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Sample records for head gimbal assembly

  1. Testing Gimbal Axes Before Complete Assembly

    NASA Technical Reports Server (NTRS)

    Babis, W.

    1986-01-01

    Early testing increases chances assembly will function well without expensive rework. Developed for antenna gimbals, test eliminates delay and costs ensued when fully assembled antenna fails because of excessive torque and friction in gimbal. Gimbal housing mounted above rotary table. Gimbal axis tested connected to torque transducer on table. With exception of special holder for gimbal housing, all of testing instruments commercially available items.

  2. Ku band deployed assembly and gimbal

    NASA Technical Reports Server (NTRS)

    Deal, T. E.

    1980-01-01

    Requirements for shuttle orbiter missions to locate satellites for servicing and to communicate when out of touch with a direct ground link were established. A Ku Band deployed antenna system providing an integrated radar and communications function was designed to meet these requirements. The unique features of the gimbal assembly are described with emphasis on the following: edge mounted antenna to minimize stowage volume in shuttle and maximize gain; unique two axis housing and shaft arrangement to accommodate two runs of waveguide and 55 electrical conductors without requiring slip rings; maximum use of aluminum in gimbal structure to reduce costs; and lubricant chosen to survive Earth and space environments.

  3. A Gimbal sizing analysis for an IPACS rotating assembly

    NASA Technical Reports Server (NTRS)

    Burke, P. R.; Coronato, P. A.

    1985-01-01

    All major components of an integrated power/attitude control system (IPACS) assembly were analyzed for testing, launch, and operational stresses. The conceptual design for the outer gimbal and mounting ring structures were developed and analyzed along with preliminary designs of the pivot and torquer assemblies. Results from the system response analysis and the thermal analysis are also presented. Gimballing of this rotating assembly should present few difficulties as the maximum gimballing rate is quite low. However, the inner gimbal assembly in its current configuration must be modified to develop the system from a laboratory concept to a realistic flight hardware status.

  4. SU-C-BRB-01: Development of Dynamic Gimbaled X-Ray Head Swing Irradiation Technique

    SciTech Connect

    Ono, T; Miyabe, Y; Yokota, K; Akimoto, M; Mukumoto, N; Ishihara, Y; Nakamura, M; Mizowaki, T; Hiraoka, M; Takahashi, K

    2015-06-15

    Purpose: The Vero4DRT has a unique gimbaled x-ray head with rotating around orthogonal two axes. The purpose of this study was to develop a new irradiation technique using the dynamic gimbaled x-ray head swing function. Methods: The Vero4DRT has maximum field size of 150Χ150 mm2. The expanded irradiation field (expanded-field) for the longitudinal direction which is vertical to the MLC sliding direction, was created by the MLC motion and the gimbaled x-ray head rotation. The gimbaled x-ray head was rotated ± 35 mm, and the expanded-field size was set as 150Χ220 mm2. To irradiate uniform dose distribution, the diamond-shaped radiation field was created and continuously moved for the longitudinal direction. It was achieved by combination of opening and closing of the MLC and gimbal swing rotation. To evaluate dosimetric characteristic of the expanded-field, films inserted in water-equivalent phantoms at 100 mm depth were irradiated and the field size, penumbra, flatness and symmetry were analyzed.In addition, the expanded-field irradiation technique was applied to virtual wedge irradiation. Wedged beam was acquired with the delta–shaped radiation field. 150Χ 220 mm2 fields with 15, 30, 45, and 60 degree wedge were examined. The wedge angles were measured with irradiated film and compared with assumed wedge angles. Results: The field size, penumbra, flatness and symmetry of the expanded-field were 150.0 mm, 8.1–8.4 mm, 2.8% and −0.8% for the lateral direction and 220.1 mm, 6.3–6.4 mm, 3.2% and −0.4% for the longitudinal direction at 100 mm depth. The measured wedge angles were 15.1, 30.2, 45.2 and 60.2 degrees. The differences between assumed and measured angles were within 0.2 degrees. Conclusion: A new technique of the gimbal swing irradiation was developed. To extend applied targets, especially for whole breast irradiation, the expanded-field and virtual wedge irradiations would be effective.

  5. Development of an expanded-field irradiation technique using a gimbaled x-ray head

    SciTech Connect

    Ono, Tomohiro; Miyabe, Yuki Yamada, Masahiro; Yokota, Kenji; Kaneko, Shuji; Monzen, Hajime; Mizowaki, Takashi; Hiraoka, Masahiro; Sawada, Akira; Kokubo, Masaki

    2014-10-15

    Purpose: The Vero4DRT has a maximum field size of 150.0 × 150.0 mm. The purpose of the present study was to develop expanded-field irradiation techniques using the unique gimbaled x-ray head of the Vero4DRT and to evaluate the dosimetric characteristics thereof. Methods: Two techniques were developed. One features gimbal swing irradiation and multiple static segments consisting of four separate fields exhibiting 2.39° gimbal rotation around two orthogonal axes. The central beam axis for each piecewise-field is shifted 40 mm from the isocenters of the left–right (LR) and superior–inferior (SI) directions, and, thus, the irradiation field size is expanded to 230.8 × 230.8 mm. Adjacent regions were created at the isocenter (a center-adjacent expandedfield) and 20 mm from the isocenter (an off-adjacent expandedfield). The field gaps or overlaps of combined piecewise-fields were established by adjustment of gimbal rotation and movement of the multileaf collimator (MLC). Another technique features dynamic segment irradiation in which the beam is delivered while rotating the gimbal. The dose profile is controlled by a combination of gimbal swing motion and opening and closing of the MLC. This enabled the authors to expand the irradiation field on the LR axis because the direction of MLC motion is parallel to that axis. A field 220.6 × 150.0 mm in dimensions was configured and examined. To evaluate the dosimetric characteristics of the expandedfields, films inserted into water-equivalent phantoms at depths of 50, 100, and 150 mm were irradiated and field sizes, penumbrae, flatness, and symmetry analyzed. In addition, the expanded-field irradiation techniques were applied to intensity-modulated radiation therapy (IMRT). A head-and-neck IMRT field, created using a conventional Linac (the Varian Clinac iX), was reproduced employing an expanded-field of the Vero4DRT. The simulated dose distribution for the expanded-IMRT field was compared to the measured

  6. Bottom head assembly

    DOEpatents

    Fife, A.B.

    1998-09-01

    A bottom head dome assembly is described which includes, in one embodiment, a bottom head dome and a liner configured to be positioned proximate the bottom head dome. The bottom head dome has a plurality of openings extending there through. The liner also has a plurality of openings extending there through, and each liner opening aligns with a respective bottom head dome opening. A seal is formed, such as by welding, between the liner and the bottom head dome to resist entry of water between the liner and the bottom head dome at the edge of the liner. In the one embodiment, a plurality of stub tubes are secured to the liner. Each stub tube has a bore extending there through, and each stub tube bore is coaxially aligned with a respective liner opening. A seat portion is formed by each liner opening for receiving a portion of the respective stub tube. The assembly also includes a plurality of support shims positioned between the bottom head dome and the liner for supporting the liner. In one embodiment, each support shim includes a support stub having a bore there through, and each support stub bore aligns with a respective bottom head dome opening. 2 figs.

  7. Bottom head assembly

    DOEpatents

    Fife, Alex Blair

    1998-01-01

    A bottom head dome assembly which includes, in one embodiment, a bottom head dome and a liner configured to be positioned proximate the bottom head dome is described. The bottom head dome has a plurality of openings extending therethrough. The liner also has a plurality of openings extending therethrough, and each liner opening aligns with a respective bottom head dome opening. A seal is formed, such as by welding, between the liner and the bottom head dome to resist entry of water between the liner and the bottom head dome at the edge of the liner. In the one embodiment, a plurality of stub tubes are secured to the liner. Each stub tube has a bore extending therethrough, and each stub tube bore is coaxially aligned with a respective liner opening. A seat portion is formed by each liner opening for receiving a portion of the respective stub tube. The assembly also includes a plurality of support shims positioned between the bottom head dome and the liner for supporting the liner. In one embodiment, each support shim includes a support stub having a bore therethrough, and each support stub bore aligns with a respective bottom head dome opening.

  8. SERT 2 gimbal system

    NASA Technical Reports Server (NTRS)

    Zavesky, R. J.; Hurst, E. B.

    1971-01-01

    The gimbal system is described that was designed to mount the thruster and to reposition the thrust vector of a mercury ion bombardment thruster through the center of gravity of the SERT 2 assembly. The SERT 2 assembly was launched 3 February 1970. The gimbal ring, gimbal mounts, bearings, actuators, and environmental testing are described. Due to the accurate alinements provided, it was not necessary to use the gimbal for the intended function. However, the gimbals were operated successfully numerous times in space after 8 months of storage.

  9. Development of a four-dimensional image-guided radiotherapy system with a gimbaled X-ray head

    SciTech Connect

    Kamino, Yuichiro . E-mail: daisaku_horiuchi@mhi.co.jp; Takayama, Kenji; Kokubo, Masaki; Narita, Yuichiro; Hirai, Etsuro; Kawawda, Noriyuki; Mizowaki, Takashi; Nagata, Yasushi; Nishidai, Takehiro; Hiraoka, Masahiro

    2006-09-01

    Purpose: To develop and evaluate a new four-dimensional image-guided radiotherapy system, which enables precise setup, real-time tumor tracking, and pursuit irradiation. Methods and Materials: The system has an innovative gimbaled X-ray head that enables small-angle ({+-}2.4{sup o}) rotations (pan and tilt) along the two orthogonal gimbals. This design provides for both accurate beam positioning at the isocenter by actively compensating for mechanical distortion and quick pursuit of the target. The X-ray head is composed of an ultralight C-band linear accelerator and a multileaf collimator. The gimbaled X-ray head is mounted on a rigid O-ring structure with an on-board imaging subsystem composed of two sets of kilovoltage X-ray tubes and flat panel detectors, which provides a pair of radiographs, cone beam computed tomography images useful for image guided setup, and real-time fluoroscopic monitoring for pursuit irradiation. Results: The root mean square accuracy of the static beam positioning was 0.1 mm for 360{sup o} of O-ring rotation. The dynamic beam response and positioning accuracy was {+-}0.6 mm for a 0.75 Hz, 40-mm stroke and {+-}0.4 mm for a 2.0 Hz, 8-mm stroke. The quality of the images was encouraging for using the tomography-based setup. Fluoroscopic images were sufficient for monitoring and tracking lung tumors. Conclusions: Key functions and capabilities of our new system are very promising for precise image-guided setup and for tracking and pursuit irradiation of a moving target.

  10. TH-C-12A-03: Development of Expanded Field Irradiation Technique with Gimbaled X-Ray Head

    SciTech Connect

    Ono, T; Miyabe, Y; Yamada, M; Kaneko, S; Monzen, H; Mizowaki, T; Hiraoka, M; Sawada, A; Kokubo, M

    2014-06-15

    Purpose: The Vero4DRT has a maximum field size of 150×150 mm{sup 2}. The purposes of this study were to develop an expanded field irradiation technique using a unique gimbaled x-ray head of Vero4DRT and to evaluate its dosimetric characteristic. Methods: The expanded field irradiation consisted of four separate fields with 2.39 degree gimbal rotation around orthogonal two axes. The central beam axis for each field shifted 40 mm from the isocenter for longitudinal and lateral directions, and thus, the field size was expanded up to 230×230 mm{sup 2}. Adjacent region were created at the isocenter (center-adjacent expanded-field) and 20 mm from isocenter (offadjacent expanded-field). To create flat dose distribution in the combined piecewise-fields, the overlapping and gaps regions on the isocenter plane were adjusted with the gimbal rotating and the MLC. To evaluate dosimetric characteristic of the expanded-field, films inserted in water-equivalent phantoms at 50, 100 and 150 mm depth were irradiated and the field size, penumbra, flatness and symmetry were analyzed.In addition, the expandedfield irradiation technique was applied to IMRT. A head and neck IMRT field, which was planned for the conventional linac (Varian Clinac iX), was reproduced with the expanded-field of the Vero4DRT. The simulated dose distribution for the expanded IMRT field was compared to the measured dose distribution. Results: The field size, penumbra, flatness and symmetry of center- and off- adjacent expanded-fields were 230.2–232.1 mm, 7.8–10.7 mm, 2.3–6.5% and –0.5–0.4% at 100 mm depth. The 82.1% area of the expanded IMRT dose distribution was within 5% difference between measurement and simulation, which was analyzed upper 50% dose area, and the 3%/3 mm gamma pass rate was 98.4%. Conclusions: The expandedfield technique was developed using the gimbaled x-ray head. To extend applied targets, such as whole breast irradiations or head and neck IMRT, the expanded-field technique

  11. Geometric and dosimetric accuracy of dynamic tumor-tracking conformal arc irradiation with a gimbaled x-ray head

    SciTech Connect

    Ono, Tomohiro; Miyabe, Yuki Yamada, Masahiro; Kaneko, Shuji; Monzen, Hajime; Mizowaki, Takashi; Hiraoka, Masahiro; Shiinoki, Takehiro; Sawada, Akira; Kokubo, Masaki

    2014-03-15

    Purpose: The Vero4DRT system has the capability for dynamic tumor-tracking (DTT) stereotactic irradiation using a unique gimbaled x-ray head. The purposes of this study were to develop DTT conformal arc irradiation and to estimate its geometric and dosimetric accuracy. Methods: The gimbaled x-ray head, supported on an O-ring gantry, was moved in the pan and tilt directions during O-ring gantry rotation. To evaluate the mechanical accuracy, the gimbaled x-ray head was moved during the gantry rotating according to input command signals without a target tracking, and a machine log analysis was performed. The difference between a command and a measured position was calculated as mechanical error. To evaluate beam-positioning accuracy, a moving phantom, which had a steel ball fixed at the center, was driven based on a sinusoidal wave (amplitude [A]: 20 mm, time period [T]: 4 s), a patient breathing motion with a regular pattern (A: 16 mm, average T: 4.5 s), and an irregular pattern (A: 7.2–23.0 mm, T: 2.3–10.0 s), and irradiated with DTT during gantry rotation. The beam-positioning error was evaluated as the difference between the centroid position of the irradiated field and the steel ball on images from an electronic portal imaging device. For dosimetric accuracy, dose distributions in static and moving targets were evaluated with DTT conformal arc irradiation. Results: The root mean squares (RMSs) of the mechanical error were up to 0.11 mm for pan motion and up to 0.14 mm for tilt motion. The RMSs of the beam-positioning error were within 0.23 mm for each pattern. The dose distribution in a moving phantom with tracking arc irradiation was in good agreement with that in static conditions. Conclusions: The gimbal positional accuracy was not degraded by gantry motion. As in the case of a fixed port, the Vero4DRT system showed adequate accuracy of DTT conformal arc irradiation.

  12. The design and development of a mounting and jettison assembly for the shuttle orbiter advanced gimbal system

    NASA Technical Reports Server (NTRS)

    Korzeniowski, E. S.

    1983-01-01

    This paper describes the requirements, design development, and qualification of the mounting and jettison assembly (MJA) which serves as the base structure for the advanced gimbal system (AGS) developed for NASA, Marshall Space Flight Center, for use during shuttle missions. An engineering model of the MJA has been built and subjected to the following testing: stiffness and modal characterization, sine and random vibration, and a jettison function and energy release. A qualitative summary of the results and the problems encountered during testing, together with the design solutions, is presented.

  13. Quick acting gimbal joint

    NASA Technical Reports Server (NTRS)

    Wood, William B. (Inventor); Krch, Gary D. (Inventor)

    1993-01-01

    The present invention relates to an adjustable linkage assembly for selectively retaining the position of one member pivotable with respect to another member. More specifically, the invention relates to a linkage assembly commonly referred to as a gimbal joint, and particularly to a quick release or quick acting gimbal joint. The assembly is relatively simple in construction, compact in size, and has superior locking strength in any selected position. The device can be quickly and easily actuated, without separate tooling, by inexperienced personnel or by computer controlled equipment. It also is designed to prevent inadvertent actuation.

  14. Gimballing Spacecraft Thruster

    NASA Technical Reports Server (NTRS)

    Pickens, Tim; Bossard, John

    2010-01-01

    A gimballing spacecraft reaction-control-system thruster was developed that consists of a small hydrogen/oxygen-burning rocket engine integrated with a Canfield joint. (Named after its inventor, a Canfield joint is a special gimbal mount that is strong and stable yet allows a wide range of motion.) One especially notable aspect of the design of this thruster is integration, into both the stationary legs and the moving arms of the Canfield joint, of the passages through which the hydrogen and oxygen flow to the engine. The thruster was assembled and subjected to tests in which the engine was successfully fired both with and without motion in the Canfield joint.

  15. Use of Cumulative Degradation Factor Prediction and Life Test Result of the Thruster Gimbal Assembly Actuator for the Dawn Flight Project

    NASA Technical Reports Server (NTRS)

    Lo, C. John; Brophy, John R.; Etters, M. Andy; Ramesham, Rajeshuni; Jones, William R., Jr.; Jansen, Mark J.

    2009-01-01

    The Dawn Ion Propulsion System is the ninth project in NASA s Discovery Program. The Dawn spacecraft is being developed to enable the scientific investigation of the two heaviest main-belt asteroids, Vesta and Ceres. Dawn is the first mission to orbit two extraterrestrial bodies, and the first to orbit a main-belt asteroid. The mission is enabled by the onboard Ion Propulsion System (IPS) to provide the post-launch delta-V. The three Ion Engines of the IPS are mounted on Thruster Gimbal Assembly (TGA), with only one engine operating at a time for this 10-year mission. The three TGAs weigh 14.6 kg.

  16. Head assembly for multiposition borehole extensometer

    DOEpatents

    Frank, Donald N.

    1983-01-01

    A head assembly for a borehole extensometer and an improved extensometer for measuring subsurface subsidence. A plurality of inflatable anchors provide discrete measurement points. A metering rod is fixed to each of the anchors which are displaced when subsidence occurs, thereby translating the attached rod. The head assembly includes a sprocket wheel rotatably mounted on a standpipe and engaged by a chain which is connected at one end to the metering rod and at the other end to a counterweight. A second sprocket wheel connected to the standpipe also engages the chain and drives a connected potentiometer. The head assembly converts the linear displacement of the metering rod to the rotary motion of the second sprocket wheel, which is measured by the potentiometer, producing a continuous electrical output.

  17. Head assembly for multiposition borehole extensometer

    SciTech Connect

    Frank, D.N.

    1983-05-10

    A head assembly for a borehole extensometer and an improved extensometer for measuring subsurface subsidence. A plurality of inflatable anchors provide discrete measurement points. A metering rod is fixed to each of the anchors which are displaced when subsidence occurs, thereby translating the attached rod. The head assembly includes a sprocket wheel rotatably mounted on a standpipe and engaged by a chain which is connected at one end to the metering rod and at the other end to a counterweight. A second sprocket wheel connected to the standpipe also engages the chain and drives a connected potentiometer. The head assembly converts the linear displacement of the metering rod to the rotary motion of the second sprocket wheel, which is measured by the potentiometer, producing a continuous electrical output.

  18. Head assembly for multiposition borehole extensometer

    SciTech Connect

    Frank, D.N.

    1981-06-09

    A head assembly for a borehole extensometer and an improved extensometer for measuring subsurface subsidence. A plurality of inflatable anchors provide discrete measurement points. A metering rod is fixed to each of the anchors which are displaced when subsidence occurs, thereby translating the attached rod. The head assembly includes a sprocket wheel rotatably mounted on a standpipe and engaged by a chain which is connected at one end to the metering rod and at the other end to a counterweight. A second sprocket wheel connected to the standpipe also engages the chain and drives a connected potentiometer. The head assembly converts the linear displacement of the metering rod to the rotary motion of the second sprocket wheel, which is measured by the potentiometer, producing a continuous electrical output.

