servo-controlled Fabry-Perot etalon, CCD cameras, and on-line digital image processing. Its high spatial resolution (1/2 arcsec pixel size) over a large field of view (5 by 5 arcmin) will be sufficient to significantly measure, for the first time, the magnetic energy dissipated in major solar flares. Its millisecond tunability and wide spectral range (5000 to 7000 A) enable nearly simultaneous vector magnetic field measurements in the gas-pressure-dominated photosphere and magnetically-dominated chromosphere, as well as effective co-alignment with Solar-A's X ray images. Researchers expect to have the instrument in operation at Mees Solar Observatory (Haleakala) in early 1991. They have chosen to use tunable filters as wavelength-selection elements in order to emphasize the spatial relationships between magnetic field elements, and to permit construction of a compact, efficient instrument. This means that spectral information must be obtained from sequences of images, which can cause line profile distortions due to effects of atmospheric seeing.

Description: The Ultraviolet Spectrometer and Polarimeter (UVSP) on the Solar Maximum Mission (SMM) spacecraft was used extensively to study the spatial morphology and time variability of solar active regions in the far UV (at approx. wavelength of 1370 A) since July 1985. The normal spatial resolution of UVSP observations in this 2nd-order mode is 10 sec., and the highest temporal resolution is 64 milliseconds. To make a full-field, 4 min. by 4 min. image this wavelength using 5 sec. raster steps takes about 3 minutes. UVSP can also make observations of the Sun at approx. wavelength of 2790 with 3 sec. spatial resolution when operated in its 1st-order mode; a full-field image at this wavelength (a so-called SNEW image) takes about 8 minutes. UVSP made thousands of observations (mostly in 2nd-order) of AR 5395 during its transit across the visible solar hemisphere (from 7 to 19 March, inclusive). During this period, UVSP's duty cycle for observing AR 5395 was roughly 40 percent, with the remaining 60 percent of the time being fairly evenly divided between aeronomy studies of the Earth's atmosphere and dead time due to Earth occultation of the Sun. UVSP observed many of the flares tagged to AR 5395, including 26 GOES M-level flares and 3 X-level flares, one of which produced so much UV emission that the safety software of UVSP turned off the detector to avoid damage due to saturation. Images and light curves of some of the more spectacular of the AR 5395 events are presented.

Description: Active Region 5395 produced an exceptional series of hard x ray bursts notable for their frequency, intensity, and impulsivity. Over the two weeks from March 6 to 19, 447 hard x ray flares were observed by the Hard X Ray Burst Spectrometer on Solar Maximum Mission (HXRBS/SMM), a rate of approx. 35 per day which exceeded the previous high by more than 50 percent. During one 5 day stretch, more than 250 flares were detected, also a new high. The three largest GOES X-flares were observed by HXRBS and had hard x ray rates over 100,000 s(exp -1) compared with only ten flares above 100,000(exp -1) during the previous nine years of the mission. An ongoing effort for the HXRBS group has been the correlated analysis of hard x ray data with flare data at other wavelengths with the most recent emphasis on those measurements with spatial information. During a series of bursts from AR 5395 at 1644 to 1648 UT on 12 March 1989, simultaneous observations were made by HXRBS and UVSP (Ultra Violet Spectrometer Polarimeter) on SMM, the two-element Owens Valley Radio Observatory (OVRO) interferometric array, and R. Canfield's H-alpha Echelle spectrograph at the National Solar Observatory at Sacramento Peak. The data show strong correlations in the hard x ray, microwave, and UV lightcurves. This event will be the subject of a combined analysis.

Description: Active Region 5395 was extraordinary for both its flare production for a complete disk transit and for one of the largest geomagnetic storms on record. Some of the more dramatic terrestrial effects resulting from the flare activity are briefly discussed.

Description: The IMP-8 spacecraft placed in an elongated orbit of approximately R(sub E) x R(sub E) orbit around the Earth was the only monitor of the energetic particle environment of the near interplanetary space during the period of the solar particle events associated with the Active Region 5395 in March 1989. Measurements of energetic ion and electron intensities were obtained in a series of channels within the energy range: 0.3 to 440 MeV for photons, 0.6 to 52 MeV/nuc for alpha particles, 0.7 to 3.3 MeV/nuc for nuclei with Z greater than or equal to 3, 3 to 9 MeV/nuc with Z greater than or equal to 20, and 0.2 to 2.5 MeV for electrons. The responses of selected energy channels during the period 5 to 23 March 1989 are displayed. It is clearly noted that the most prominent energetic ion intensity enhancements in that time interval were associated with the interplanetary shock wave of March 13 (07:42 UT) as well as that of March 8 (17:56 UT), which have distinct particle acceleration signatures. These shock waves play a major role in determining the near Earth energetic ion intensities during the above period by accelerating and modulating the ambient solar energetic particle population, which was already present in high intensities in the interplanetary medium due to the superposition of a series of solar flare particle events originating in AR 5395. The differential ion intensities at the lowest energy channel of the CPME experiment, which were associated with the March 13 shock wave, reached the highest level in the life of the IMP-8 spacecraft at this energy. At high energies, the shock associated intensity peak was smaller by less than a factor of 3 than the maxima of solar flare particle intensities from some other major flares, in particular from those with sites well connected to the Earth's magnetic flux tubes.

Description: The 10.7 cm flux patrols in Canada recorded 4 Great Bursts (peaks greater than 500 sfu) during the disk passage of AR 5395 in March 1989. The Great Bursts of 16 and 17 March were simple events of great amplitude and with half-life durations of only several minutes. Earlier Great Bursts, originating on 6 March towards the NE limb and on 10 March closer to the central meridian, belong to an entirely different category of event. Each started with a very strong impulsive event lasting just minutes. After an initial recovery, however, the emission climbed back to level as greater or greater than the initial impulsive burst. The events of 6 and 10 March stayed above the Great Burst threshold for at least 100 minutes. The second component of long duration in these cases is associated with Type 4 continuum emission and thus very likely with CMEs. Major geomagnetic disturbances did not occur as a result of the massive complex event of 6 March or the two simple but strong events of 16 and 17 March. But some 55 hours after the peak in the long-enduring burst of 10 March, a storm began which qualifies as the fourth strongest geomagnetic storm in Canada since 1932. The vertical component of the earth's field measured during the storm by a fluxgate magnetometer at a station in Manitoba is presented. Within a minute of the sudden commencement of this storm, a series of breakdowns began in the transmission system of Hydro-Quebec which resulted in a total loss of power, on a bitterly cold winter's day, for at least 10 hours. The loss of power provoked an enormous outcry from the public resulting in the power utilities being more receptive to the need to monitor solar as well as geomagnetic activity.

Description: The continuing study of short hard x ray events (less than 60 sec duration) from the Solar Maximum Mission (SMM) Hard X ray Burst Spectrometer (HXRBS) instrument has revealed a unique feature. A well-separated distinctly identifiable, narrow (2 to 6 sec wide) pulse occurs prior to the start of the longer-flare lasting emission activity. Light curves are presented for eight events showing this feature. The pre-pulses show symmetrical rise and fall times. Spectral evolution of the pre-pulses are presented and their evolution compared to that of the main event spectra. It is argued that this feature be the elementary flare burst (de Jager, 1978). These pre-pulses could be a signature of the magnetic reconnection phenomenon discussed by Sturrock et al., (1984).

Description: The hard and soft x ray and microwave emissions from a solar flare (May 14, 1980) were analyzed and interpreted in terms of Joule heating and runaway electron acceleration in one or more current sheets. It is found that all three emissions can be generated with sub-Dreicer electric fields. The soft x ray emitting plasma can only be heated by a single current sheet if the resistivity in the sheet is well above the classical, collisional resistivity of 10(exp 7) K, 10(exp 11)/cu cm plasma. If the hard x ray emission is from thermal electrons, anomalous resistivity or densities exceeding 3 x 10(exp 12)/cu cm are required. If the hard x ray emission is from nonthermal electrons, the emissions can be produced with classical resistivity in the current sheets if the heating rate is approximately 4 times greater than that deduced from the soft x ray data (with a density of 10(exp 10)/cu cm in the soft x ray emitting region), if there are at least 10(exp 4) current sheets, and if the plasma properties in the sheets are characteristic of the superhot plasma observed in some flares by Lin et al., and with Hinotori. Most of the released energy goes directly into bulk heating, rather than accelerated particles.