  19. Hand Controller Assembly

    NASA Technical Reports Server (NTRS)

    Bandera, Pablo (Inventor); Buchele, Paul (Inventor)

    2015-01-01

    A user input device for a vehicular electrical system is provided. The user input device includes a handle sized and shaped to be gripped by a human hand and a gimbal assembly within the handle. The gimbal assembly includes a first gimbal component, a second gimbal component coupled to the first gimbal component such that the second gimbal component is rotatable relative to the first gimbal component about a first axis, and a third gimbal component coupled to the second gimbal component such that the third gimbal component is rotatable relative to the second gimbal component about a second axis.

  20. 49 CFR 572.142 - Head assembly and test procedure.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 7 2014-10-01 2014-10-01 false Head assembly and test procedure. 572.142 Section...-year-Old Child Crash Test Dummy, Alpha Version § 572.142 Head assembly and test procedure. (a) The head assembly (refer to § 572.140(a)(1)(i)) for this test consists of the head (drawing 210-1000), adapter...

  1. 49 CFR 572.142 - Head assembly and test procedure.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 7 2013-10-01 2013-10-01 false Head assembly and test procedure. 572.142 Section...-year-Old Child Crash Test Dummy, Alpha Version § 572.142 Head assembly and test procedure. (a) The head assembly (refer to § 572.140(a)(1)(i)) for this test consists of the head (drawing 210-1000), adapter...

  2. 49 CFR 572.72 - Head assembly and test procedure.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 7 2010-10-01 2010-10-01 false Head assembly and test procedure. 572.72 Section... TRAFFIC SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) ANTHROPOMORPHIC TEST DEVICES 6-Year-Old Child § 572.72 Head assembly and test procedure. (a) Head assembly. The head consists of...

  3. 49 CFR 572.162 - Head assembly and test procedure.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... Hybrid III Six-Year-Old Weighted Child Test Dummy § 572.162 Head assembly and test procedure. The head assembly is assembled and tested as specified in 49 CFR 572.122 (Subpart N). ... 49 Transportation 7 2010-10-01 2010-10-01 false Head assembly and test procedure. 572.162...

  4. 49 CFR 572.162 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... Hybrid III Six-Year-Old Weighted Child Test Dummy § 572.162 Head assembly and test procedure. The head assembly is assembled and tested as specified in 49 CFR 572.122 (Subpart N). ... 49 Transportation 7 2012-10-01 2012-10-01 false Head assembly and test procedure. 572.162...

  5. 49 CFR 572.162 - Head assembly and test procedure.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... Hybrid III Six-Year-Old Weighted Child Test Dummy § 572.162 Head assembly and test procedure. The head assembly is assembled and tested as specified in 49 CFR 572.122 (Subpart N). ... 49 Transportation 7 2013-10-01 2013-10-01 false Head assembly and test procedure. 572.162...

  6. 49 CFR 572.162 - Head assembly and test procedure.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... Hybrid III Six-Year-Old Weighted Child Test Dummy § 572.162 Head assembly and test procedure. The head assembly is assembled and tested as specified in 49 CFR 572.122 (Subpart N). ... 49 Transportation 7 2011-10-01 2011-10-01 false Head assembly and test procedure. 572.162...

  7. 49 CFR 572.162 - Head assembly and test procedure.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... Hybrid III Six-Year-Old Weighted Child Test Dummy § 572.162 Head assembly and test procedure. The head assembly is assembled and tested as specified in 49 CFR 572.122 (Subpart N). ... 49 Transportation 7 2014-10-01 2014-10-01 false Head assembly and test procedure. 572.162...

  8. 49 CFR 572.112 - Head assembly.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 7 2010-10-01 2010-10-01 false Head assembly. 572.112 Section 572.112 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) ANTHROPOMORPHIC TEST DEVICES Side Impact Hybrid...

  9. 49 CFR 572.192 - Head assembly.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ...-1000) and a set of three (3) accelerometers in conformance with specifications in 49 CFR 572.200(d) and... CFR 572.112(a). (c) Performance criteria. (1) When the head assembly is dropped from either the right... resultant acceleration shall be between 115 g and 137 g; (2) The resultant acceleration-time curve shall...

  10. 49 CFR 572.192 - Head assembly.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ...) and a set of three (3) accelerometers in conformance with specifications in 49 CFR 572.200(d) and... CFR 572.112(a). (c) Performance criteria. (1) When the head assembly is dropped from either the right... resultant acceleration shall be between 115 g and 137 g; (2) The resultant acceleration-time curve shall...

  11. 49 CFR 572.192 - Head assembly.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ...-1000) and a set of three (3) accelerometers in conformance with specifications in 49 CFR 572.200(d) and... CFR 572.112(a). (c) Performance criteria. (1) When the head assembly is dropped from either the right... resultant acceleration shall be between 115 g and 137 g; (2) The resultant acceleration-time curve shall...

  12. 49 CFR 572.192 - Head assembly.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ...) and a set of three (3) accelerometers in conformance with specifications in 49 CFR 572.200(d) and... CFR 572.112(a). (c) Performance criteria. (1) When the head assembly is dropped from either the right... resultant acceleration shall be between 115 g and 137 g; (2) The resultant acceleration-time curve shall...

  13. 49 CFR 572.192 - Head assembly.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ...) and a set of three (3) accelerometers in conformance with specifications in 49 CFR 572.200(d) and... CFR 572.112(a). (c) Performance criteria. (1) When the head assembly is dropped from either the right... resultant acceleration shall be between 115 g and 137 g; (2) The resultant acceleration-time curve shall...

  14. 49 CFR 572.132 - Head assembly and test procedure.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    .... (3) Suspend and orient the head assembly as shown in Figure 19 of 49 CFR 572. The lowest point on the... Hybrid III 5th Percentile Female Test Dummy, Alpha Version § 572.132 Head assembly and test procedure....

  15. 49 CFR 572.132 - Head assembly and test procedure.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    .... (3) Suspend and orient the head assembly as shown in Figure 19 of 49 CFR 572. The lowest point on the... Hybrid III 5th Percentile Female Test Dummy, Alpha Version § 572.132 Head assembly and test procedure....

  16. 49 CFR 572.132 - Head assembly and test procedure.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    .... (3) Suspend and orient the head assembly as shown in Figure 19 of 49 CFR 572. The lowest point on the... Hybrid III 5th Percentile Female Test Dummy, Alpha Version § 572.132 Head assembly and test procedure....

  17. 49 CFR 572.132 - Head assembly and test procedure.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    .... (3) Suspend and orient the head assembly as shown in Figure 19 of 49 CFR 572. The lowest point on the... Hybrid III 5th Percentile Female Test Dummy, Alpha Version § 572.132 Head assembly and test procedure....

  18. 49 CFR 572.132 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    .... (3) Suspend and orient the head assembly as shown in Figure 19 of 49 CFR 572. The lowest point on the... Hybrid III 5th Percentile Female Test Dummy, Alpha Version § 572.132 Head assembly and test procedure....

  19. Dosimetric characterization of a multileaf collimator for a new four-dimensional image-guided radiotherapy system with a gimbaled x-ray head, MHI-TM2000

    SciTech Connect

    Nakamura, Mitsuhiro; Sawada, Akira; Ishihara, Yoshitomo; Takayama, Kenji; Mizowaki, Takashi; Kaneko, Shuji; Yamashita, Mikiko; Tanabe, Hiroaki; Kokubo, Masaki; Hiraoka, Masahiro

    2010-09-15

    Purpose: To present the dosimetric characterization of a multileaf collimator (MLC) for a new four-dimensional image-guided radiotherapy system with a gimbaled x-ray head, MHI-TM2000. Methods: MHI-TM2000 has an x-ray head composed of an ultrasmall linear accelerator guide and a system-specific MLC. The x-ray head can rotate along the two orthogonal gimbals (pan and tilt rotations) up to {+-}2.5 deg., which swings the beam up to {+-}41.9 mm in each direction from the isocenter on the isocenter plane perpendicular to the beam. The MLC design is a single-focus type, has 30 pairs of 5 mm thick leaves at the isocenter, and produces a maximum field size of 150x150 mm{sup 2}. Leaf height and length are 110 and 260 mm, respectively. Each leaf end is circular, with a radius of curvature of 370 mm. The distance that each leaf passes over the isocenter is 77.5 mm. Radiation leakage between adjacent leaves is minimized by an interlocking tongue-and-groove (T and G) arrangement with the height of the groove part 55 mm. The dosimetric characterizations including field characteristics, leaf position accuracy, leakage, and T and G effect were evaluated using a well-commissioned 6 MV photon beam, EDR2 films (Kodak, Rochester, NY), and water-equivalent phantoms. Furthermore, the field characteristics and leaf position accuracy were evaluated under conditions of pan or tilt rotation. Results: The differences between nominal and measured field sizes were within {+-}0.5 mm. Although the penumbra widths were greater with wider field size, the maximum width was <5.5 mm even for the fully opened field. Compared to the results of field characteristics without pan or tilt rotation, the variation in field size, penumbra width, flatness, and symmetry was within {+-}1 mm/1% at the maximum pan or tilt rotational angle. The leaf position accuracy was 0.0{+-}0.1 mm, ranging from -0.3 to 0.2 mm at four gantry angles of 0 deg., 90 deg., 180 deg., and 270 deg. with and without pan or tilt rotation

  20. Theoretical three-and four-axis gimbal robot wrists

    NASA Technical Reports Server (NTRS)

    Barker, L. K.; Houck, J. A.

    1986-01-01

    In high-performance flight simulations, a four-axis gimbal system allows all possible rotations with acceptable gimbal angle rates while it avoids the so-callled 'gimbal lock' that occurs when gimbal rotational axes are colinear. In this paper, pertinent equations (including quaternions) are assembled for a hypothetical robot wrist, functionally equivalent to this four-axis gimbal system, and also for a true three-axis gimbal robot wrist. These equations are used to simulate the rotation of a robot hand by the robot wrist in response to operator rotational velocity commands to the robot hand. Near gimbal lock (wrist singularity), excessive rotational rates occur. Scaling the rates, which is necessary for the three-gimbal robot wrist to prevent rate limiting, introduces an undesirable time delay in the robot hand rotation with respect to the commanded rotation. However, the merit of the four-gimbal robot wrist is that the fourth gimbal angle keeps the robot wrist away from the singularity so that the robot hand moves exactly as commanded. It appears that in a 'worst-type' maneuver of the robot hand, the fourth gimbal angle can be defined so that none of the gimbal angle rates exceed about twice the commanded rates.

  1. Development of an ultrasmall C-band linear accelerator guide for a four-dimensional image-guided radiotherapy system with a gimbaled x-ray head.

    PubMed

    Kamino, Yuichiro; Miura, Sadao; Kokubo, Masaki; Yamashita, Ichiro; Hirai, Etsuro; Hiraoka, Masahiro; Ishikawa, Junzo

    2007-05-01

    We are developing a four-dimensional image-guided radiotherapy system with a gimbaled x-ray head. It is capable of pursuing irradiation and delivering irradiation precisely with the help of an agile moving x-ray head on the gimbals. Requirements for the accelerator guide were established, system design was developed, and detailed design was conducted. An accelerator guide was manufactured and basic beam performance and leakage radiation from the accelerator guide were evaluated at a low pulse repetition rate. The accelerator guide including the electron gun is 38 cm long and weighs about 10 kg. The length of the accelerating structure is 24.4 cm. The accelerating structure is a standing wave type and is composed of the axial-coupled injector section and the side-coupled acceleration cavity section. The injector section is composed of one prebuncher cavity, one buncher cavity, one side-coupled half cavity, and two axial coupling cavities. The acceleration cavity section is composed of eight side-coupled nose reentrant cavities and eight coupling cavities. The electron gun is a diode-type gun with a cerium hexaboride (CeB6) direct heating cathode. The accelerator guide can be operated without any magnetic focusing device. Output beam current was 75 mA with a transmission efficiency of 58%, and the average energy was 5.24 MeV. Beam energy was distributed from 4.95 to 5.6 MeV. The beam profile, measured 88 mm from the beam output hole on the axis of the accelerator guide, was 0.7 mm X 0.9 mm full width at half maximum (FWHM) width. The beam loading line was 5.925 (MeV)-Ib (mA) X 0.00808 (MeV/mA), where Ib is output beam current. The maximum radiation leakage of the accelerator guide at 100 cm from the axis of the accelerator guide was calculated as 0.33 cGy/min at the rated x-ray output of 500 cGy/min from the measured value. This leakage requires no radiation shielding for the accelerator guide itself per IEC 60601-2-1. PMID:17555261

  2. Development of an ultrasmall C-band linear accelerator guide for a four-dimensional image-guided radiotherapy system with a gimbaled x-ray head

    SciTech Connect

    Kamino, Yuichiro; Miura, Sadao; Kokubo, Masaki; Yamashita, Ichiro; Hirai, Etsuro; Hiraoka, Masahiro; Ishikawa, Junzo

    2007-05-15

    We are developing a four-dimensional image-guided radiotherapy system with a gimbaled x-ray head. It is capable of pursuing irradiation and delivering irradiation precisely with the help of an agile moving x-ray head on the gimbals. Requirements for the accelerator guide were established, system design was developed, and detailed design was conducted. An accelerator guide was manufactured and basic beam performance and leakage radiation from the accelerator guide were evaluated at a low pulse repetition rate. The accelerator guide including the electron gun is 38 cm long and weighs about 10 kg. The length of the accelerating structure is 24.4 cm. The accelerating structure is a standing wave type and is composed of the axial-coupled injector section and the side-coupled acceleration cavity section. The injector section is composed of one prebuncher cavity, one buncher cavity, one side-coupled half cavity, and two axial coupling cavities. The acceleration cavity section is composed of eight side-coupled nose reentrant cavities and eight coupling cavities. The electron gun is a diode-type gun with a cerium hexaboride (CeB{sub 6}) direct heating cathode. The accelerator guide can be operated without any magnetic focusing device. Output beam current was 75 mA with a transmission efficiency of 58%, and the average energy was 5.24 MeV. Beam energy was distributed from 4.95 to 5.6 MeV. The beam profile, measured 88 mm from the beam output hole on the axis of the accelerator guide, was 0.7 mmx0.9 mm full width at half maximum (FWHM) width. The beam loading line was 5.925 (MeV)-I{sub b} (mA)x0.00808 (MeV/mA), where I{sub b} is output beam current. The maximum radiation leakage of the accelerator guide at 100 cm from the axis of the accelerator guide was calculated as 0.33 cGy/min at the rated x-ray output of 500 cGy/min from the measured value. This leakage requires no radiation shielding for the accelerator guide itself per IEC 60601-2-1.

  3. Single Axis Piezoceramic Gimbal

    NASA Technical Reports Server (NTRS)

    Horner, Garnett C.; Taleghani, Barmac K.

    1999-01-01

    This paper describes the fabrication, testing, and analysis of a single axis piezoceramic gimbal. The fabrication process consist of pre-stressing a piezoceramic wafer using a high-temperature thermoplastic polyimide and a metal foil. The differential thermal expansion between the ceramic and metal induces a curvature. The pre-stressed, curved piezoceramic is mounted on a support mechanism and a mirror is attached to the piezoceramic. A plot of gimbal angle versus applied voltage to the piezoceramic is presented. A finite element analysis of the piezoceramic gimbal is described. The predicted gimbal angle versus applied voltage is compared to experimental results.

  4. Single Axis Piezoceramic Gimbal

    NASA Technical Reports Server (NTRS)

    Horner, Garnett; Taleghani, Barmac

    2001-01-01

    This paper describes the fabrication, testing, and analysis of a single axis piezoceramic gimbal. The fabrication process consists of pre-stressing a piezoceramic wafer using a high-temperature thermoplastic polyimide and a metal foil. The differential thermal expansion between the ceramic and metal induces a curvature. The pre-stressed, curved piezoceramic is mounted on a support mechanism and a mirror is attached to the piezoceramic. A plot of gimbal angle versus applied voltage to the piezoceramic is presented. A finite element analysis of the piezoceramic gimbal is described. The predicted gimbal angle versus applied voltage is compared to experimental results.

  5. Gimbal angle sensor

    NASA Technical Reports Server (NTRS)

    Zaremba, J. G.

    1968-01-01

    Detector flake located parallel to a slotted mask mechanical differentiator, senses the rotation of a gimballed reaction wheel mounting. As the gimbal moves light passes through the mask and strikes a section of the detector, the electrical output of which has been calibrated in terms of degrees of rotation.

  6. Independent Peer Review of Communications, Navigation, and Networking re-Configurable Testbed (CoNNeCT) Project Antenna Pointing Subsystem (APS) Integrated Gimbal Assembly (IGA) Structural Analysis

    NASA Technical Reports Server (NTRS)

    Raju, Ivatury S.; Larsen, Curtis E.; Pellicciotti, Joseph W.

    2010-01-01

    Glenn Research Center Chief Engineer's Office requested an independent review of the structural analysis and modeling of the Communications, Navigation, and Networking re-Configurable Testbed (CoNNeCT) Project Antenna Pointing Subsystem (APS) Integrated Gimbal Assembly (IGA) to be conducted by the NASA Engineering and Safety Center (NESC). At this time, the IGA had completed its critical design review (CDR). The assessment was to be a peer review of the NEi-NASTRAN1 model of the APS Antenna, and not a peer review of the design and the analysis that had been completed by the GRC team for CDR. Thus, only a limited amount of information was provided on the structural analysis. However, the NESC team had difficulty separating analysis concerns from modeling issues. The team studied the NASTRAN model, but did not fully investigate how the model was used by the CoNNeCT Project and how the Project was interpreting the results. The team's findings, observations, and NESC recommendations are contained in this report.

  7. Magnetic Gimbal Proof-of-Concept Hardware performance results

    NASA Technical Reports Server (NTRS)

    Stuart, Keith O.

    1993-01-01

    The Magnetic Gimbal Proof-of-Concept Hardware activities, accomplishments, and test results are discussed. The Magnetic Gimbal Fabrication and Test (MGFT) program addressed the feasibility of using a magnetic gimbal to isolate an Electro-Optical (EO) sensor from the severe angular vibrations induced during the firing of divert and attitude control system (ACS) thrusters during space flight. The MGFT effort was performed in parallel with the fabrication and testing of a mechanically gimballed, flex pivot based isolation system by the Hughes Aircraft Missile Systems Group. Both servo systems supported identical EO sensor assembly mockups to facilitate direct comparison of performance. The results obtained from the MGFT effort indicate that the magnetic gimbal exhibits the ability to provide significant performance advantages over alternative mechanically gimballed techniques.

  8. Magnetic Gimbal Proof-of-Concept Hardware performance results

    NASA Astrophysics Data System (ADS)

    Stuart, Keith O.

    The Magnetic Gimbal Proof-of-Concept Hardware activities, accomplishments, and test results are discussed. The Magnetic Gimbal Fabrication and Test (MGFT) program addressed the feasibility of using a magnetic gimbal to isolate an Electro-Optical (EO) sensor from the severe angular vibrations induced during the firing of divert and attitude control system (ACS) thrusters during space flight. The MGFT effort was performed in parallel with the fabrication and testing of a mechanically gimballed, flex pivot based isolation system by the Hughes Aircraft Missile Systems Group. Both servo systems supported identical EO sensor assembly mockups to facilitate direct comparison of performance. The results obtained from the MGFT effort indicate that the magnetic gimbal exhibits the ability to provide significant performance advantages over alternative mechanically gimballed techniques.