Description: Careful studies of various chromospheric spectral signatures are very important in order to explore their possible sensitivity to the modifications of the thermodynamic quantities produced by the flare occurrence. Pioneer work of Canfield and co-workers have shown how the H alpha behavior is able to indicate different changes in the atmospheric parameters structure associated to the flare event. It was decided to study the behavior of the highest Balmer lines and of the Balmer continuum in different solar flare model atmospheres. These spectral features, originating in the deep photosphere in a quiet area, may have a sensitivity different from H alpha to the modification of a flare atmosphere. The details of the method used to compute the Stark profile of the higher Balmer line (n is greater than or equal to 6) and their merging were extensively given elsewhere (Donati-Falchi et al., 1985; Falchi et al., 1989). The models used were developed by Ricchiazzi in his thesis (1982) evaluating the chromospheric response to both the nonthermal electron flux, for energy greater than 20 kev, (F sub 20) and to the thermal conduction, (F sub c). The effect of the coronal pressure values (P sub O) at the apex of the flare loop is also included.

Description: The Berkeley-Maryland-Illinois Array (BIMA) is briefly described in the context of solar observations. Specific areas of research that could be performed using BIMA during the Solar Maximum Mission (SMM) in 1991 are outlined. Some preliminary results of flare observations during March 1989 are presented.

Description: A primary scientific objective for solar flare research during the rapidly approaching maximum in solar activity is the imaging of gamma-ray and hard x ray sources of solar flare emissions. These goals will be pursued by the Gamma Ray Imaging Device (GRID) instrument, one of three instruments recently selected for NASA's Max '91 Solar Balloon Program. The GRID instrument is based on the technique of Fourier transform imaging and utilizes scanning modulation grid collimator optics to provide full-Sun imaging with 1.9-arcsecond resolution over the energy range from 20 to 700 keV at time resolutions from 0.1 to 2 s. The GRID telescope will employ 32 subcollimators, each composed of a matched pair of high-Z collimator grids separated by 5.2 meters and a phoswich scintillation spectrometer detector having no spatial resolution. The subcollimators and integrally-mounted fine aspect system are contained within a telescope canister which will be pointed to 0.1 degree accuracy and cyclically scanned to produce source modulation. The 32 subcollimators provide a uniform distribution of grid slit orientations and a logarithmic distribution of slit spacings corresponding to angular dimensions of 1.9 arcseconds to several arcminutes. The instrument is several orders of magnitude more sensitive than the HXIS instrument on the Solar Maximum Mission (SMM) and nearly 10 times more sensitive than any similar instrument scheduled to fly during the next solar maximum. The payload, designed for long-duration high-altitude balloon capability, is scheduled for its first science flight (8 to 14 days duration) from the Antarctic in January of 1992.

Description: The HUS-Ulysses team has prepared an instrument for the Ulysses spacecraft consisting of 2 Csi detectors and 2 Si surface barrier detectors for measuring x rays in the range 5 to 200 keV with up to 8 ms time resolution. The prime objectives of the experiment are the study of solar flares and cosmic gamma-ray bursts. The Ulysses mission will leave the ecliptic during the forthcoming solar maximum. The total time above ecliptic latitudes + or - 70 degrees is expected to be 230 days. The solar data can be used in conjunction with other experiments to measure the directivity of the emission and for correlative studies.

Description: The potential for the Very Large Array (VLA) contributions during the coming maximum in solar activity is illustrated by unpublished observations of solar flares on 28 May, 8 June, 24 June, and 30 September 1988. Some of this data appears in the two papers by Willson et al., referenced in this article. The VLA can be used to spatially resolve flaring active regions and their magnetic fields. These results can be compared with simultaneous x ray and gamma ray observations from space. Examples are provided in which spatially separated radio sources are resolved for the pre-burst, impulsive and decay phases of solar flares. The emergence of precursor coronal loops probably triggers the release of stored magnetic energy in adjacent coronal loops. Noise storm enhancements can originate in large-scale coronal loops on opposite sides of the visible solar disk. An interactive feedback mechanism may exist between activity in high-lying 90 cm coronal loops and lower-lying 20 cm ones.