  9. 49 CFR 572.142 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    .... (2) Prior to the test, clean the impact surface of the head skin and the steel impact plate surface... the steel impact surface. The 3.3 mm (0.13 in) diameter holes, located on either side of the dummy's... level with respect to the impact surface. (4) Drop the head assembly from the specified height by...

  10. 49 CFR 572.112 - Head assembly.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... to its application in a test. (2) Clean the impact surface of the head skin and impact plate surface... degrees with the impact surface and its anterior-posterior axis is horizontal ±1 degree. (4) Drop the head... means that ensures a smooth, clean release into a rigidly supported flat horizontal steel plate,...

  11. 49 CFR 572.112 - Head assembly.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... to its application in a test. (2) Clean the impact surface of the head skin and impact plate surface... degrees with the impact surface and its anterior-posterior axis is horizontal ±1 degree. (4) Drop the head... means that ensures a smooth, clean release into a rigidly supported flat horizontal steel plate,...

  12. Elastic internal flywheel gimbal

    SciTech Connect

    Rabenhorst, D.W.

    1981-01-13

    An elastic joint mounting and rotatably coupling a rotary inertial energy storage device or flywheel, to a shaft, the present gimbal structure reduces vibration and shock while allowing precession of the flywheel without the need for external gimbal mounts. The present elastic joint usually takes the form of an annular elastic member either integrally formed into the flywheel as a centermost segment thereof or attached to the flywheel or flywheel hub member at the center thereof, the rotary shaft then being mounted centrally to the elastic member.

  13. Gimbaled multispectral imaging system and method

    DOEpatents

    Brown, Kevin H.; Crollett, Seferino; Henson, Tammy D.; Napier, Matthew; Stromberg, Peter G.

    2016-01-26

    A gimbaled multispectral imaging system and method is described herein. In an general embodiment, the gimbaled multispectral imaging system has a cross support that defines a first gimbal axis and a second gimbal axis, wherein the cross support is rotatable about the first gimbal axis. The gimbaled multispectral imaging system comprises a telescope that fixed to an upper end of the cross support, such that rotation of the cross support about the first gimbal axis causes the tilt of the telescope to alter. The gimbaled multispectral imaging system includes optics that facilitate on-gimbal detection of visible light and off-gimbal detection of infrared light.

  14. 49 CFR 572.182 - Head assembly.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    .... The head shall be tested per procedure specified in 49 CFR § 572.112(a). (c) Performance criteria. (1... acceleration shall be between 125 g's and 155 g's; (2) The resultant acceleration-time curve shall be unimodal to the extent that oscillations occurring after the main acceleration pulse shall not exceed...

  15. 49 CFR 572.182 - Head assembly.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    .... The head shall be tested per procedure specified in 49 CFR § 572.112(a). (c) Performance criteria. (1... acceleration shall be between 125 g's and 155 g's; (2) The resultant acceleration-time curve shall be unimodal to the extent that oscillations occurring after the main acceleration pulse shall not exceed...

  16. 49 CFR 572.182 - Head assembly.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ...) Test procedure. The head shall be tested per procedure specified in 49 CFR § 572.112(a). (c... peak resultant acceleration shall be between 125 g's and 155 g's; (2) The resultant acceleration-time curve shall be unimodal to the extent that oscillations occurring after the main acceleration...

  17. 49 CFR 572.182 - Head assembly.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ...) Test procedure. The head shall be tested per procedure specified in 49 CFR § 572.112(a). (c... peak resultant acceleration shall be between 125 g's and 155 g's; (2) The resultant acceleration-time curve shall be unimodal to the extent that oscillations occurring after the main acceleration...

  18. 49 CFR 572.182 - Head assembly.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    .... The head shall be tested per procedure specified in 49 CFR § 572.112(a). (c) Performance criteria. (1... acceleration shall be between 125 g's and 155 g's; (2) The resultant acceleration-time curve shall be unimodal to the extent that oscillations occurring after the main acceleration pulse shall not exceed...

  19. 49 CFR 572.122 - Head assembly and test procedure.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 7 2011-10-01 2011-10-01 false Head assembly and test procedure. 572.122 Section 572.122 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) ANTHROPOMORPHIC TEST DEVICES Six-year-old Child Test Dummy, Beta Version...

  20. 49 CFR 572.122 - Head assembly and test procedure.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 7 2014-10-01 2014-10-01 false Head assembly and test procedure. 572.122 Section 572.122 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) ANTHROPOMORPHIC TEST DEVICES Six-year-old Child Test Dummy, Beta Version...

  1. Improved high-temperature gimbal joint

    NASA Technical Reports Server (NTRS)

    Winemiller, J. R.; Yee, S. T.; Neal, B. H.

    1972-01-01

    Development and characteristics of bellows gimbal joint for reduction of thermal stress effects are discussed. Reactions of designed joint to changes in temperature are described. Illustrations of conventional gimbal joint and improved gimbal joint are provided.

  2. Piezoelectric actuated gimbal

    DOEpatents

    Tschaggeny, Charles W.; Jones, Warren F.; Bamberg, Eberhard

    2011-09-13

    A gimbal is described and which includes a fixed base member defining an axis of rotation; a second member concentrically oriented relative to the axis of rotation; a linear actuator oriented in immediate, adjoining force transmitting relation relative to the base member or to the second member, and which applies force along a linear axis which is tangential to the axis of rotation so as to cause the second member to rotate coaxially relative to the fixed base member; and an object of interest mounted to the second member such that the object of interest is selectively moved relative to the base member about the axis of rotation.

  3. Antares alignment gimbal positioner

    SciTech Connect

    Day, R.D.; Viswanathan, V.K.; Saxman, A.C.; Lujan, R.E.; Woodfin, G.L.; Sweatt, W.C.

    1981-01-01

    Antares is a 24-beam 40-TW carbon-dioxide (CO/sub 2/) laser fusion system currently under construction at the Los Alamos National Laboratory. The Antares alignment gimbal positioner (AGP) is an optomechanical instrument that will be used for target alignment and alignment of the 24 laser beams, as well as beam quality assessments. The AGP will be capable of providing pointing, focusing, and wavefront optical path difference, as well as aberration information at both helium-neon (He-Ne) and CO/sub 2/ wavelengths. It is designed to allow the laser beams to be aligned to any position within a 1-cm cube to a tolerance of 10 ..mu..m.

  4. A precision bearing gimbal system for the Teal Ruby program

    NASA Technical Reports Server (NTRS)

    Lowry, C. H.

    1980-01-01

    A precision bearing gimbal system designed to allow a spaceborne infrared sensor to stare at points on the Earth while in orbit is described. The problems encountered, analytical tools and test methods used, and data applicable to users of similar systems are presented. Assembly procedures, bearing preload effects, moisture control, structural analysis, and noise control are specifically examined.

  5. 49 CFR 572.72 - Head assembly and test procedure.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... intersection of the head midsagittal plane and the transverse plane which is perpendicular to the Z axis of the... and midsagittal planes passing through this point. (3) Impact the head with the test probe so that at... in the dummy's midsagittal plane. (4) Guide the test probe during impact so that there is...

  6. 49 CFR 572.172 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... the test, clean the impact surface of the skin and the impact plate surface with isopropyl alcohol... ± 0.04 in) from the impact surface. The 1.57 mm (0.062 in) diameter holes located on either side of the dummy's head shall be used to ensure that the head is level with respect to the impact surface....

  7. 49 CFR 572.72 - Head assembly and test procedure.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... in paragraph (c) of this section, then the resultant head acceleration measured at the location of... more than 160g. (1) The recorded acceleration-time curve for this test is unimodal at or above the 50g... milliseconds. (2) The lateral acceleration vector does not exceed 5g. (c) Head test procedure. The...

  8. 49 CFR 572.72 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... in paragraph (c) of this section, then the resultant head acceleration measured at the location of... more than 160g. (1) The recorded acceleration-time curve for this test is unimodal at or above the 50g... milliseconds. (2) The lateral acceleration vector does not exceed 5g. (c) Head test procedure. The...

  9. 49 CFR 572.72 - Head assembly and test procedure.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... in paragraph (c) of this section, then the resultant head acceleration measured at the location of... more than 160g. (1) The recorded acceleration-time curve for this test is unimodal at or above the 50g... milliseconds. (2) The lateral acceleration vector does not exceed 5g. (c) Head test procedure. The...

  10. Gimbaled-shoulder friction stir welding tool

    NASA Technical Reports Server (NTRS)

    Carter, Robert W. (Inventor); Lawless, Kirby G. (Inventor)

    2010-01-01

    A gimbaled-shoulder friction stir welding tool includes a pin and first and second annular shoulders coupled to the pin. At least one of the annular shoulders is coupled to the pin for gimbaled motion with respect thereto as the tool is rotated by a friction stir welding apparatus.

  11. High Gain Antenna Gimbal for the 2003-2004 Mars Exploration Rover Program

    NASA Technical Reports Server (NTRS)

    Sokol, Jeff; Krishnan, Satish; Ayari, Laoucet

    2004-01-01

    The High Gain Antenna Assemblies built for the 2003-2004 Mars Exploration Rover (MER) missions provide the primary communication link for the Rovers once they arrive on Mars. The High Gain Antenna Gimbal (HGAG) portion of the assembly is a two-axis gimbal that provides the structural support, pointing, and tracking for the High Gain Antenna (HGA). The MER mission requirements provided some unique design challenges for the HGAG. This paper describes all the major subsystems of the HGAG that were developed to meet these challenges, and the requirements that drove their design.

  12. 49 CFR 572.122 - Head assembly and test procedure.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... and the head must be oriented to an incline of 62 ±1 deg. between the “D” plane as shown in Figure N1 and the plane of the impact surface. The 1.57 mm (0.062 in) diameter holes located on either side...

  13. 49 CFR 572.122 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... and the head must be oriented to an incline of 62 ±1 deg. between the “D” plane as shown in Figure N1 and the plane of the impact surface. The 1.57 mm (0.062 in) diameter holes located on either side...

  14. 49 CFR 572.122 - Head assembly and test procedure.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... and the head must be oriented to an incline of 62 ±1 deg. between the “D” plane as shown in Figure N1 and the plane of the impact surface. The 1.57 mm (0.062 in) diameter holes located on either side...

  15. 49 CFR 572.152 - Head assembly and test procedure.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... acceleration measured at the head CG shall not be less than 100 g or more than 120 g. The resultant acceleration vs. time history curve shall be unimodal, and the oscillations occurring after the main pulse shall be less than 17 percent of the peak resultant acceleration. The lateral acceleration shall...

  16. 49 CFR 572.152 - Head assembly and test procedure.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... acceleration measured at the head CG shall not be less than 100 g or more than 120 g. The resultant acceleration vs. time history curve shall be unimodal, and the oscillations occurring after the main pulse shall be less than 17 percent of the peak resultant acceleration. The lateral acceleration shall...

  17. 49 CFR 572.152 - Head assembly and test procedure.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... acceleration measured at the head CG shall not be less than 100 g or more than 120 g. The resultant acceleration vs. time history curve shall be unimodal, and the oscillations occurring after the main pulse shall be less than 17 percent of the peak resultant acceleration. The lateral acceleration shall...

  18. 49 CFR 572.152 - Head assembly and test procedure.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... acceleration measured at the head CG shall not be less than 100 g or more than 120 g. The resultant acceleration vs. time history curve shall be unimodal, and the oscillations occurring after the main pulse shall be less than 17 percent of the peak resultant acceleration. The lateral acceleration shall...

  19. Non-Gimbaled Antenna Pointing

    NASA Technical Reports Server (NTRS)

    Vigil, Jeannine S.

    1997-01-01

    The small satellite community has been interested in accessing fixed ground stations for means of space-to-ground transmissions, although a problem arises from the limited global coverage. There is a growing interest for using the Space Network (SN) or Tracking and Data Relay Satellites (TDRS) as the primary support for communications because of the coverage it provides. This thesis will address the potential for satellite access of the Space Network with a non-gimbaled antenna configuration and low-power, coded transmission. The non-gimbaled antenna and the TDRS satellites, TDRS-East, TDRS-West, and TDRS-Zone of Exclusion, were configured in an orbital analysis software package called Satellite Tool Kit to emulate the three-dimensional position of the satellites. The access potential, which is the average number of contacts per day and the average time per contact, were obtained through simulations run over a 30-day period to gain all the possible orientations. The orbital altitude was varied from 600 km through 1200 km with the results being a function of orbital inclination angles varying from 20 deg through 100 deg and pointing half-angles of I0 deg through 40 deg. To compare the validity of the simulations, Jet Propulsion Laboratory granted the use of the TOPEX satellite. The TOPEX satellite was configured to emulate a spin-stabilized antenna with its communications antenna stowed in the zenith-pointing direction. This mimicked the antenna pointing spin-stabilized satellite in the simulations. To make valid comparisons, the TOPEX orbital parameters were entered into Satellite Tool Kit and simulated over five test times provided by Jet Propulsion Laboratory.

  20. 49 CFR 572.152 - Head assembly and test procedure.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... period specified in this section. (2) Before the test, clean the impact surface of the head skin and the steel impact plate surface with isopropyl alcohol, trichlorethane, or an equivalent. Both impact... point on the forehead is 376.0 ±1.0 mm (14.8 ±0.04 in) from the impact surface. The 3.30 mm (0.13...

  1. Shuttle Main Engine Firing in Gimbal Test

    NASA Technical Reports Server (NTRS)

    1995-01-01

    A close-up view of a Space Shuttle Main Engine during a test at the John C. Stennis Space Center shows how the engine is gimballed, or rotated to evaluate the performance of its components under simulated flight conditions.

  2. Study and Characterization of Tobacco Mosaic Virus Head-to-tail Assembly Assisted by Aniline Polymerization

    SciTech Connect

    Niu,Z.; Bruckman, M.; Kotakadi, V.; He, J.; Emrick, T.; Russell, T.; Yang, L.; Wang, Q.

    2006-01-01

    One-dimensional composite nanofibres with narrow dispersity, high aspect ratio and high processibility have been fabricated by head-to-tail self-assembly of rod-like tobacco mosaic virus assisted by aniline polymerization, which can promote many potential applications including electronics, optics, sensing and biomedical engineering.

  3. Gimballed Shoulders for Friction Stir Welding

    NASA Technical Reports Server (NTRS)

    Carter, Robert; Lawless, Kirby

    2008-01-01

    In a proposed improvement of tooling for friction stir welding, gimballed shoulders would supplant shoulders that, heretofore, have been fixedly aligned with pins. The proposal is especially relevant to self-reacting friction stir welding. Some definitions of terms, recapitulated from related prior NASA Tech Briefs articles, are prerequisite to a meaningful description of the proposed improvement. In friction stir welding, one uses a tool that includes (1) a rotating shoulder on top (or front) of the workpiece and (2) a pin that rotates with the shoulder and protrudes from the shoulder into the depth of the workpiece. In conventional friction stir welding, the main axial force exerted by the tool on the workpiece is reacted through a ridged backing anvil under (behind) the workpiece. When conventional friction stir welding is augmented with an auto-adjustable pin-tool (APT) capability, the depth of penetration of the pin into the workpiece is varied in real time by a position- or forcecontrol system that extends or retracts the pin as needed to obtain the desired effect. In self-reacting (also known as self-reacted) friction stir welding as practiced heretofore, there are two shoulders: one on top (or front) and one on the bottom (or back) of the workpiece. In this case, a threaded shaft protrudes from the tip of the pin to beyond the back surface of the workpiece. The back shoulder is held axially in place against tension by a nut on the threaded shaft. Both shoulders rotate with the pin and remain aligned coaxially with the pin. The main axial force exerted on the workpiece by the tool and front shoulder is reacted through the back shoulder and the threaded shaft into the friction-stir-welding machine head, so that a backing anvil is no longer needed. A key transmits torque between the bottom shoulder and the threaded shaft, so that the bottom shoulder rotates with the shaft. This concludes the prerequisite definitions of terms.

  4. Suspension system for gimbal supported scanning payloads

    NASA Technical Reports Server (NTRS)

    Polites, Michael E. (Inventor)

    1995-01-01

    Gimballed scanning devices or instruments are the subject of this invention. Scanning is an important aspect of space science. To achieve a scan pattern some means must be provided which impart to the payload an oscillatory motion. Various forms of machines have been employed for controllably conferring on scanning instruments predetermined scan patterns. They include control moment gyroscopes, reaction wheels, torque motors, reaction control systems, and the like. But rotating unbalanced mass (RUM) devices are a new and efficient way to generate scans in gimballed payloads. RUM devices are superior to previous scanning apparatus, but they require power consuming and frequently complex auxiliary control systems to position and reposition the particular scan pattern relative to a target or a number of targets. Herein the control system is simplified. The most frequently employed method for achieving the various scan patterns is to gimbal the scanning device. Gimbals are suspended in such a way that they can be activated to generate the scan pattern. The suspension means described is for payloads supported in gimbals wherein the payload rotation is restricted by a flex pivot so that the payload oscillates, thereby moving in a scan pattern.

  5. Design study of TDRS antenna gimbal system for LANDSAT-D

    NASA Technical Reports Server (NTRS)

    Wu, J.

    1977-01-01

    The conceptual design studies of a two axis antenna drive assembly for the TDRSS link communications subsystem for LANDSAT D are presented. The recommended antenna drive assembly is a simple and reliable design substantially similar to the antenna and solar array drives developed and space qualified for programs such as DSCS 2 and FltSatCom. The gimbal design tradeoff is presented, along with drive electronics.

  6. The Mariner Mars 1971 gimbal actuator

    NASA Technical Reports Server (NTRS)

    Perkins, G. S.

    1971-01-01

    The actuator that will point the gimbaled engine, thus performing the autopilot actuation function for the Mariner Mars 1971 spacecraft, is described. The gimbaled engine has two axes of freedom, providing two-axis control to the spacecraft. Motion for the two axes is provided by identical and interchangeable actuators-gearless electromechanical linear servomechanisms. Each actuator is designed to have a long service life in the space environment and to be able to function at speeds ranging from hours per cycle to cycles per second.

  7. Development of a Spacecraft Antenna Pointing Gimbal

    NASA Technical Reports Server (NTRS)

    Monroe, Charles; Rossoni, Peter

    2008-01-01

    The development of the pointing gimbal in the high-gain antenna system (HGAS) of the Solar Dynamics Observatory spacecraft is described. The gimbal was designed for 5 years of service in Geo-Synchronous orbit. The hardware incorporates multiple levels of redundancy, allows harnessing and waveguide along its full length across its two axes of rotation and points with an accuracy of better than 0.065 . Significant issues with actuator alignment, Electrical Contact Ring noise, pointing budget, and waveguide failures are described, along with their respective resolutions

  8. High Performance Piezoelectric Actuated Gimbal (HIERAX)

    SciTech Connect

    Charles Tschaggeny; Warren Jones; Eberhard Bamberg

    2007-04-01

    This paper presents a 3-axis gimbal whose three rotational axes are actuated by a novel drive system: linear piezoelectric motors whose linear output is converted to rotation by using drive disks. Advantages of this technology are: fast response, high accelerations, dither-free actuation and backlash-free positioning. The gimbal was developed to house a laser range finder for the purpose of tracking and guiding unmanned aerial vehicles during landing maneuvers. The tilt axis was built and the test results indicate excellent performance that meets design specifications.

  9. Space Station Freedom Beta Gimbal Control via Sensitivity Models

    NASA Technical Reports Server (NTRS)

    Schoenwald, David A.; Ozguner, Umit; Graham, Ronald E.

    1993-01-01

    Tracking control of the Space Station Freedom solar array beta gimbals is investigated. Of particular interest is the issue of control in the presence of uncertainty in gimbal friction parameters. Sensitivity functions are incorporated into the feedback loop to desensitize the gimbal control law to parameter variations. Simulation results indicated that one such sensitivity function improves the closed-loop performance of the gimbals in the presence of unexpected friction parameter dispersions.

  10. A gimbal platform stabilization for topographic applications

    SciTech Connect

    Michele, Mangiameli Giuseppe, Mussumeci

    2015-03-10

    The aim of this work is the stabilization of a Gimbal platform for optical sensors acquisitions in topographic applications using mobile vehicles. The stabilization of the line of sight (LOS) consists in tracking the command velocity in presence of nonlinear noise due to the external environment. The hardware architecture is characterized by an Ardupilot platform that allows the control of both the mobile device and the Gimbal. Here we developed a new approach to stabilize the Gimbal platform, which is based on neural network. For the control system, we considered a plant that represents the transfer function of the servo system control model for an inertial stabilized Gimbal platform. The transductor used in the feed-back line control is characterized by the Rate Gyro transfer function installed onboard of Ardupilot. For the simulation and investigation of the system performance, we used the Simulink tool of Matlab. Results show that the hardware/software approach is efficient, reliable and cheap for direct photogrammetry, as well as for general purpose applications using mobile vehicles.

  11. Steering laws for double-gimbal control-moment gyros

    NASA Technical Reports Server (NTRS)

    Winder, S. W.

    1978-01-01

    Derivation of CMG steering laws was considered. The type of CMG considered was a double gimbal one which has a constant magnitude momentum vector. The equations for the generation of torque of an inertially fixed CMG are presented. To realize a particular commanded torque, the gimbal rates of the CMG must be specified. These gimbal rates are shown to be functions of gimbal angle orientation and the commanded torque. The conventional cross-product steering law was derived by minimizing a function which was the square of the magnitude of the error between the commanded torque and the realizable torque of the gyro. This steering law was severely dependent upon the inner gimbal angle. When the inner gimbal reaches 90 degrees, the cross product law requires infinite outer gimbal rates to realize finite torque values.

  12. Estimation of neutron production from accelerator head assembly of 15 MV medical LINAC using FLUKA simulations

    NASA Astrophysics Data System (ADS)

    Patil, B. J.; Chavan, S. T.; Pethe, S. N.; Krishnan, R.; Bhoraskar, V. N.; Dhole, S. D.

    2011-12-01

    For the production of a clinical 15 MeV photon beam, the design of accelerator head assembly has been optimized using Monte Carlo based FLUKA code. The accelerator head assembly consists of e-γ target, flattening filter, primary collimator and an adjustable rectangular secondary collimator. The accelerators used for radiation therapy generate continuous energy gamma rays called Bremsstrahlung (BR) by impinging high energy electrons on high Z materials. The electron accelerators operating above 10 MeV can result in the production of neutrons, mainly due to photo nuclear reaction (γ, n) induced by high energy photons in the accelerator head materials. These neutrons contaminate the therapeutic beam and give a non-negligible contribution to patient dose. The gamma dose and neutron dose equivalent at the patient plane (SSD = 100 cm) were obtained at different field sizes of 0 × 0, 10 × 10, 20 × 20, 30 × 30 and 40 × 40 cm 2, respectively. The maximum neutron dose equivalent is observed near the central axis of 30 × 30 cm 2 field size. This is 0.71% of the central axis photon dose rate of 0.34 Gy/min at 1 μA electron beam current.

  13. Modular head assembly and method of retrofitting existing nuclear reactor facilities

    SciTech Connect

    Malandra, L.J.; Ledue, R.J.; Hankinson, M.F.; Kowalski, E.F.

    1987-07-07

    A method is described of retrofitting existing nuclear reactor facilities so as to form a modular closure head assembly for a nuclear reactor pressure vessel, where the existing nuclear reactor facilities comprise control rod drive mechanism cooling systems which include vertically extending elbow air ducts inter-connecting vertically spaced upper and lower air manifolds. The elbow air ducts extend radially beyond the peripheral envelope of the closure head, comprising the steps of: removing the upper air manifold; removing the vertically extending elbow air ducts; capping the air ports of the lower air manifold which ports were previously fluidically connecting the lower air manifold to the vertically extending elbow air ducts; disposing vertically upwardly extending air exhaust ducts above the lower air manifold in such an manner that the air exhaust ducts are disposed within the peripheral envelope of the closure head; fluidically connecting exhaust fans to the upper regions of the air exhaust ducts; fluidically connecting the lower regions of the air exhaust ducts the lower air manifold; permanently securing lift rods to the closure head at positions disposed radially outwardly of the lower air manifold; attaching a seismic support platform to the lift rods; proving fluidic passage of the vertically extending air exhaust ducts through the seismic support platform; attaching a missile shield plate to the lift rods; and proving fluidic passage of the vertically extending air exhaust ducts through the missile shield plate.

  14. Problems Encountered During the Recertification of the GLORY Solar Array Dual Axis Gimbal Drive Actuators

    NASA Technical Reports Server (NTRS)

    Saltzman, Marc; Schepis, Jospeh P.; Bruckner, Michael J.

    2009-01-01

    The Glory observatory is the current incarnation of the Vegetation Canopy Lidar (VCL) mission spacecraft bus. The VCL spacecraft bus, having been cancelled for programmatic reasons in 2000, was nearly integrated when it was put into storage for possible future use. The Glory mission was a suitable candidate for using this spacecraft and in 2006 an effort to recertify the two axis solar array gimbal drive after its extended storage was begun. What was expected to be a simple performance validation of the two dual axis gimbal stepper motors became a serious test, diagnosis and repair task once questions arose on the flight worthiness of the hardware. A significant test program logic flow was developed which identified decisions that could be made based on the results of individual recertification tests. Without disassembling the bi-axial gimbals, beginning with stepper motor threshold voltage measurements and relating these to powered drive torque measurements, both performed at the spacecraft integrator s facility, a confusing picture of the health of the actuators came to light. Tests at the gimbal assembly level and tests of the disassembled actuators were performed by the manufacturer to validate our results and torque discrepancies were noted. Further disassembly to the component level of the actuator revealed the source of the torque loss.

  15. MiniSAR composite gimbal arm development.

    SciTech Connect

    Klarer, Paul Richard; Winscott, Mark

    2005-01-01

    An exploratory effort in the application of carbon epoxy composite structural materials to a multi-axis gimbal arm design is described. An existing design in aluminum was used as a baseline for a functionally equivalent redesigned outer gimbal arm using a carbon epoxy composite material. The existing arm was analyzed using finite element techniques to characterize performance in terms of strength, stiffness, and weight. A new design was virtually prototyped. using the same tools to produce a design with similar stiffness and strength, but reduced overall weight, than the original arm. The new design was prototyped using Rapid Prototyping technology, which was subsequently used to produce molds for fabricating the carbon epoxy composite parts. The design tools, process, and results are discussed.

  16. Evaluation of a double Gimbal IPACS design

    NASA Technical Reports Server (NTRS)

    Burke, P. R.; Coronato, P. A.

    1986-01-01

    The suitability of various integrated power/attitude control systems (IPACS) rotor materials was analyzed. Three materials were investigated: (1) 6A1-4V-Titanium (the current IPACS rotor material); (2) B120 VCA Titanium; and (3) Custom 455 stainless steel. The preliminary linear vibration analysis was updated to include the weights and stiffnesses of the gimbals design. A belleville washer spring preload mechanism was designed to replace the existing helical spring and interference fit preload mechanism.

  17. Linear covariance analysis for gimbaled pointing systems

    NASA Astrophysics Data System (ADS)

    Christensen, Randall S.

    Linear covariance analysis has been utilized in a wide variety of applications. Historically, the theory has made significant contributions to navigation system design and analysis. More recently, the theory has been extended to capture the combined effect of navigation errors and closed-loop control on the performance of the system. These advancements have made possible rapid analysis and comprehensive trade studies of complicated systems ranging from autonomous rendezvous to vehicle ascent trajectory analysis. Comprehensive trade studies are also needed in the area of gimbaled pointing systems where the information needs are different from previous applications. It is therefore the objective of this research to extend the capabilities of linear covariance theory to analyze the closed-loop navigation and control of a gimbaled pointing system. The extensions developed in this research include modifying the linear covariance equations to accommodate a wider variety of controllers. This enables the analysis of controllers common to gimbaled pointing systems, with internal states and associated dynamics as well as actuator command filtering and auxiliary controller measurements. The second extension is the extraction of power spectral density estimates from information available in linear covariance analysis. This information is especially important to gimbaled pointing systems where not just the variance but also the spectrum of the pointing error impacts the performance. The extended theory is applied to a model of a gimbaled pointing system which includes both flexible and rigid body elements as well as input disturbances, sensor errors, and actuator errors. The results of the analysis are validated by direct comparison to a Monte Carlo-based analysis approach. Once the developed linear covariance theory is validated, analysis techniques that are often prohibitory with Monte Carlo analysis are used to gain further insight into the system. These include the creation

  18. Analytical study of the inside-out Gimbal dynamics. Volume 1: Analytical study of inside-out/coincident Gimbal dynamics

    NASA Technical Reports Server (NTRS)

    Rybak, S. C.

    1976-01-01

    The performance capabilities and limitations of the instrument pointing system (IPS) are described. Suggestions of design modifications that result in overall improved IPS performance are included. Since the design and configuration of the IPS was modified a portion of the study was performed with the inside-out Gimbal configuration which was updated to the present coincident Gimbal system configuration. Due to the similarity of the two systems, the results obtained for the inside-out Gimbal also apply to the coincident Gimbal system.

  19. The search for the ultimate gimbal

    NASA Technical Reports Server (NTRS)

    Studer, P. A.

    1979-01-01

    The need for higher accuracy in pointing systems continues to grow. Fundamental limitations are inherent in the components used for gimbals. This paper discusses some developments which are expected to make it possible to achieve higher accuracy and stability. Ironless armature torque motors are described which exhibit zero hysteresis and no preferred position. Non-contacting signal and power transfer devices to eliminate friction and cable-wrap torques have also been developed. Magnetic bearings can eliminate the last remaining source of erratic frictional effects. Controllers using Kalman estimation techniques can accommodate constant residual effects.

  20. Bottom head to shell junction assembly for a boiling water nuclear reactor

    DOEpatents

    Fife, Alex Blair; Ballas, Gary J.

    1998-01-01

    A bottom head to shell junction assembly which, in one embodiment, includes an annular forging having an integrally formed pump deck and shroud support is described. In the one embodiment, the annular forging also includes a top, cylindrical shaped end configured to be welded to one end of the pressure vessel cylindrical shell and a bottom, conical shaped end configured to be welded to the disk shaped bottom head. Reactor internal pump nozzles also are integrally formed in the annular forging. The nozzles do not include any internal or external projections. Stubs are formed in each nozzle opening to facilitate welding a pump housing to the forging. Also, an upper portion of each nozzle opening is configured to receive a portion of a diffuser coupled to a pump shaft which extends through the nozzle opening. Diffuser openings are formed in the integral pump deck to provide additional support for the pump impellers. The diffuser opening is sized so that a pump impeller can extend at least partially therethrough. The pump impeller is connected to the pump shaft which extends through the nozzle opening.

  1. Bottom head to shell junction assembly for a boiling water nuclear reactor

    DOEpatents

    Fife, A.B.; Ballas, G.J.

    1998-02-24

    A bottom head to shell junction assembly which, in one embodiment, includes an annular forging having an integrally formed pump deck and shroud support is described. In the one embodiment, the annular forging also includes a top, cylindrical shaped end configured to be welded to one end of the pressure vessel cylindrical shell and a bottom, conical shaped end configured to be welded to the disk shaped bottom head. Reactor internal pump nozzles also are integrally formed in the annular forging. The nozzles do not include any internal or external projections. Stubs are formed in each nozzle opening to facilitate welding a pump housing to the forging. Also, an upper portion of each nozzle opening is configured to receive a portion of a diffuser coupled to a pump shaft which extends through the nozzle opening. Diffuser openings are formed in the integral pump deck to provide additional support for the pump impellers. The diffuser opening is sized so that a pump impeller can extend at least partially therethrough. The pump impeller is connected to the pump shaft which extends through the nozzle opening. 5 figs.

  2. Failure of Harmonic Gears During Verification of a Two-Axis Gimbal for the Mars Reconnaissance Orbiter Spacecraft

    NASA Technical Reports Server (NTRS)

    Johnson, Michael R.; Gehling, Russ; Head, Ray

    2006-01-01

    The Mars Reconnaissance Orbiter (MRO) spacecraft has three two-axis gimbal assemblies that support and move the High Gain Antenna and two solar array wings. The gimbal assemblies are required to move almost continuously throughout the mission's seven-year lifetime, requiring a large number of output revolutions for each actuator in the gimbal assemblies. The actuator for each of the six axes consists of a two-phase brushless dc motor with a direct drive to the wave generator of a size-32 cup-type harmonic gear. During life testing of an actuator assembly, the harmonic gear teeth failed completely, leaving the size-32 harmonic gear with a maximum output torque capability less than 10% of its design capability. The investigation that followed the failure revealed limitations of the heritage material choices that were made for the harmonic gear components that had passed similar life requirements on several previous programs. Additionally, the methods used to increase the stiffness of a standard harmonic gear component set, while accepted practice for harmonic gears, is limited in its range. The stiffness of harmonic gear assemblies can be increased up to a maximum stiffness point that, if exceeded, compromises the reliability of the gear components for long life applications.

  3. An evaluation of dry film lubricants and substrate materials for use on SSME gimbal bearings

    NASA Technical Reports Server (NTRS)

    Harp, J. A.

    1976-01-01

    Failure of the spherical bearing shaft of the Space Shuttle Main Engine (SSME) gimbal bearing assembly was encountered during Design Verification Specification testing of the full scale engine. Investigation revealed that the failure was caused by a deficiency in the lubrication system. Based upon the materials and gimbal operating conditions, a lubricant of MoS2 and graphite with a ceramic binder was the best lubricant candidate for this particular application; however, the decision to implement the change was not made without verification testing. Scaled down simulation testing was performed. Four different substrate materials and eight different dry film lubricants were subjected to tests under simulated SSME environmental and stress load conditions. The test specimens were evaluated for friction and operating life. Each test specimen was subjected to cyclic operation under load until failure. The force required to move the bearing surfaces relative to each other was monitored throughout the test, thus providing analytical data for derivation of the coefficient of friction. Results indicate that the MoS2/graphite lubricant with ceramic binder proved to be superior from the standpoint of endurance and also from the standpoint of friction reducing capabilities when applied to the titanium substrate material used on SSME. Endurance of this lubricant was approximately 16 times that of the lubricant which was being used when the SSME gimbal failed.

  4. Centaur engine gimbal friction characteristics under simulated thrust load

    NASA Technical Reports Server (NTRS)

    Askew, J. W.

    1986-01-01

    An investigation was performed to determine the friction characteristics of the engine gimbal system of the Centaur upper stage rocket. Because the Centaur requires low-gain autopilots in order to meet all stability requirements for some configurations, control performance (response to transients and limit-cycle amplitudes) depends highly on these friction characteristics. Forces required to rotate the Centaur engine gimbal system were measured under a simulated thrust load of 66,723 N (15,000 lb) and in an altitude/thermal environment. A series of tests was performed at three test conditions; ambient temperature and pressure, ambient temperature and vacuum, and cryogenic temperature and vacuum. Gimbal rotation was controlled, and tests were performed in which rotation amplitude and frequency were varied by using triangular and sinusoidal waveforms. Test data revealed an elastic characteristic of the gimbal, independent of the input signal, which was evident prior to true gimbal sliding. The torque required to initiate gimbal sliding was found to decrease when both pressure and temperature decreased. Results from the low amplitude and low frequency data are currently being used in mathematically modeling the gimbal friction characteristics for Centaur autopilot performance studies.

  5. Gimbal bearing design considerations and friction control

    NASA Technical Reports Server (NTRS)

    Kramer, N. R.

    1979-01-01

    The design considerations of bearing selection, bearing fits, bearing installation, and thermal control are discussed for a gimbal with a high stiffness, low friction torque requirement. Tradeoffs between a quad set of small diameter spread apart or a large diameter bearing pair resulted in a cleaner, lighter, stiffer unit with the latter selection. Bearing fits were designed to eliminate clearances with tolerances of .00127 mm 00005 in) on the bearing shafts and housings. The problems in metrology are discussed and a perferred technique for measurement of small cross-section bearings described. A technique for installation to assure proper seating of the bearing is offered. Where transient thermal conditions are involved, a method of controlling bearing friction by active control of bearing temperature gradients including the use of bearing unload test curves is described.

  6. Assembly And Initial Characterization Of A Panel Of 85 Genomically Validated Cell Lines From Diverse Head And Neck Tumor Sites

    PubMed Central

    Zhao, Mei; Sano, Daisuke; Pickering, Curtis R.; Jasser, Samar A.; Henderson, Ying C.; Clayman, Gary L.; Sturgis, Erich M.; Ow, Thomas J.; Lotan, Reuben; Carey, Thomas E.; Sacks, Peter G.; Grandis, Jennifer R.; Sidransky, David; Heldin, Nils Erik; Myers, Jeffrey N.

    2011-01-01

    Purpose Human cell lines are useful for studying cancer biology and pre-clinically modeling cancer therapy, but can be misidentified and cross contamination is unfortunately common. The purpose of this study was to develop a panel of validated head and neck cell lines representing the spectrum of tissue sites and histologies that could be used for studying the molecular, genetic, and phenotypic diversity of head and neck cancer. Methods A panel of 122 clinically and phenotypically diverse head and neck cell lines from head and neck squamous cell carcinoma (HNSCC), thyroid cancer, cutaneous squamous cell carcinoma, adenoid cystic carcinoma, oral leukoplakia, immortalized primary keratinocytes, and normal epithelium, was assembled from the collections of several individuals and institutions. Authenticity was verified by performing short tandem repeat (STR) analysis. Human papillomavirus (HPV) status and cell morphology were also determined. Results Eighty-five of the 122 cell lines had unique genetic profiles. HPV-16 DNA was detected in 2 cell lines. These 85 cell lines included cell lines from the major head and neck primary tumor sites, and close examination demonstrates a wide range of in vitro phenotypes. Conclusion This panel of 85 genomically validated head and neck cell lines represents a valuable resource for the head and neck cancer research community that can help advance understanding of the disease by providing a standard reference for cell lines that can be utilized for biological as well as preclinical studies. PMID:21868764

  7. Space Station Power Generation in Support of the Beta Gimbal Anomaly Resolution

    NASA Technical Reports Server (NTRS)

    Delleur, Ann M.; Propp, Timothy W.

    2003-01-01

    The International Space Station (ISS) is the largest and most complex spacecraft ever assembled and operated in orbit. The first U.S. photovoltaic (PV) module, containing two solar arrays, was launched, installed, and activated in early December 2000. After the first week of continuously rotating the U.S. solar arrays, engineering personnel in the ISS Mission Evaluation Room (MER) observed higher than expected electrical currents on the drive motor in one of the Beta Gimbal Assemblies (BGA), the mechanism used to maneuver a U.S. solar array. The magnitude of the motor currents continued to increase over time on both BGA's, creating concerns about the ability of the gimbals to continue pointing the solar arrays towards the sun, a function critical for continued assembly of the ISS. A number of engineering disciplines convened in May 2001 to address this on-orbit hardware anomaly. This paper reviews the ISS electrical power system (EPS) analyses performed to develop viable operational workarounds that would minimize BGA use while maintaining sufficient solar array power to continue assembly of the ISS. Additionally, EPS analyses performed in support of on-orbit BGA troubleshooting exercises is reviewed. EPS capability analyses were performed using SPACE, a computer code developed by NASA Glenn Research Center (GRC) for the ISS program office.