Description: Recent studies of impulsive hard x ray and microwave bursts suggest that a propagating causative agent with a characteristic velocity of the order of 1000 km/s is responsible for these bursts. The results of these studies are summarized and observable distinguishing characteristics of the various possible agents are highlighted, with emphasis on key observational goals for the Max '91 campaigns. The most likely causative agents suggested by the evidence are shocks, thermal conduction fronts, and propagating modes of magnetic reconnection in flare plasmas. With new instrumentation planned for Max '91, high spatial resolution observations of hard x ray sources have the potential to identify the agent by revealing detailed features of source spatial evolution. Observations with the Very Large Array and other radio imaging instruments are of great importance, as well as detailed modeling of coronal loop structures to place limits on their density and temperature profiles. With the combined hard x ray and microwave imaging observations, aided by loop model results, the simplest causative agent to rule out would be the propagating modes of magnetic reconnection. To fit the observational evidence, reconnection modes would need to travel at approximately the same velocity (the Alfven velocity) in different coronal structures that vary in length by a factor of 10(exp 3). Over such a vast range in loop lengths, it is difficult to believe that the Alfven velocity is constant. Thermal conduction fronts would be suggested by sources that expand along the direction of B and exhibit relatively little particle precipitation. Particle acceleration due to shocks could produce more diverse radially expanding source geometries with precipitation at loop footprints.

Description: The Burst and Transient Source Experiment (BATSE) for the Gamma Ray Observatory (GRO) consists of eight detector modules that provide full-sky coverage for gamma-ray bursts and other transient phenomena such as solar flares. Each detector module has a thin, large-area scintillation detector (2025 sq cm) for high time-resolution studies, and a thicker spectroscopy detector (125 sq cm) to extend the energy range and provide better spectral resolution. The total energy range of the system is 15 keV to 100 MeV. These 16 detectors and the associated onboard data system should provide unprecedented capabilities for observing rapid spectral changes and gamma-ray lines from solar flares. The presence of a solar flare can be detected in real-time by BATSE; a trigger signal is sent to two other experiments on the GRO. The launch of the GRO is scheduled for June 1990, so that BATSE can be an important component of the Max '91 campaign.

Description: When and where to look is an important issue to observers planning to observe major solar flares. Prediction of major flares is also important because they influence the Earth's environment. Techniques for utilizing recently discovered solar hot spots and a solar activity periodicity of about 154 days in determining when and where to look to catch major flares are discussed.

Description: The launch of the Gamma Ray Observatory (GRO) near solar maximum makes solar flare studies early in the mission particularly advantageous. The Oriented Scintillation Spectrometer Experiment (OSSE) on GRO, covering the energy range 0.05 to 150 MeV, has some significant advantages over the previous generation of satellite-borne gamma-ray detectors for solar observations. The OSSE detectors will have about 10 times the effective area of the Gamma-Ray Spectrometer (GRS) on Solar Maximum Mission (SMM) for both photons and high-energy neutrons. The OSSE also has the added capability of distinguishing between high-energy neutrons and photons directly. The OSSE spectral accumulation time (approx. 4s) is four times faster than that of the SMM/GRS; much better time resolution is available in selected energy ranges. These characteristics will allow the investigation of particle acceleration in flares based on the evolution of the continuum and nuclear line components of flare spectra, nuclear emission in small flares, the anisotropy of continuum emission in small flares, and the relative intensities of different nuclear lines. The OSSE observational program will be devoted primarily to non-solar sources. Therefore, solar observations require planning and special configurations. The instrumental and operational characteristics of OSSE are discussed in the context of undertaking solar observations. The opportunities for guest investigators to participate in solar flare studies with OSSE is also presented.

Description: The Gamma-Ray Observatory (GRO) is a 16,000 kg spacecraft containing four instruments which span almost six decades of energy from about 50 keV to about 30 GeV. It will provide the first opportunity to make simultaneous observations over such a broad band of gamma-ray energies. GRO is assembled and undergoing testing prior to its scheduled June 4, 1990 launch aboard the Space Shuttle. The orbit will be circular with an altitude of 450 km and with an inclination of 28 degrees. Data will be recorded at 32 kilobits per second and dumped once per orbit via the Tracking and Data Relay Satellite System (TDRSS). The spacecraft is three-axis stabilized and timing will be maintained to .1 ms. The observing schedule will begin with an all sky survey, consisting of 30 two week pointings, covering the first 15 months of science operations. Following observations will emphasize source studies and deep searches. Originally selected as a Principal Class spacecraft with a two year mission, extension of the mission to six to ten years makes a vigorous Guest Investigator Program both possible and desirable. Such a program will be fully in place by the third year of the mission, with limited opportunities earlier. Each of the four instruments has a capability for observing both gamma-ray bursts and solar flare gamma-rays, and there is some solar neutron capability. Correlated observations with those at other wavelengths is also receiving considerable attention in the mission planning.