  8. Two gimbal bearing case studies: Some lessons learned

    NASA Technical Reports Server (NTRS)

    Loewenthal, Stuart H.

    1988-01-01

    Two troublesome, torque related problems associated with gimbal actuators are discussed. Large, thin section angular contact bearings can have a surprisingly high torque sensitivity to radial thermal gradients. A predictive thermal-mechanical bearing analysis, as described, was helpful in establishing a safe temperature operating envelope. In the second example, end-of-travel torque limits of an oscillatory gimbal bearing appoached motor stall during limit cycling life tests. Bearing modifications required to restore acceptable torque performance are described. The lessons learned from these case studies should benefit designers of precision gimbals where singular bearing torque related problems are not uncommon.

  9. Optical Gimbal Mechanism for Use at 4.2 K

    NASA Technical Reports Server (NTRS)

    Chave, R.

    1994-01-01

    A two axis optical gimbal mechanism for aligning 1 meter diameter telescope primaries and test flat mirrors at temperatures from 300 to 4.2 K is being constructed for use in the Cryogenic Telescope Test Facility.

  10. Piezo-based miniature high resolution stabilized gimbal

    NASA Astrophysics Data System (ADS)

    Karasikov, Nir; Peled, Gal; Yasinov, Roman; Yetkariov, Rita

    2016-05-01

    Piezo motors are characterized by higher mechanical power density, fast response and direct drive. These features are beneficial for miniature gimbals. A gimbal based on such motors was developed. Diameter is 58 mm, weight is 190 grams. The gimbal carries two cameras: a Flir Quark and an HD day camera. The dynamic performance is as high as 3 rad/sec velocity and 100 rad/secΛ2 acceleration. A two axes stabilization algorithm was developed, yielding 80 micro radian stabilization. Further, a panoramic image capture, at a rate of six stabilized field of views per second, was developed. The manuscript reviews the gimbal structure and open architecture, allowing adaptation to other cameras (SWIR etc.), the control algorithm and presents experimental results of stabilization and of panoramic views taken on a vibration platform and on a UAV.

  11. Space Station Power Generation Investigated in Support of the Beta Gimbal Anomaly Resolution

    NASA Technical Reports Server (NTRS)

    Delleur, Ann M.; Propp, Timothy

    2004-01-01

    The International Space Station (ISS) is the largest and most complex spacecraft ever assembled and operated in orbit. The first U.S. photovoltaic module, containing two solar arrays, was launched, installed, and activated in early December 2000. After the first week of continuously rotating the U.S. solar arrays, engineering personnel in the ISS Mission Evaluation Room observed higher than expected electrical currents on the drive motor in one of the Beta Gimbal Assemblies (BGA), the mechanism used to maneuver a U.S. solar array (see the on-orbit photograph). The magnitude of the motor currents continued to increase over time on both BGAs, creating concerns about the ability of the gimbals to continue pointing the solar arrays towards the Sun, a function critical for continued assembly of the ISS. The BGA provides two critical capabilities to the ISS: (1) transfer of electrical power across a rotating joint and (2) positioning of the solar arrays. A number of engineering disciplines convened in May 2001 to address this on-orbit hardware anomaly. Over the course of a year, many scenarios were developed and used. Only two are discussed here: parked arrays and dual-angle mode.

  12. A gimbaled low noise momentum wheel

    NASA Technical Reports Server (NTRS)

    Bichler, U.; Eckardt, T.

    1993-01-01

    The bus actuators are the heart and at the same time the Achilles' heel of accurate spacecraft stabilization systems, because both their performance and their perturbations can have a deciding influence on the achievable pointing accuracy of the mission. The main task of the attitude actuators, which are mostly wheels, is the generation of useful torques with sufficiently high bandwidth, resolution and accuracy. This is because the bandwidth of the whole attitude control loop and its disturbance rejection capability is dependent upon these factors. These useful torques shall be provided, without - as far as possible - parasitic noise like unbalance forces and torques and harmonics. This is because such variable frequency perturbations excite structural resonances which in turn disturb the operation of sensors and scientific instruments. High accuracy spacecraft will further require bus actuators for the three linear degrees of freedom (DOF) to damp structural oscillations excited by various sources. These actuators have to cover the dynamic range of these disturbances. Another interesting feature, which is not necessarily related to low noise performance, is a gimballing capability which enables, in a certain angular range, a three axis attitude control with only one wheel. The herein presented Teldix MWX, a five degree of freedom Magnetic Bearing Momentum Wheel, incorporates all the above required features. It is ideally suited to support, as a gyroscopic actuator in the attitude control system, all High Pointing Accuracy and Vibration Sensitive space missions.

  13. A gimbaled low noise momentum wheel

    NASA Astrophysics Data System (ADS)

    Bichler, U.; Eckardt, T.

    1993-05-01

    The bus actuators are the heart and at the same time the Achilles' heel of accurate spacecraft stabilization systems, because both their performance and their perturbations can have a deciding influence on the achievable pointing accuracy of the mission. The main task of the attitude actuators, which are mostly wheels, is the generation of useful torques with sufficiently high bandwidth, resolution and accuracy. This is because the bandwidth of the whole attitude control loop and its disturbance rejection capability is dependent upon these factors. These useful torques shall be provided, without - as far as possible - parasitic noise like unbalance forces and torques and harmonics. This is because such variable frequency perturbations excite structural resonances which in turn disturb the operation of sensors and scientific instruments. High accuracy spacecraft will further require bus actuators for the three linear degrees of freedom (DOF) to damp structural oscillations excited by various sources. These actuators have to cover the dynamic range of these disturbances. Another interesting feature, which is not necessarily related to low noise performance, is a gimballing capability which enables, in a certain angular range, a three axis attitude control with only one wheel. The herein presented Teldix MWX, a five degree of freedom Magnetic Bearing Momentum Wheel, incorporates all the above required features. It is ideally suited to support, as a gyroscopic actuator in the attitude control system, all High Pointing Accuracy and Vibration Sensitive space missions.

  14. Rotation axes of the head during positioning, head shaking, and locomotion.

    PubMed

    Kunin, Mikhail; Osaki, Yasuhiro; Cohen, Bernard; Raphan, Theodore

    2007-11-01

    Static head orientations obey Donders' law and are postulated to be rotations constrained by a Fick gimbal. Head oscillations can be voluntary or generated during natural locomotion. Whether the rotation axes of the voluntary oscillations or during locomotion are constrained by the same gimbal is unknown and is the subject of this study. Head orientation was monitored with an Optotrak (Northern Digital). Human subjects viewed visual targets wearing pin-hole goggles to achieve static head positions with the eyes centered in the orbit. Incremental rotation axes were determined for pitch and yaw by computing the velocity vectors during head oscillation and during locomotion at 1.5 m/s on a treadmill. Static head orientation could be described by a generalization of the Fick gimbal by having the axis of the second rotation rotate by a fraction, k, of the angle of the first rotation without a third rotation. We have designated this as a k-gimbal system. Incremental rotation axes for both pitch and yaw oscillations were functions of the pitch but not the yaw head positions. The pivot point for head oscillations was close to the midpoint of the interaural line. During locomotion, however, the pivot point was considerably lower. These findings are well explained by an implementation of the k-gimbal model, which has a rotation axis superimposed on a Fick-gimbal system. This could be realized physiologically by the head interface with the dens and occipital condyles during head oscillation with a contribution of the lower spine to pitch during locomotion. PMID:17898142

  15. Gimbals Drive and Control Electronics Design, Development and Testing of the LRO High Gain Antenna and Solar Array Systems

    NASA Technical Reports Server (NTRS)

    Chernyakov, Boris; Thakore, Kamal

    2010-01-01

    Launched June 18, 2009 on an Atlas V rocket, NASA's Lunar Reconnaissance Orbiter (LRO) is the first step in NASA's Vision for Space Exploration program and for a human return to the Moon. The spacecraft (SC) carries a wide variety of scientific instruments and provides an extraordinary opportunity to study the lunar landscape at resolutions and over time scales never achieved before. The spacecraft systems are designed to enable achievement of LRO's mission requirements. To that end, LRO's mechanical system employed two two-axis gimbal assemblies used to drive the deployment and articulation of the Solar Array System (SAS) and the High Gain Antenna System (HGAS). This paper describes the design, development, integration, and testing of Gimbal Control Electronics (GCE) and Actuators for both the HGAS and SAS systems, as well as flight testing during the on-orbit commissioning phase and lessons learned.

  16. Redundant single gimbal control moment gyroscope singularity analysis

    NASA Technical Reports Server (NTRS)

    Bedrossian, Nazareth S.; Paradiso, Joseph; Bergmann, Edward V.; Rowell, Derek

    1990-01-01

    The robotic manipulator is proposed as the mechanical analog to single gimbal control moment gyroscope systems, and it is shown that both systems share similar difficulties with singular configurations. This analogy is used to group gimbal angles corresponding to any momentum state into different families. The singularity problem associated with these systems is examined in detail. In particular, a method is presented to test for the possibility of nontorque-producing gimbal motion at a singular configuration, as well as to determine the admissible motions in the case when this is possible. Sufficient conditions are derived for instances where the singular system can be reconfigured into a nonsingular state by these nontorque-producing motions.

  17. Specular points and critical gimbal angles of ogival radomes

    NASA Astrophysics Data System (ADS)

    Rengarajan, Sembiam R.

    1988-07-01

    Results on critical gimbal angles of ogival radomes have been presented as a function of fineness ratios and source point locations. It is shown that, for a given source point and reflected ray direction, no more than two specular points generally exist on the radome inner surface. The critical gimbal angle, beyond which reflected rays contribute to geometrical optics fields, is obtained in terms of a turning-point effect. Critical gimbal angles computed are significantly different from previously published results which overlooked the turning-point effect. Special techniques to determine the contribution of specular points near the turning point are briefly discussed. The techniques proposed can be applied to rotationally symmetric geometries other than ogives.

  18. Analytical study of inside-out Gimbal dynamics. Volume 2: Appendix

    NASA Technical Reports Server (NTRS)

    Rybak, S. C.

    1976-01-01

    Stability data, eigenvalue data, and instrument pointing system earth point tracking time histories at various orbital altitudes are presented. These data apply to the inside-out Gimbal system configuration and the coincident Gimbal system configuration.

  19. Engine Gimbal Requirements for Ground Testing of J-2X

    NASA Technical Reports Server (NTRS)

    Kovalcik, Julia; Leahy, Joe

    2009-01-01

    Based on the Apollo-era J-2 that powered the second and third stages of the Saturn V, the current J-2X is the liquid hydrogen and oxygen high-altitude rocket engine in development for both the Ares I Upper Stage and Ares V Earth Departure Stage. During my summer 2009 internship, J-2X was at a stage in its design maturity where verification testing needed to be considered for the benefit of adequate test facility preparation. My task was to focus on gimbal requirements and gimbal related hot-fire test plans. Facility capabilities were also of interest, specifically for hot-fire testing slated to occur at test stands A-1, A-2, and A-3 at Stennis Space Center(SSC) in Bay St. Louis, Mississippi. Gimbal requirements and stage interface conditions were investigated by applying a top-to-bottom systems engineering approach, which involved system level requirements, engine level requirements from both government and engine contractor perspectives, component level requirements, and the J-2X to Upper Stage and Earth Departure Stage interface control documents. Previous hydrogen and oxygen liquid rocket engine gimbal verification methods were researched for a glimpse at lessons learned. Discussion among the J-2X community affected by gimballing was organized to obtain input relative to proper verification of their respective component. Implementing suggestions such as gimbal pattern, angulated dwell time, altitude testing options, power level, and feed line orientation, I was able to match tests to test stands in the A Complex at SSC. Potential test capability gaps and risks were identified and pursued. The culmination of all these efforts was to coordinate with SSC to define additional facility requirements for both the A-3 altitude test stand that is currently under construction and the A-1 sea level test stand which is being renovated

  20. Jerrie Cobb, Lady Pilot, testing Gimbal Rig in AWT

    NASA Technical Reports Server (NTRS)

    1960-01-01

    Jerrie Cobb, a well known female pilot in the 1950s, testing Gimbal Rig in the Altitude Wind Tunnel, AWT in April 1960. The Gimbal Rig, formally called MASTIF or Multiple Axis Space Test Inertia Facility, was used to train astronauts to control the spin of a tumbling spacecraft. Jerrie Cobb was the first female to pass all three phases of the Mercury Astronaut Program but NASA rules stipulated that only military test pilots could become astronauts and there were no female military test pilots. Jerrie completed this astounding feat in 1961. The MASTIF was installed at the Altitude Wind Tunnel at the Lewis Research Center, now John H. Glenn Research Center.

  1. Reactionless gimbal actuator for precision pointing of large payloads

    NASA Technical Reports Server (NTRS)

    Laskin, R. A.; Kopf, E. H.; Sirlin, S. W.; Spanos, J. T.; Wiktor, P. J.

    1988-01-01

    A novel actuator for application to precision pointing gimbal systems is described. The new actuator, dubbed the Reactuator, is capable of large output torques for payload pointing while minimizing reaction torques that can excite gimbal support structure. The Reactuator is able to approach reactionless operation by using an integral wheel to absorb the reaction torques. The advantages that result are described through analysis and simulation examples. Methods for designing control algorithms for the Reactuator are discussed and the results of preliminary breadboard tests are presented.

  2. Failure management of multiple gimbal inertial systems for space shuttle

    NASA Technical Reports Server (NTRS)

    Dove, D. W.; Mckern, R. A.

    1973-01-01

    A failure detection and isolation technique for use with four gimbaled inertial measurement units (IMU) is presented. By using simulated boost and entry shuttle trajectories with specific gimbaled IMU models, failure detection thresholds are developed based on red-line life dependent requirements and warning thresholds within the red-line thresholds based on expected worst case IMU performance. Using these trajectories, established trajectory threshold, and multiple IMU models, various failure detection and isolation techniques are evaluated for application in both powered and unpowered flight phases. The adequacy of the systems for both attitude and velocity detection methods is evaluated and recommendations for space shuttle applications are made.

  3. Treatment with a position feedback-controlled head stabilizer.

    PubMed

    Harris, F A

    1979-08-01

    A position feedback-controlled head stabilizer has been developed to provide cerebral palsied individuals with resistive exercise to strengthen the neck musculature. This apparatus detects "involuntary" head motion and stabilizes the head by applying opposing forces; it also can be used to facilitate muscular contraction by resisting the subject's voluntary movements. The purpose of the present study was to determine whether voluntary head control in cerebral palsied individuals can be improved through systematic exercise using the stabilizer to strengthen the muscles of the neck and improve their balance of action. The findings support the author's contention that this is possible. The apparatus consists of a helmet and shoulder pads, interconnected so that the head is supported in the helmet by a manipulator arm. At its lower end, the manipulator arm is attached to the shoulder pad mounting frame via a gimbal assembly which allows head movement in two planes of tilt (pitch, or forward-and back, and roll, or side-to-side). Feedback control circuitry is so arranged that any deviation of the head from the desired position leads to actuation of pneumatic cylinders, which apply torques to the manipulator gimbal axes so as to oppose or conteract the incipient head movement. It is particularly significant that none of these patients participating in these experiments were at all apprehensive about or resisted being placed in the apparatus. (Even the youngest subject to use the apparatus--five year old-- did not mind being restrained by the shoulder pads or having his head gripped by helment.) While JG utilized the safety release valve quite often during the first few head control training sessions, he soon became confident enough in the action of the stabilizer that he did not even bother to grip the handle of the release valve. While DA had the action of safety valve explained and demonstrated for her, she never bothered to use it even from the outset of her experience

  4. Constraints on arm position when pointing in three dimensions: Donders' law and the Fick gimbal strategy.

    PubMed

    Hore, J; Watts, S; Vilis, T

    1992-08-01

    1. While making saccades between targets with the head stationary, eye positions are constrained to two of the possible three degrees of freedom. Classically this constraint has been described by Donders' and Listing's laws. The objective was to determine whether these laws also apply for the straight arm when pointing between different targets. Thus we determined whether the arm adopts only one angular position for every pointing direction (Donders' law) and whether these positions can be described by rotations from a reference position about axes that lie in a plane (Listing's law). 2. The angular positions (orientations) of the arm in three-dimensional space were studied as subjects pointed with a straight arm at different targets. Arm position was measured with the search coil technique by means of coils attached to the back of the hand. Pointing was studied over a range of +/- 45 degrees in all directions from a central target located 45 degrees to the right of the straight-ahead position. 3. The positions of the arm in space were described by quaternion vectors, i.e., a particular position was described in terms of the axis and amplitude of a rotation from a reference position to that position. Using this description, it was found that the straight arm adopted a similar orientation (standard deviations ranged from 2.8 to 4.8 degrees) when pointing at a particular target irrespective of which target from which it had moved. 4. The angular position vectors for arm positions associated with relatively small movements (e.g., less than +/- 30 degrees) lay in a flat surface with minimal torsion. At first sight, this surface appeared to be similar to Listing's plane of the eye. However, for positions associated with larger movements (e.g., +/- 45 degrees) it became apparent that, unlike the eye, the surface deviated from one obeying Listing's law, i.e., it was twisted and showed torsion like that produced by rotations around the horizontal and vertical axes of a

  5. Two different approaches for a control law of single gimbal control moment gyros

    NASA Technical Reports Server (NTRS)

    Schiehlen, W. O.

    1972-01-01

    In the field of momentum exchange attitude control systems, single gimbal control moment gyros (SGCMG) are of increasing interest. A gimbal angle approach and a gimbal rate approach are presented for the SGCMG control law including the singularity avoidance. Both approaches are compared and some illustrative examples are given.

  6. Optimal open-loop and feedback control using single gimbal control moment gyroscopes

    NASA Technical Reports Server (NTRS)

    Hoelscher, Brian R.; Vadali, Srinvas R.

    1993-01-01

    Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employs an integrated model of the spacecraft dynamics with the control moment gyroscope dynamics. Smooth and continuous open-loop control profiles are obtained which minimize a weighted function of maneuver time, magnitude of control effort, and proximity to singular gimbal configurations. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The schemes are presented for implementing the commanded state feedback: gimbal rate control and gimbal acceleration control. The appropriate handling of singular gimbal configurations is also discussed.

  7. Torque command steering law for double-gimbaled control moment gyros applied to rotor energy storage

    SciTech Connect

    Kennel, H.F.

    1984-11-01

    A steering law is presented which has all the features required for space applications, assuming the CMG outer gimbal freedom is unlimited. The reason is the idea of mounting all the outer gimbal axes of the CMGs parallel to each other. This allows the decomposition of the steering law problem into a linear one for the inner gimbal angle rates and a planar one for the outer gimbal angle rates. The inner gimbal angle rates are calculated first, since they are not affected by the outer gimbal angle rates. For the calculation of the outer rates, the inner rates are then known quantities. An outer gimbal angle distribution function (to avoid singularities internal to the total angular momentum envelope) generates distribution rates next, and finally the pseudoinverse method is used to insure that the desired total torque is delivered.

  8. Torque command steering law for double-gimbaled control moment gyros applied to rotor energy storage

    NASA Technical Reports Server (NTRS)

    Kennel, H. F.

    1984-01-01

    A steering law is presented which has all the features required for space applications, assuming the CMG outer gimbal freedom is unlimited. The reason is the idea of mounting all the outer gimbal axes of the CMGs parallel to each other. This allows the decomposition of the steering law problem into a linear one for the inner gimbal angle rates and a planar one for the outer gimbal angle rates. The inner gimbal angle rates are calculated first, since they are not affected by the outer gimbal angle rates. For the calculation of the outer rates, the inner rates are then known quantities. An outer gimbal angle distribution function (to avoid singularities internal to the total angular momentum envelope) generates distribution rates next, and finally the pseudoinverse method is used to insure that the desired total torque is delivered.

  9. AXISYMMETRIC, THROTTLEABLE NON-GIMBALLED ROCKET ENGINE

    NASA Technical Reports Server (NTRS)

    Sackheim, Robert L. (Inventor); Hutt, John J. (Inventor); Anderson, William E. (Inventor); Dressler, Gordon A. (Inventor)

    2005-01-01

    A rocket engine assembly is provided for a vertically launched rocket vehicle. A rocket engine housing of the assembly includes two or more combustion chambers each including an outlet end defining a sonic throat area. A propellant supply for the combustion chambers includes a throttling injector, associated with each of the combustion chambers and located opposite to sonic throat area, which injects the propellant into the associated combustion chamber. A modulator, which may form part of the injector, and which is controlled by a controller, modulates the flow rate of the propellant to the combustion chambers so that the chambers provide a vectorable net thrust. An expansion nozzle or body located downstream of the throat area provides expansion of the combustion gases produced by the combustion chambers so as to increase the net thrust.

  10. Reaction bonded silicon carbide gimbaled pointing mirror

    NASA Astrophysics Data System (ADS)

    Robichaud, J.; Akerstrom, A.; Frey, S.; Crompton, D.; Cucchiaro, P.; Deveau, G.; Peters, M.; Mason, S.; Ullathorne, C.

    2007-09-01

    A Silicon Carbide (SiC) based wide field of view Pointing Mirror Assembly (PMA) has been developed to provide two axis line-of-sight control for a fixed, space based imaging sensor. Thermal modeling has been completed in order to project the excellent thermal stability anticipated from the SiC PMA, and closed loop servo testing of the hardware has been conducted in order to quantify the bandwidth associated with line-of-sight control. In addition to the system level testing the SiC mirror substrate itself has been tested for thermal stability. We also report on results obtained with a novel polishing technique which has been applied in order to allow optical finishing of the two-phased Reaction Bonded (RB) SiC mirror substrate without the need for Silicon or SiC claddings.

  11. Optimization of a gimbal-scanned infrared seeker

    NASA Astrophysics Data System (ADS)

    Williams, Elmer F.; Evans, Robert H.; Brant, Karl; Stockum, Larry A.

    1991-08-01

    Optimization of an infrared missile seeker requires designing the detector, optics, scanner, control system, and signal processing hardware to 'best' meet the mission performance and physical packaging requirements. 'Best' is usually defined in terms of maximum signal-to-noise ratio and/or minimum acquisition time for various target ranges, target signatures, and atmospheric conditions. This paper presents simulation and experimental results from optimization studies of a gimbal-scanned infrared seeker. The optimization criterion is maximization of the SNR for small targets in the presence of large background variations. The experimental hardware consists of a multi-element detector array, an inertially stabilized gimbal scanned by the gimbal control system, a sensor digital signal processor, and a system computer. The system permits varying the detector angular subtense, scan rate, scan angle, sensor gain, sensor dynamic range, and the acquisition algorithms. The hardware, which includes an imaging radiometer for collecting target signature data, is integrated in a pod flown on a P-3 aircraft. Theoretical optimum values for the variable parameters are derived for generic target conditions by laboratory and computer simulations. Experimental performance of the seeker as a function of the variable parameters is measured and compared to the simulation values. 'Real world' optimization criteria and problems limiting the seeker performance are discussed.

  12. Evolutionarily conserved morphogenetic movements at the vertebrate head-trunk interface coordinate the transport and assembly of hypopharyngeal structures.

    PubMed

    Lours-Calet, Corinne; Alvares, Lucia E; El-Hanfy, Amira S; Gandesha, Saniel; Walters, Esther H; Sobreira, Débora Rodrigues; Wotton, Karl R; Jorge, Erika C; Lawson, Jennifer A; Kelsey Lewis, A; Tada, Masazumi; Sharpe, Colin; Kardon, Gabrielle; Dietrich, Susanne

    2014-06-15

    The vertebrate head-trunk interface (occipital region) has been heavily remodelled during evolution, and its development is still poorly understood. In extant jawed vertebrates, this region provides muscle precursors for the throat and tongue (hypopharyngeal/hypobranchial/hypoglossal muscle precursors, HMP) that take a stereotype path rostrally along the pharynx and are thought to reach their target sites via active migration. Yet, this projection pattern emerged in jawless vertebrates before the evolution of migratory muscle precursors. This suggests that a so far elusive, more basic transport mechanism must have existed and may still be traceable today. Here we show for the first time that all occipital tissues participate in well-conserved cell movements. These cell movements are spearheaded by the occipital lateral mesoderm and ectoderm that split into two streams. The rostrally directed stream projects along the floor of the pharynx and reaches as far rostrally as the floor of the mandibular arch and outflow tract of the heart. Notably, this stream leads and engulfs the later emerging HMP, neural crest cells and hypoglossal nerve. When we (i) attempted to redirect hypobranchial/hypoglossal muscle precursors towards various attractants, (ii) placed non-migratory muscle precursors into the occipital environment or (iii) molecularly or (iv) genetically rendered muscle precursors non-migratory, they still followed the trajectory set by the occipital lateral mesoderm and ectoderm. Thus, we have discovered evolutionarily conserved morphogenetic movements, driven by the occipital lateral mesoderm and ectoderm, that ensure cell transport and organ assembly at the head-trunk interface. PMID:24662046

  13. Design and Development of a Two-Axis Thruster Gimbal with Xenon Propellant Lines

    NASA Technical Reports Server (NTRS)

    Asadurian, Armond

    2010-01-01

    A Two-Axis Thruster Gimbal was developed for a two degree-of-freedom tip-tilt gimbal application. This light weight gimbal mechanism is equipped with flexible xenon propellant lines and features numerous thermal control features for all its critical components. Unique thermal profiles and operating environments have been the key design drivers for this mechanism which is fully tolerant of extreme space environmental conditions. Providing thermal controls that are compatible with flexible components and are also capable of surviving launch vibration within this gimbal mechanism has proven to be especially demanding, requiring creativity and significant development effort. Some of these features, design drivers, and lessons learned will be examined herein.

  14. Structural rearrangements in the phage head-to-tail interface during assembly and infection

    PubMed Central

    Chaban, Yuriy; Lurz, Rudi; Brasilès, Sandrine; Cornilleau, Charlène; Karreman, Matthia; Zinn-Justin, Sophie; Tavares, Paulo; Orlova, Elena V.

    2015-01-01

    Many icosahedral viruses use a specialized portal vertex to control genome encapsidation and release from the viral capsid. In tailed bacteriophages, the portal system is connected to a tail structure that provides the pipeline for genome delivery to the host cell. We report the first, to our knowledge, subnanometer structures of the complete portal–phage tail interface that mimic the states before and after DNA release during phage infection. They uncover structural rearrangements associated with intimate protein–DNA interactions. The portal protein gp6 of bacteriophage SPP1 undergoes a concerted reorganization of the structural elements of its central channel during interaction with DNA. A network of protein–protein interactions primes consecutive binding of proteins gp15 and gp16 to extend and close the channel. This critical step that prevents genome leakage from the capsid is achieved by a previously unidentified allosteric mechanism: gp16 binding to two different regions of gp15 drives correct positioning and folding of an inner gp16 loop to interact with equivalent loops of the other gp16 subunits. Together, these loops build a plug that closes the channel. Gp16 then fastens the tail to yield the infectious virion. The gatekeeper system opens for viral genome exit at the beginning of infection but recloses afterward, suggesting a molecular diaphragm-like mechanism to control DNA efflux. The mechanisms described here, controlling the essential steps of phage genome movements during virus assembly and infection, are likely to be conserved among long-tailed phages, the largest group of viruses in the Biosphere. PMID:25991862

  15. Optical line-of-sight steering using gimbaled mirrors

    NASA Astrophysics Data System (ADS)

    Satyarthi, Satyam

    2014-06-01

    As the resolution and throughput of optical sensors increase, they require higher line-of-sight slew rates and more precise stabilization. Furthermore, smaller and lighter sensor systems are also preferred because on-vehicle space is always at a premium. Consequently, mirror based line-of-sight control and stabilization systems have become more attractive as they are generally lighter and more compact than other systems. A general strategy for deriving the kinematic equations for mirror based imaging systems is established in this paper. Some of the most common mirror con gurations and their basic kinematic equations are also presented. Some challenges and design considerations of gimbaled mirrors line-of-sight steering and stabilization systems are also discussed.

  16. Development of a Miniature, Two-Axis, Triple-Helmholtz-Driven Gimbal

    NASA Technical Reports Server (NTRS)

    Sharif, Boz; Joscelyn, Ed; Wilcox, Brian; Johnson, Michael R.

    2000-01-01

    This paper details the development of a Helmholtz-driven, 2-axis gimbal to position a flat mirror within 50 microradian (fine positioning) in a space environment. The gimbal is intended to travel on a deep space mission mounted on a miniature "rover" vehicle. The gimbal will perform both pointing and scanning functions. The goal for total mass of the gimbal was 25 grams. The primary challenge was to design and build a bearing system that would achieve the required accuracy in addition to supporting the relatively large mass of the mirror and the outer gimbal. The mechanism is subjected to 100-G loading without the aid of any additional caging mechanism. Additionally, it was desired to have the same level of accuracy during Earth-bound, 1-G testing. Due to the inherent lack of damping in a zero-G, vacuum environment; the ability of the gimbal to respond to very small amounts of input energy is paramount. Initial testing of the first prototype revealed exceedingly long damping times required even while exposed to the damping effects of air and 1-G friction. It is envisioned that fine positioning of the gimbal will be accomplished in very small steps to avoid large disturbances to the mirror. Various bearing designs, including materials, lubrication options and bearing geometry will be discussed. In addition various options for the Helmholtz coil design will be explored with specific test data given. Ground testing in the presence of 1-G was compounded by the local magnetic fields due to the "compass" effect on the gimbal. The test data will be presented and discussed. Additionally, rationale for estimating gimbal performance in a zero-G environment will be presented and discussed.

  17. Precision Attitude Determination System (PADS) system design and analysis: Single-axis gimbal star tracker

    NASA Technical Reports Server (NTRS)

    1974-01-01

    The feasibility is evaluated of an evolutionary development for use of a single-axis gimbal star tracker from prior two-axis gimbal star tracker based system applications. Detailed evaluation of the star tracker gimbal encoder is considered. A brief system description is given including the aspects of tracker evolution and encoder evaluation. System analysis includes evaluation of star availability and mounting constraints for the geosynchronous orbit application, and a covariance simulation analysis to evaluate performance potential. Star availability and covariance analysis digital computer programs are included.

  18. Exploring architectures at the nanoscale: the interplay between hydrophobic twin lipid chains and head groups of designer peptide amphiphiles in the self-assembly process and application.

    PubMed

    Dasgupta, Antara

    2016-05-11

    The self-assembly of peptide amphiphiles (PAs) is found to be governed by the hydrophobic interactions induced by the hydrophobic groups/number of alkyl chains and the hydrophilic head groups. In this study, an assessment of the nanostructures formed by the self-assembly of simple twin chained PAs was carried out and compared to their single chain/short analogues. The spectroscopic and microscopic analysis revealed the fact that the twin chained amphiphiles had a high inclination to form β-sheet nanofibers and further towards hydrogelation. The mixture of twin chained PAs also exhibited cooperative self-assembly with improved aggregation behavior, although not much augmentation in β-type structuring was found. In contrast, the single chain/short analogue containing PAs showed very less of β-sheet type structures to a lesser extent and no hydrogelating behavior but resulted in mostly random conformations. The increase in the number or alteration of polar head groups in double chained PAs induced higher extent of β-type conformation and better gelling capability due to the combined hydrophobic effect of the twin chains. The overall results delineated the dominance of hydrophobic interactions. Finally, calcium phosphate bio-mineralization was done in the hydrogels of twin chained PAs with the aim of developing future biomaterials. PMID:27079384

  19. The heading of a vehicle moving with roll and trim

    NASA Astrophysics Data System (ADS)

    Danilovich, L. N.

    1983-06-01

    A method is developed for deriving accurate formulas for calculating the heading errors of a vehicle moving with roll and trim. It is assumed that a two-degree-of-freedom gyroscope with gimbal suspension without correction is used, the main axis of the gyroscope being deflected from the horizon plane. Results obtained using the aforementioned formulas are presented.

  20. On the design and development of a miniature ceramic gimbal bearing

    NASA Technical Reports Server (NTRS)

    Hanson, Robert A.; Odwyer, Barry; Gordon, Keith M.; Jarvis, Edward W.

    1990-01-01

    A review is made of a program to develop ceramic gimbal bearings for a miniaturized missile guidance system requiring nonmagnetic properties and higher load capacity than possible with conventional AISI 440C stainless steel bearings. A new gimbal design concept is described which utilizes the compressive strength and nonmagnetic properties of silicon nitride (Si3N4) ceramics for the gimbal bearing. Considerable manufacturing development has occurred in the last 5 years making ceramic bearings a viable option in the gimbal design phase. A preliminary study into the feasibility of the proposed design is summarized. Finite element analysis of the brittle ceramic bearing components under thermal stress and high acceleration loading were conducted to ensure the components will not fail catastrophically in service. Finite element analysis was also used to optimize the adhesive joint design. Bearing torque tests run at various axial loads indicate that the average running torque of ceramic bearings varies with load similarly to that of conventional steel bearings.

  1. Computer program to generate attitude error equations for a gimballed platform

    NASA Technical Reports Server (NTRS)

    Hall, W. A., Jr.; Morris, T. D.; Rone, K. Y.

    1972-01-01

    Computer program for solving attitude error equations related to gimballed platform is described. Program generates matrix elements of attitude error equations when initial matrices and trigonometric identities have been defined. Program is written for IBM 360 computer.

  2. Adaptive PD Tracking Control of Gimbal on Satellite Based on Parameter Revision

    NASA Astrophysics Data System (ADS)

    Wang, Wei-Min; Zhao, Guo-Wei; Bai, Jun-Qing; Wang, Hao-Yu

    As key component of pointing and tracking mission of satellite, gimbal with two or more degree of freedom is usually mounted on the satellite in order to fulfill certain space mission, such as optical communication between satellites, target recognition, antenna with certain pointing direction and so on. In these missions, gimbal is mostly used to point to and track a space target or a given track. However, for most control method, because of their constant feedback parameter, the gimbal still track target with constant speed when the target is in high-speed or the satellite mounted with gimbal is suddenly undertaken shock. In fact, the gimbal could track target with different speed to improve pointing accuracy under particular circumstance. In order to solve the problem, an algorithm to revise feedback parameter is designed to be different functions of pointing angle error of gimbal. At last a simulation is carried out to verify the improvement of joint angle error using this algorithm under particular circumstance. The results proved that the joint angle error is efficiently decreased with feedback parameter revision.

  3. Steering law for parallel mounted double-gimbaled control moment gyros. Revision A

    NASA Technical Reports Server (NTRS)

    Kennel, H. F.

    1981-01-01

    Mounting of double-gimbaled control moment gyros (CMG's) of unlimited outer gimbal angle freedom with all their outer gimbal axes parallel allows drastic simplification of the CMG steering law development hardware. The advantages of the parallel mounting for the CMG steering law development are such that a law could be developed which is applicable to any number of CMG's with arbitrary angular momentum. Parallel mounting of the CMG's in conjunction with the steering law can therefore be considered a CMG kit suitable for many missions of differing momentum requirements. It also means that increasing momentum demands during the design phase of a space vehicle can be easily met by the addition of one or more CMG's of the original momentum capacity rather than a redesign to a larger momentum capacity. Another advantage of the parallel mounting is that the failure of any CMG can be treated like any other, i.e., only one failure mode is possible. The CMG steering law distributes the CMG momentum vectors such that all inner gimbal angles are equal which reduces the rate requirements on the outer gimbal axes. The steering law also spreads the outer gimbals which ensures avoidance of singularities internal to the angular momentum envelope.

  4. Facilitated assembly of the preinitiation complex by separated tail and head/middle modules of the mediator.

    PubMed

    Galdieri, Luciano; Desai, Parima; Vancura, Ales

    2012-01-20

    Mediator is a general coactivator of RNA polymerase II (RNA pol II) bridging enhancer-bound transcriptional factors with RNA pol II. Mediator is organized in three distinct subcomplexes: head, middle, and tail modules. The head and middle modules interact with RNA pol II, and the tail module interacts with transcriptional activators. Deletion of one of the tail subunits SIN4 results in derepression of a subset of genes, including FLR1, by a largely unknown mechanism. Here we show that derepression of FLR1 transcription in sin4Δ cells occurs by enhanced recruitment of the mediator as well as Swi/Snf and SAGA complexes. The tail and head/middle modules of the mediator behave as separate complexes at the induced FLR1 promoter. While the tail module remains anchored to the promoter, the head/middle modules are also found in the coding region. The separation of the tail and head/middle modules in sin4Δ cells is also supported by the altered stoichiometry of the tail and head/middle modules at several tested promoters. Deletion of another subunit of the tail module MED2 in sin4Δ cells results in significantly decreased transcription of FLR1, pointing to the importance of the integrity of the separated tail module in derepression. All tested genes exhibited increased recruitment of the tail domain; however, only genes with increased occupancy of the head/middle modules also displayed increased transcription. The separated tail module thus represents a promiscuous transcriptional factor that binds to many different promoters and is necessary for derepression of FLR1 in sin4Δ cells. PMID:22137896

  5. SU-E-T-465: Dose Calculation Method for Dynamic Tumor Tracking Using a Gimbal-Mounted Linac

    SciTech Connect

    Sugimoto, S; Inoue, T; Kurokawa, C; Usui, K; Sasai, K; Utsunomiya, S; Ebe, K

    2014-06-01

    Purpose: Dynamic tumor tracking using the gimbal-mounted linac (Vero4DRT, Mitsubishi Heavy Industries, Ltd., Japan) has been available when respiratory motion is significant. The irradiation accuracy of the dynamic tumor tracking has been reported to be excellent. In addition to the irradiation accuracy, a fast and accurate dose calculation algorithm is needed to validate the dose distribution in the presence of respiratory motion because the multiple phases of it have to be considered. A modification of dose calculation algorithm is necessary for the gimbal-mounted linac due to the degrees of freedom of gimbal swing. The dose calculation algorithm for the gimbal motion was implemented using the linear transformation between coordinate systems. Methods: The linear transformation matrices between the coordinate systems with and without gimbal swings were constructed using the combination of translation and rotation matrices. The coordinate system where the radiation source is at the origin and the beam axis along the z axis was adopted. The transformation can be divided into the translation from the radiation source to the gimbal rotation center, the two rotations around the center relating to the gimbal swings, and the translation from the gimbal center to the radiation source. After operating the transformation matrix to the phantom or patient image, the dose calculation can be performed as the no gimbal swing. The algorithm was implemented in the treatment planning system, PlanUNC (University of North Carolina, NC). The convolution/superposition algorithm was used. The dose calculations with and without gimbal swings were performed for the 3 × 3 cm{sup 2} field with the grid size of 5 mm. Results: The calculation time was about 3 minutes per beam. No significant additional time due to the gimbal swing was observed. Conclusions: The dose calculation algorithm for the finite gimbal swing was implemented. The calculation time was moderate.