Description: Solar flare neutrons and gamma rays are produced by nuclear interactions of flare accelerated ions in the solar atmosphere. A rich variety of such gamma ray and neutron observations have been made by the Solar Maximum Mission (SSM), other satellite, balloon and ground based detectors, and they have provided a wealth of unique information on the nature of particle acceleration in flares and on the flare process itself. What we have learned from these observations is briefly reviewed, and what we can hope to learn from more sensitive new observations to be made with the Gamma Ray Observatory (GRO), the Max '91 balloon program, and the Nuclear Astrophysics Explorer is outlined.

Description: The Magnetograph Group focussed on the techniques and many practical problems of interleaving ground-based measurements of magnetic fields from diverse sites and instruments to address the original scientific objectives. The predominant view of the discussion group was that present instrumentation and analysis resources do not warrant immediate, specific plans for further worldwide campaigns of cooperative magnetograph observing. The several reasons for this view, together with many caveats, qualifications, and suggestions for future work are presented.

Description: The primary purpose of the Theory and Modeling Group meeting was to identify scientists engaged or interested in theoretical work pertinent to the Max '91 program, and to encourage theorists to pursue modeling which is directly relevant to data which can be expected to result from the program. A list of participants and their institutions is presented. Two solar flare paradigms were discussed during the meeting -- the importance of magnetic reconnection in flares and the applicability of numerical simulation results to solar flare studies.

Description: The contributions of the High Energy Flare Physics Special Session in the American Astronomical Society Solar Physics Division Meeting are reviewed. Oral and poster papers were presented on observatories and instruments available for the upcoming solar maximum. Among these are the space-based Gamma Ray Observatory, the Solar Flare and Cosmic Burst Gamma Ray Experiment on the Ulysses spacecraft, the Soft X Ray Telescope on the spacecraft Solar-A, and the balloon-based Gamma Ray Imaging Device. Ground based observatories with new capabilities include the BIMA mm-wave interferometer (Univ. of California, Berkeley; Univ. of Illinois; Univ. of Maryland), Owens Valley Radio Observatory and the Very Large Array. The highlights of the various instrument performances are reported and potential data correlations and collaborations are suggested.

Description: The Soft X-Ray Imaging Payload and the High Resolution Telescope and Spectrograph (HRTS) instrument were launched from White Sands on 11 December 1987 in coordinated sounding rocket flights to investigate the correspondence of coronal and transition region structures, especially the relationship between X-ray bright points (XBPs) and transition region small spatial scale energetic events. The coaligned data from X-ray images are presented along with maps of sites of transition region energetic events observed in C IV (100,000 K), HRTS 1600 A spectroheliograms of the T sub min region and ground based magnetogram and He I 10830 A images.

Description: A computational procedure is presented for reducing the size of the analysis models of tires having unsymmetric material, geometry and/or loading. The two key elements of the procedure when applied to anisotropic tires are: (1) decomposition of the stiffness matrix into the sum of an orthotropic and nonorthotropic parts; and (2) successive application of the finite-element method and the classical Rayleigh-Ritz technique. The finite-element method is first used to generate few global approximation vectors (or modes). Then the amplitudes of these modes are computed by using the Rayleigh-Ritz technique. The proposed technique has high potential for handling practical tire problems with anisotropic materials, unsymmetric imperfections and asymmetric loading. It is also particularly useful for use with three-dimensional finite-element models of tires.

Description: As the connecting elements in multi-body structures, joints play a pivotal role in the overall dynamic response of these systems. Obviously, the linear stiffness of the joint strongly influences the system frequencies, but the joints are also likely to be the dominant sources of damping and nonlinearities, especially in aircraft and space structures. The general characteristics of such joints will be discussed. Then the state of the art in nonlinear joint characterization techniques will be surveyed. Finally, the impact that joints have on the overall response of structures will be evaluated.

Description: Flexibility can be a major limitation to the performance of high performance conventional machine systems. The current status of robotic manipulators is limited by the effects of system flexibility. The status of current commercial robots, anticipated development in 5 and 10 years is outlined.

Description: Results and methods on three different areas of contemporary research are outlined. These include adaptive methods, the rolling contact problem for finite deformation of a hyperelastic or viscoelastic cylinder, and non-classical friction laws for modeling dynamic friction phenomena.