  6. Gimbal system configurations and line-of-sight control techniques for small UAV applications

    NASA Astrophysics Data System (ADS)

    Miller, Rick; Mooty, Greg; Hilkert, J. M.

    2013-05-01

    The proliferation of small Unmanned Air Vehicles (UAVs) in the past decade has been driven, in part, by the diverse applications that various industries have found for these platforms. Originally, these applications were predominately military in nature but now include law enforcement/security, environmental monitoring/remote sensing, agricultural surveying, movie making and others. Many of these require sensors/payloads such as cameras, laser pointers/ illuminators/rangefinders and other systems that must be pointed and/or stabilized and therefore require a precision miniature gimbal or other means to control their line-of-sight (LOS). Until now, these markets have been served by traditional/larger gimbals; however, the latest class of small UAVs demands much smaller gimbals while maintaining high-performance. The limited size and weight of these gimbaled devices result in design challenges unique to the small-gimbal design field. In the past five years, Ascendant Engineering Solutions has engaged in designing, analyzing and building several small-gimbal systems to meet these challenges and has undertaken a number of trade studies to investigate techniques to achieve optimal performance within the inherent limitations mentioned above. These have included investigating various gimbal configurations, feedback sensors such as gyros, IMUs and encoders, drive train configurations, control system techniques, packaging and interconnect, as well as technology such as fast-steering mirrors and image-stabilization algorithms. This paper summarizes the results of these trade studies, attempts to identify inherent trends and limitations in the various design approaches and techniques, and discusses some practical issues such as test and verification.

  7. Spata6 is required for normal assembly of the sperm connecting piece and tight head-tail conjunction.

    PubMed

    Yuan, Shuiqiao; Stratton, Clifford J; Bao, Jianqiang; Zheng, Huili; Bhetwal, Bhupal P; Yanagimachi, Ryuzo; Yan, Wei

    2015-02-01

    "Pinhead sperm," or "acephalic sperm," a type of human teratozoospermia, refers to the condition in which ejaculate contains mostly sperm flagella without heads. Family clustering and homogeneity of this syndrome suggests a genetic basis, but the causative genes remain largely unknown. Here we report that Spata6, an evolutionarily conserved testis-specific gene, encodes a protein required for formation of the segmented columns and the capitulum, two major structures of the sperm connecting piece essential for linking the developing flagellum to the head during late spermiogenesis. Inactivation of Spata6 in mice leads to acephalic spermatozoa and male sterility. Our proteomic analyses reveal that SPATA6 is involved in myosin-based microfilament transport through interaction with myosin subunits (e.g., MYL6). PMID:25605924

  8. Design Considerations of a Slit Diaphragm Flexure Used in a Precision Mirror Gimbal

    SciTech Connect

    Cox, B. C., Kaufman, M. I.

    2011-09-01

    Two precision mirror gimbals were designed using slit diaphragm flexures to provide two-axis precision mirror alignment in space-limited applications. Both gimbals are currently in use in diagnostics at the National Ignition Facility: one design in the Gamma Reaction History (GRH) diagnostic and the other in the Neutron Imaging System (NIS) diagnostic. The GRH gimbal has an adjustment sensitivity of 0.1 mrad about both axes and a total adjustment capability of ±6°; the NIS gimbal has an adjustment sensitivity of 0.8 μrad about both axes and a total adjustment range of ±3°. Both slit diaphragm flexures were electro-discharge machined out of high-strength titanium and utilize stainless steel stiffeners. The stiffener-flexure design results in adjustment axes with excellent orthogonality and centering with respect to the mirror in a single stage; a typical two-axis gimbal flexure requires two stages. Finite element analyses are presented for both flexure designs, and a design optimization of the GRH flexure is discussed.

  9. Design considerations of a slit diaphragm flexure used in a precision mirror gimbal

    NASA Astrophysics Data System (ADS)

    Cox, Brian; Kaufman, Morris

    2011-09-01

    Two precision mirror gimbals were designed using slit diaphragm flexures to provide two-axis precision mirror alignment in space-limited applications. Both gimbals are currently in use in diagnostics at the National Ignition Facility: one design in the Gamma Reaction History (GRH) diagnostic and the other in the Neutron Imaging System (NIS) diagnostic. The GRH gimbal has an adjustment sensitivity of 0.1 mrad about both axes and a total adjustment capability of +/-6° the NIS gimbal has an adjustment sensitivity of 0.8 μrad about both axes and a total adjustment range of +/-3°. Both slit diaphragm flexures were electro-discharge machined out of high-strength titanium and utilize stainless steel stiffeners. The stiffener-flexure design results in adjustment axes with excellent orthogonality and centering with respect to the mirror in a single stage; a typical two-axis gimbal flexure requires two stages. Finite element analyses are presented for both flexure designs, and a design optimization of the GRH flexure is discussed.

  10. On the stability and pointing of an attached double-gimbal experiment package

    NASA Technical Reports Server (NTRS)

    Groom, N. J.; Shaughnessy, J. D.; Nene, V. D.

    1972-01-01

    The pointing capability of a double gimbal experiment isolation and control system of the Apollo telescope mount (ATM) type was investigated. Three composite structural models of an experiment package connected through frictionless gimbals to a carrier vehicle (including a rigid package-rigid carrier model, a rigid package-flexible carrier model, and a flexible package-flexible carrier model) were used, and a linear model of the nominal ATM gimbal control system is considered. A linear stability analysis was performed to verify stability of the control system with nominal gains. Transform techniques were used to compute pointing errors onboard the experiment package due to random crew motions input into the carrier vehicle. Results of the investigation indicate that there is no stability problem due to flexible coupling of the experiment package and the carrier, and that the ATM-type system is capable of pointing accuracies better than 0.1 arc second.

  11. Design of Wrist Gimbal: a forearm and wrist exoskeleton for stroke rehabilitation.

    PubMed

    Martinez, John A; Ng, Paul; Lu, Son; Campagna, McKenzie S; Celik, Ozkan

    2013-06-01

    In this paper, we present design, implementation and specifications of the Wrist Gimbal, a three degree-of-freedom (DOF) exoskeleton developed for forearm and wrist rehabilitation. Wrist Gimbal has three active DOF, corresponding to pronation/supination, flexion/extension and adduction/abduction joints. We mainly focused on a robust, safe and practical device design to facilitate clinical implementation, testing and acceptance. Robustness and mechanical rigidity was achieved by implementing two bearing supports for each of the pronation/supination and adduction/abduction axes. Rubber hard stops for each axis, an emergency stop button and software measures ensured safe operation. An arm rest with padding and straps, a handle with adjustable distal distance and height and a large inner volume contribute to ease of use, of patient attachment and to comfort. We present the specifications of Wrist Gimbal in comparison with similar devices in the literature and example data collected from a healthy subject. PMID:24187276

  12. Precision Pointing Control System (PPCS) system design and analysis. [for gimbaled experiment platforms

    NASA Technical Reports Server (NTRS)

    Frew, A. M.; Eisenhut, D. F.; Farrenkopf, R. L.; Gates, R. F.; Iwens, R. P.; Kirby, D. K.; Mann, R. J.; Spencer, D. J.; Tsou, H. S.; Zaremba, J. G.

    1972-01-01

    The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target.

  13. Large Angle Reorientation of a Solar Sail Using Gimballed Mass Control

    NASA Astrophysics Data System (ADS)

    Sperber, E.; Fu, B.; Eke, F. O.

    2016-03-01

    This paper proposes a control strategy for the large angle reorientation of a solar sail equipped with a gimballed mass. The algorithm consists of a first stage that manipulates the gimbal angle in order to minimize the attitude error about a single principal axis. Once certain termination conditions are reached, a regulator is employed that selects a single gimbal angle for minimizing both the residual attitude error concomitantly with the body rate. Because the force due to the specular reflection of radiation is always directed along a reflector's surface normal, this form of thrust vector control cannot generate torques about an axis normal to the plane of the sail. Thus, in order to achieve three-axis control authority a 1-2-1 or 2-1-2 sequence of rotations about principal axes is performed. The control algorithm is implemented directly in-line with the nonlinear equations of motion and key performance characteristics are identified.

  14. Large Angle Reorientation of a Solar Sail Using Gimballed Mass Control

    NASA Astrophysics Data System (ADS)

    Sperber, E.; Fu, B.; Eke, F. O.

    2016-06-01

    This paper proposes a control strategy for the large angle reorientation of a solar sail equipped with a gimballed mass. The algorithm consists of a first stage that manipulates the gimbal angle in order to minimize the attitude error about a single principal axis. Once certain termination conditions are reached, a regulator is employed that selects a single gimbal angle for minimizing both the residual attitude error concomitantly with the body rate. Because the force due to the specular reflection of radiation is always directed along a reflector's surface normal, this form of thrust vector control cannot generate torques about an axis normal to the plane of the sail. Thus, in order to achieve three-axis control authority a 1-2-1 or 2-1-2 sequence of rotations about principal axes is performed. The control algorithm is implemented directly in-line with the nonlinear equations of motion and key performance characteristics are identified.

  15. Steering law design for redundant single-gimbal control moment gyroscopes. [for spacecraft attitude control

    NASA Technical Reports Server (NTRS)

    Bedrossian, Nazareth S.; Paradiso, Joseph; Bergmann, Edward V.; Rowell, Derek

    1990-01-01

    Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

  16. A steering law for three double-gimbal control moment gyro systems

    NASA Technical Reports Server (NTRS)

    Yoshikawa, T.

    1975-01-01

    A steering law for three double-gimbal control moment gyro (CMG) systems is proposed. This steering law is applicable to systems with almost any configuration of CMGs and the CMG-out operation needs no special modification. Examples of three double gimbal CMG systems in an orthogonal configuration and in a parallel configuration are shown along with the results of digital simulations. Simulation results show that any command torque can always be met except when the system is in a singular state and that, whenever the system is in, or close to, a singularity, the steering law drives the system state out of the vicinity of the singularity.

  17. An analysis of the Dahl friction model and its effect on a CMG gimbal rate controller

    NASA Technical Reports Server (NTRS)

    Nurre, G. S.

    1974-01-01

    The effects of friction, represented by the Dahl model, on a CMG rate control system was investigated by digital simulation. The conclusion from these simulation results is that gimbal pivot friction can be a significant effect on the gimbal rate control system. The magnitude of the problem this presents depends on the characteristics of the actual pivot. It would appear from this preliminary look that one solution is to insure that the control system natural frequency is higher by some prescribed amount than the natural frequency of the friction loop.

  18. General view of the Space Shuttle Main Engine (SSME) assembly ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    General view of the Space Shuttle Main Engine (SSME) assembly with the expansion nozzle removed and resting on a cushioned mat on the floor of the SSME Processing Facility. The most prominent features in this view are the Low-Pressure Fuel Turbopump (LPFTP) on the upper left of the engine assembly, the LPFTP Discharge Duct looping around the assembly, the Gimbal Bearing on the top center of the assembly, the Electrical Interface Panel sits just below the Gimbal Bearing and the Low-Pressure Oxidizer Turbopump is mounted on the top right of the engine assembly in this view. - Space Transportation System, Space Shuttle Main Engine, Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

  19. Non-Gimbaled Antenna Pointing: Summary of Results and Analysis

    NASA Technical Reports Server (NTRS)

    Horan, Stephen

    1998-01-01

    -gain antennas and associated attitude control and drive electronics; (3) The class of satellites is severely weight and power limited; (4) There are perceived problems in scheduling communications for this class of user on the SN. This report addresses the potential for SN access using non-gimbaled, i.e. fixed-pointed, antennas in the design of the small satellite using modest transmission power to achieve the necessary space-to-ground transmissions. The advantage of using the SN is in the reduction of mission costs arising from using the SN infrastructure instead of a dedicated, proprietary ground station using a similar type of communications package. From the simulations and analysis presented, we will show that a modest satellite configuration can be used with the space network to achieve the data transmission goals of a number of users and thereby rival the performance achieved with proprietary ground stations. In this study, we will concentrate on the return data link (from the user satellite through a TDRS to the ground data entry point). The forward command link (from the ground data entry point through a TDRS to the user satellite) will usually be a lower data rate service and the data volume will also be considerably lower than the return link's requirement. Therefore, we assume that if the return link requirements are satisfied, then the forward link requirements can also be satisfied.

  20. Frequency nondegeneracy of the Lagrange gyroscope and a balanced gyroscope with a gimbal suspension

    NASA Astrophysics Data System (ADS)

    Tatarinov, Ia. V.

    1987-08-01

    The three-frequency nature of the motion of a specific Lagrange gyroscope (whose center of mass does not coincide with the suspension point) and a specific gimbal-mounted gyroscope is demonstrated. The proof presented here is based on frequency expansions near stable relative equilibriums (regular precessions).

  1. Compact optical gimbal as a conformal beam director for large field-of-regard lasercom applications

    NASA Astrophysics Data System (ADS)

    Kesner, Jessica E.; Hinrichs, Keith M.; Narkewich, Lawrence E.; Stephens, Timothy

    2015-03-01

    Laser communication offers advantages over traditional RF communication, including reduced size, weight, and power, higher data rates, and resistance to jamming. However, existing beam directors used for large field-of-regard lasercom terminals have limitations. Traditional gimbals require either domes or large conformal windows to achieve large fields of regard. Risley prism-based beam directors have temperature- and wavelength-dependent pointing necessitating tight temperature control and pointing correction techniques. Other methods, like liquid crystal optical phased array beam directors, have low transmittance and low technology readiness levels (TRLs). This paper presents a detailed design and preliminary performance results of a prototype Compact Optical Gimbal (COG) beam director that provides a 2 inch beam over a +/- 65o field-of-regard through a small (~12 inch) flat window. The COG differs from the traditional gimbal in that it includes three-axis steering with off-axis elevation and dither control, and a folded refractive afocal telescope incorporated into the body of the gimbal to minimize size. The COG's optical system does not have the pointing challenges characteristic of Risley prisms, and it utilizes high TRL components, including many commercial off-theshelf parts, to simplify implementation. The compact size and performance support a variety of beam steering applications and platforms.

  2. A lightweight high performance dual-axis gimbal for space applications

    SciTech Connect

    Pines, D.J.; Hakala, D.B.; Malueg, R.

    1995-05-05

    This paper describes the design, development and performance of a lightweight precision gimbal with dual-axis slew capability to be used in a closed-loop optical tracking system at Lawrence Livermore National Laboratory-LLNL. The motivation for the development of this gimbal originates from the need to acquire and accurately localize warm objects (T{approximately}500 K) in a cluttered background. The design of the gimbal is centered around meeting the following performance requirements: pointing accuracy with control < 35 {mu}rad-(1-{omega}); slew capability > 0.2 rad/sec; mechanical weight < 5 kg. These performance requirements are derived by attempting to track a single target from multiple satellites in low Earth orbit using a mid-wave infrared camera. Key components in the gimbal hardware that are essential to meeting the performance objectives include a nickel plated beryllium mirro, an accurate lightweight capacitive pickoff device for angular measurement about the elevation axis, a 16-bit coarse/fine resolver for angular measurement about the azimuth axis, a toroidally wound motor with low hysteresis for providing torque about the azimuth axis, and the selection of beryllium parts to insure high stiffness to weight ratios and more efficient thermal conductivity. Each of these elements are discussed in detail to illustrate the design trades performed to meet the tracking and slewing requirements demanded. Preliminary experimental results are also given for various commanded tracking maneuvers.

  3. Steering law for parallel mounted double-gimbaled control moment gyros

    NASA Technical Reports Server (NTRS)

    Kennel, H. F.

    1975-01-01

    Parallel mounting of double-gimbaled control moment gyros (DG CMG) is discussed in terms of simplification of the steering law. The steering law/parallel mounted DG CMG is considered to be a 'CMG kit' applicable to any space vehicle where the need for DG CMG's has been established.

  4. The Dynamic Torque Calibration Unit: An instrument for the characterization of bearings used in gimbal applications

    NASA Technical Reports Server (NTRS)

    Jandura, Louise

    1991-01-01

    The Dynamic Torque Calibration Unit (DTCU), an instrument for the characterization of duplex ball bearing pairs used in gimbal applications, was designed and built. The design and operation of the unit are described. Preliminary data from the instrument are presented to illustrate the kinds of experiments that can be performed with the DTCU.

  5. Heater head for stirling engine

    DOEpatents

    Corey, John A.

    1985-07-09

    A monolithic heater head assembly which augments cast fins with ceramic inserts which narrow the flow of combustion gas and obtains high thermal effectiveness with the assembly including an improved flange design which gives greater durability and reduced conduction loss.

  6. Visually controlled spatial stabilisation of the human head: compensation for the eye's limited ability to roll.

    PubMed

    Gresty, M A; Bronstein, A M

    1992-06-01

    During movements of the head in pitch (yes-yes) or in yaw (no-no) the visual scene appears stable whereas rolling the head (ear down to shoulder) induces an apparent swinging of the world in the opposite direction. This visual instability is due to the inadequacy, in the roll plane, of the reflex eye movements which are effective in stabilising the eyes in space during pitch and yaw. We investigated whether head is stabilised in roll to protect against visual instability. Human subjects were fixed in a gimbal with their heads free and were exposed to unpredictable oscillatory movement in pitch and, for comparison roll, about axes aligned with the head. With vision, during roll motion, the head was displaced from upright by approximately half the amplitude of the gimbal motion. In comparison, with eyes closed relying on vestibular and proprioceptive cues and during pitch stimuli with or without vision, the magnitude of head displacement from upright was approximately equal to that to the gimbal. The superior head stability in roll, dependent on a visual frame of reference, compensates for poverty of eye movement in this plane. PMID:1407702

  7. Anomalous magnetic responsiveness of giant magnetoresistive heads under specific electromagnetic interference frequencies using quasistatic tester

    NASA Astrophysics Data System (ADS)

    Kruesubthaworn, Anan; Pratoomthip, Aphaiphak; Siritaratiwat, Apirat; Ungvichian, Vichate

    2008-04-01

    The giant magnetoresistive (GMR) heads have been used in the computer industry for decade. Recently, the anomalous performance caused by cell phones or external electromagnetic interference (EMI) is reported [V. Kraz and A. Wallash, J. Electrost. 54, 39 (2002)]; [Kruesubthaworn et al., J. Magn. Magn. Mater. 316, e142 (2007)] This prompts an experimental study of an anomalous magnetic disturbance to the heads under ascending and descending frequency variations. The rf generator with predetermined output is set for 30-1000MHz swept frequency in both directions, with the antenna being horizontal and vertical orientations. Five quasistatic tester (QST) parameters; magnetoresistive (MR) resistance, MR amplitude, asymmetry, Barkhausen noise, and hysteresis are used as markers in the EMI sensitivity study of head gimbal assembly. It is found that the worst change of MR amplitude is 10.2% (marginally over the norm), which occurs at 910MHz during ascending swept frequency and horizontal polarization. The largest variation of hysteresis parameter is 21.8% (1.5 times over the norm) during 940MHz descending swept frequency and horizontal polarization. The remaining parameters have small effects, less than 6.5%. During the EMI exposure, QST transfer curves show significant departure from the frequencies of 500-580, 700-850, and 900-1000MHz. However, the trace separation is returned back to the preexposure condition. The scanning electron microscope evaluation of the GMR head after the exposure appears to be normal. Therefore, these parameter disturbances are not adequate to cause visible damage, but since some parameters are over the manufacturing accepted QST values, it may cause a latently failed head.

  8. Two-axis gimbal for air-to-air and air-to-ground laser communications

    NASA Astrophysics Data System (ADS)

    Talmor, Amnon G.; Harding, Harvard; Chen, Chien-Chung

    2016-03-01

    For bi-directional links between high-altitude-platforms (HAPs) and ground, and air-to-air communication between such platforms, a hemispherical +30°C field-of-regard and low-drag low-mass two-axis gimbal was designed and prototyped. The gimbal comprises two servo controlled non-orthogonal elevation over azimuth axis, and inner fast steering mirrors for fine field-of-regard adjustment. The design encompasses a 7.5cm diameter aperture refractive telescope in its elevation stage, folded between two flat mirrors with an exit lens leading to a two mirrors miniature Coude-path fixed to the azimuth stage. Multiple gimbal configurations were traded prior to finalizing a selection that met the requirements. The selected design was manifested onboard a carbon fiber and magnesium composite structure, motorized by custom-built servo motors, and commutated by optical encoders. The azimuth stage is electrically connected to the stationary base via slip ring while the elevation stage made of passive optics. Both axes are aligned by custom-built ceramic-on-steel angular contact duplex bearings, and controlled by embedded electronics featuring a rigid-flex PCB architecture. FEA analysis showed that the design is mechanically robust over a temperature range of +60°C to -80°C, and with first mode of natural frequencies above 400Hz. The total mass of the prototyped gimbal is 3.5kg, including the inner optical bench, which contains fast steering mirrors (FSMs) and tracking sensors. Future version of this gimbal, in prototyping stage, shall weigh less than 3.0kg.

  9. Reactor pressure vessel vented head

    DOEpatents

    Sawabe, James K.

    1994-01-11

    A head for closing a nuclear reactor pressure vessel shell includes an arcuate dome having an integral head flange which includes a mating surface for sealingly mating with the shell upon assembly therewith. The head flange includes an internal passage extending therethrough with a first port being disposed on the head mating surface. A vent line includes a proximal end disposed in flow communication with the head internal passage, and a distal end disposed in flow communication with the inside of the dome for channeling a fluid therethrough. The vent line is fixedly joined to the dome and is carried therewith when the head is assembled to and disassembled from the shell.

  10. Design and development of the Cassini main engine assembly Gimbal mechanism

    NASA Technical Reports Server (NTRS)

    Rudolph, Dale

    1996-01-01

    Cassini is an international cooperative effort between NASA, which is producing the orbiter spacecraft, the European Space Agency, which is providing the Huygens Probe, and the Italian Space Agency, which is responsible for the spacecraft radio antenna and portions of three scientific experiments. In the U.S., the mission is managed by NASA's Jet Propulsion Laboratory (JPL) in Pasadena, California. Lockheed-Martin successfully bid on the contract to build the PMS (Propulsion Module Subsystem) for this project. The Cassini spacecraft will be launched on an expedition to Saturn in October, 1997. Its mission is to enter orbit around Saturn in July, 2004, and to explore its moons, rings, and magnetic environment for four years. Cassini will carry the Huygens probe, an instrument package equipped with a parachute, which is designed to study the atmosphere and surface of Saturn's largest moon, Titan.

  11. Improving the performance of monocular visual simultaneous localisation and mapping through the use of a gimballed camera

    NASA Astrophysics Data System (ADS)

    Playle, Nicholas

    In this thesis modern vision based localisation methods are discussed and contrasted with existing satellite based approaches. Shortcomings are noted and potential solutions are highlighted. A novel method of using a gimballed camera to perform visual Simultaneous Localisation and Mapping (SLAM) is proposed, along with a control algorithm to point the camera toward feature dense regions. This method is then modularly coupled with existing visual SLAM techniques allowing seamless integration across different platforms. Ground tests are performed to verify operation of the gimbal controller and rotation inverser. Results from experimental flight tests are incorporated as a final means of obtaining information to verify gimbal operation.

  12. Design and optimization of a beam shaping assembly for BNCT based on D-T neutron generator and dose evaluation using a simulated head phantom.

    PubMed

    Rasouli, Fatemeh S; Masoudi, S Farhad

    2012-12-01

    A feasibility study was conducted to design a beam shaping assembly for BNCT based on D-T neutron generator. The optimization of this configuration has been realized in different steps. This proposed system consists of metallic uranium as neutron multiplier, TiF(3) and Al(2)O(3) as moderators, Pb as reflector, Ni as shield and Li-Poly as collimator to guide neutrons toward the patient position. The in-air parameters recommended by IAEA were assessed for this proposed configuration without using any filters which enables us to have a high epithermal neutron flux at the beam port. Also a simulated Snyder head phantom was used to evaluate dose profiles due to the irradiation of designed beam. The dose evaluation results and depth-dose curves show that the neutron beam designed in this work is effective for deep-seated brain tumor treatments even with D-T neutron generator with a neutron yield of 2.4×10(12) n/s. The Monte Carlo Code MCNP-4C is used in order to perform these calculations. PMID:23041781

  13. Infrared Optical System For An Antitank Homing Head

    NASA Astrophysics Data System (ADS)

    Christophe-Alain, Bernard; Froissart, Delzongle-Pierre; Perron, Michel

    1983-10-01

    A low cost scanning optical system for an antitank seeker head operating in the 8 to 12 pm wavelength region is described. The overall system consists of a spherical dome and a very simple two aspherical elements telescope. The objective provides a high resolution over a 1° by 2° degrees FOV at a relatively large aperture and remains extremely lightweight and compact. This device is included on a two axis gyroscope to allow the line of sight deviation and the inertial stabilization of the gimbal objective. Considerations which direct material selection are presented. They concern : - transmission and absorption coefficients in the spectral domain - thermal and spectral variation of the refractive index - mechanical and thermal properties to sustain the meteorological and missile speed effect. The reflective IR imager is made of two aspheric primary and secondary mirrors which provide - thermal insensitivity - easy aligment procedure in the visible domain - low production cost by means of replication The innovative optical design program principles are presented and the sensitivity to high order asphericities analysed. Optical blur performances of this device are compared to those of a paraboloidal primary - plane secondary one. The manufacturing process for both the master and the replica are reviewed along with the assembly tests. The 55 mm wide - 50 g weight scanning mirror is shown and its main characteristics discussed. Maximum emphasis is put on the technological solutions choosen for its subminiature motorcoil and its position detector. Both "black and white" and "false coloured" images of an armoured vehicule are shown as recorded by the IR seeker during a real time tracking sequence. A ten micrometer hybrid focal plane detector has been developed jointly by SAT and LIR. This technology promises to offer advantages for advanced missile homing heads. Images ob-tained with this direct coupled Cadmium Mercury Telluride photovoltaic detector and CCD

  14. Steam separator latch assembly

    DOEpatents

    Challberg, R.C.; Kobsa, I.R.

    1994-02-01

    A latch assembly removably joins a steam separator assembly to a support flange disposed at a top end of a tubular shroud in a nuclear reactor pressure vessel. The assembly includes an annular head having a central portion for supporting the steam separator assembly thereon, and an annular head flange extending around a perimeter thereof for supporting the head to the support flange. A plurality of latches are circumferentially spaced apart around the head flange with each latch having a top end, a latch hook at a bottom end thereof, and a pivot support disposed at an intermediate portion therebetween and pivotally joined to the head flange. The latches are pivoted about the pivot supports for selectively engaging and disengaging the latch hooks with the support flange for fixedly joining the head to the shroud or for allowing removal thereof. 12 figures.

  15. Steam separator latch assembly

    DOEpatents

    Challberg, Roy C.; Kobsa, Irvin R.

    1994-01-01

    A latch assembly removably joins a steam separator assembly to a support flange disposed at a top end of a tubular shroud in a nuclear reactor pressure vessel. The assembly includes an annular head having a central portion for supporting the steam separator assembly thereon, and an annular head flange extending around a perimeter thereof for supporting the head to the support flange. A plurality of latches are circumferentially spaced apart around the head flange with each latch having a top end, a latch hook at a bottom end thereof, and a pivot support disposed at an intermediate portion therebetween and pivotally joined to the head flange. The latches are pivoted about the pivot supports for selectively engaging and disengaging the latch hooks with the support flange for fixedly joining the head to the shroud or for allowing removal thereof.

  16. Asymptotic properties of certain motions of an asynchronous gyroscope in a gimbal suspension

    NASA Astrophysics Data System (ADS)

    Konosevich, B. I.

    The present study examines the influence of initial perturbations on the stationary motions of an asynchronous gyroscope in a gimbal suspension with a dynamically symmetric rotor and a vertical external axis of the suspension, it being assumed that the gyroscope is on a fixed base. It is shown that if the reducted potential energy has an isolated minimum at the stationary point (a minimum which is determined by the second-order term relative to the corresponding perturbations) the internal gimbal angle and the generalized velocities of gyroscopes of most constructions tend with time to definite limit values in perturbed motion. Explicit expressions for these limit values are obtained for the case of the uniform rotations of a balanced gyroscope.

  17. Single gimbal/strapdown inertial navigation system for use on spin stabilized flight test vehicles

    SciTech Connect

    Watts, A.C.; Andreas, R.D.

    1980-01-01

    A hybrid strapdown inertial navigation system intended for use on spin stabilized flight test vehicles is described. The configuration of the navigator which is briefly described consists of three floated rate integrating gyros, one of which is used in conjunction with the gimbal with the remaining two operated in a rate gyro mode. Outputs from the two strapdown gyros and three accelerometers are digitized and processed by a high performance computer. The navigation algorithms utilize a direction cosine matrix formulation for the attitude computation implemented in the digital computer. The implementation of this algorithm for the single gimbal configuration is described. An accuracy model and results for a reentry vehicle flight test trajectory are presented. The flight test performance from launch to reentry is presented.

  18. Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II

    1994-01-01

    This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool.

  19. Internal performance of two nozzles utilizing gimbal concepts for thrust vectoring

    NASA Technical Reports Server (NTRS)

    Berrier, Bobby L.; Taylor, John G.

    1990-01-01

    The internal performance of an axisymmetric convergent-divergent nozzle and a nonaxisymmetric convergent-divergent nozzle, both of which utilized a gimbal type mechanism for thrust vectoring was evaluated in the Static Test Facility of the Langley 16-Foot Transonic Tunnel. The nonaxisymmetric nozzle used the gimbal concept for yaw thrust vectoring only; pitch thrust vectoring was accomplished by simultaneous deflection of the upper and lower divergent flaps. The model geometric parameters investigated were pitch vector angle for the axisymmetric nozzle and pitch vector angle, yaw vector angle, nozzle throat aspect ratio, and nozzle expansion ratio for the nonaxisymmetric nozzle. All tests were conducted with no external flow, and nozzle pressure ratio was varied from 2.0 to approximately 12.0.

  20. Rotor's Suspension for Vernier-gimballing magnetically suspended flywheel with conical magnetic bearing.

    PubMed

    Tang, Jiqiang; Xiang, Biao; Wang, Chun'e

    2015-09-01

    A novel Vernier-gimballing magnetically suspended flywheel with conical magnetic bearing (conical MB) can generate great gyroscopic moment by tilting the high-speed rotor. To output the gyroscopic moment, the high-speed rotor must be suspended stably and can be tilted. But when the rotor tilts, the gap between the stator and rotor of conical MB changes nonlinearly, what will cause the magnetic force and current stiffness of this conical MB to be serious nonlinear. To solve these problems, one kind of adaptive controller based on Lyapunov stability theory is designed by regarding the current stiffness of this conical MB as uncertain parameter. The validity of this adaptive control method is verified on a Vernier-gimballing MSFW with 68 Nms angular momentum and 1.7° maximum tilting angle. All experimental results indicated that this adaptive control has better performances on controlling rotor's stable suspension than existing PID control when the rotor translates or tilts. PMID:26089172

  1. Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller.

    PubMed

    Abdo, Maher Mahmoud; Vali, Ahmad Reza; Toloei, Ali Reza; Arvan, Mohammad Reza

    2014-03-01

    The application of inertial stabilization system is to stabilize the sensor's line of sight toward a target by isolating the sensor from the disturbances induced by the operating environment. The aim of this paper is to present two axes gimbal system. The gimbals torque relationships are derived using Lagrange equation considering the base angular motion and dynamic mass unbalance. The stabilization loops are constructed with cross coupling unit utilizing proposed fuzzy PID type controller. The overall control system is simulated and validated using MATLAB. Then, the performance of proposed controller is evaluated comparing with conventional PI controller in terms of transient response analysis and quantitative study of error analysis. The simulation results obtained in different conditions prove the efficiency of the proposed fuzzy controller which offers a better response than the classical one, and improves further the transient and steady-state performance. PMID:24461337

  2. Apollo experience report: Guidance and control systems: CSM service propulsion system gimbal actuators

    NASA Technical Reports Server (NTRS)

    Mcmahon, W. A.

    1975-01-01

    The service propulsion system gimbal actuators of the Apollo command and service module were developed, modified, and qualified between February 1962 and April 1968. The development of these actuators is described as the result of extensive testing, retesting, and modification of the initial design. Successful completion of each mission without anomalies attributable to the actuators indicated that the particular configuration (modification) in use was adequate for the flight profile imposed.

  3. Effects of flexibility on AGS performance. [Annular suspension pointing system Gimbal System aboard Shuttle Orbiter

    NASA Technical Reports Server (NTRS)

    Shelton, H. L.; Cunningham, D. C.; Worley, H. E.; Seltzer, S. M.

    1982-01-01

    The Marshall Space Flight Center has had under development the Annular Suspension Pointing System Gimbal System (AGS) since early 1979. The AGS is an Orbiter cargo bay mounted subarcsecond 3 axis inertial pointer that can accommodate a wide range of payloads which require more stringent pointing than the Orbiter can provide. This paper will describe the AGS, state performance requirements and the control law configuration. Then an approach to investigating the flexible body effects on control system design will be discussed.

  4. Electrostatic tuning of drive and sense modes in two-gimbal torsional gyroscope

    NASA Astrophysics Data System (ADS)

    Jain, Ankush; Gopal, Ram

    2016-04-01

    This paper demonstrates electrostatic tuning of drive and sense modes in two-gimbal torsional gyroscope. The gyroscope is fabricated by SU-8 based UV-LIGA process and is then packaged in vacuum. The device is first characterized for frequency responses of drive and sense modes using laser Doppler vibrometer (LDV). Finally, electrostatic tuning of drive and sense modes is carried out by varying DC bias voltage applied to the proof-mass.

  5. Apollo Telescope Mount (ATM) gimballed star tracker. [developed for the Skylab program

    NASA Technical Reports Server (NTRS)

    Lana, J. D.

    1974-01-01

    Design and development of six gimballed star trackers for Skylab's Apollo Telescope Mount, which performed successfully on all three manned Skylab missions and accumulated a total usage time of approximately 3,500 hours, is described in terms of configurations, materials and construction, qualification testing, performance, and reliability characteristics. A brief program history and design changes incorporated during the life of the program are also discussed. Extensive drawings, block diagrams, and photographs are provided.

  6. Optimal Space Station solar array gimbal angle determination via radial basis function neural networks

    NASA Technical Reports Server (NTRS)

    Clancy, Daniel J.; Oezguener, Uemit; Graham, Ronald E.

    1994-01-01

    The potential for excessive plume impingement loads on Space Station Freedom solar arrays, caused by jet firings from an approaching Space Shuttle, is addressed. An artificial neural network is designed to determine commanded solar array beta gimbal angle for minimum plume loads. The commanded angle would be determined dynamically. The network design proposed involves radial basis functions as activation functions. Design, development, and simulation of this network design are discussed.

  7. Updating Gimbal Actuators for the Long Journey to Saturn

    NASA Technical Reports Server (NTRS)

    Iskenderian, Theodore; Joffe, Benjamin; Litty, Edward

    1997-01-01

    The Cassini mission requires extraordinary life and reliability from the linear servo-actuators which position the spacecraft's redundant rocket engines. Both commercial actuators and existing in-house actuator designs were studied for this application. Ultimately a device inherited from JPL's Mariner and Viking missions to Mars was selected because of its close match to functional requirements and its flight pedigree. However, several design improvements were necessary to meet life and reliability goals. Special attention was focused on reliability testing of the motor and mechanism at all stages of procurement and assembly because a brush type of DC motor was retained from the old design. These improvements and, in particular, efforts to develop new component sources are discussed in this paper.

  8. Quantification of inertial sensor-based 3D joint angle measurement accuracy using an instrumented gimbal.

    PubMed

    Brennan, A; Zhang, J; Deluzio, K; Li, Q

    2011-07-01

    This study quantified the accuracy of inertial sensors in 3D anatomical joint angle measurement with respect to an instrumented gimbal. The gimbal rotated about three axes and directly measured the angles in the ISB recommended knee joint coordinate system. Through the use of sensor attachment devices physically fixed to the gimbal, the joint angle estimation error due to sensor attachment (the inaccuracy of the sensor attachment matrix) was essentially eliminated, leaving only error due to the inertial sensors. The angle estimation error (RMSE) corresponding to the sensor was found to be 3.20° in flexion/extension, 3.42° in abduction/adduction and 2.88° in internal/external rotation. Bland-Altman means of maximum absolute value were -1.63° inflexion/extension, 3.22° in abduction/adduction and -2.61° in internal/external rotation. The magnitude of the errors reported in this study imply that even under ideal conditions irreproducible in human gait studies, inertial angle measurement will be subject to errors of a few degrees. Conversely, the reported errors are smaller than those reported previously in human gait studies, which suggest that the sensor attachment is also significant source of error in inertial gait measurement. The proposed apparatus and methodology could be used to quantify the performance of different sensor systems and orientation estimation algorithms, and to verify experimental protocols before human experimentation. PMID:21715167

  9. Control Of Flexible Structures-2 (COFS-2) flight control, structure and gimbal system interaction study

    NASA Technical Reports Server (NTRS)

    Fay, Stanley; Gates, Stephen; Henderson, Timothy; Sackett, Lester; Kirchwey, Kim; Stoddard, Isaac; Storch, Joel

    1988-01-01

    The second Control Of Flexible Structures Flight Experiment (COFS-2) includes a long mast as in the first flight experiment, but with the Langley 15-m hoop column antenna attached via a gimbal system to the top of the mast. The mast is to be mounted in the Space Shuttle cargo bay. The servo-driven gimbal system could be used to point the antenna relative to the mast. The dynamic interaction of the Shuttle Orbiter/COFS-2 system with the Orbiter on-orbit Flight Control System (FCS) and the gimbal pointing control system has been studied using analysis and simulation. The Orbiter pointing requirements have been assessed for their impact on allowable free drift time for COFS experiments. Three fixed antenna configurations were investigated. Also simulated was Orbiter attitude control behavior with active vernier jets during antenna slewing. The effect of experiment mast dampers was included. Control system stability and performance and loads on various portions of the COFS-2 structure were investigated. The study indicates possible undesirable interaction between the Orbiter FCS and the flexible, articulated COFS-2 mast/antenna system, even when restricted to vernier reaction jets.

  10. Inertially stabilized line-of-sight control system using a magnetic bearing with vernier gimbaling capacity

    NASA Astrophysics Data System (ADS)

    Lin, Zhuchong; Liu, Kun

    2014-11-01

    Line of sight stabilization and control system is widely used in pointing and stabilizing the line of sight of optical sensors. Multi-axis gimbals configurations are commonly used for isolating disturbance from the angular motion of the base where the stabilization platform is mounted. However, in the case of large payload, nonlinear friction and the bandwidth limit of the servo loop can greatly diminish the performance of the whole system. Magnetic actuators, because of their high force per mass capability and non-friction characteristic, are promising means of achieving high-accuracy stabilization. Nevertheless, the gap between magnetic actuators and the payload is very small, which limits the slewing range of the line of sight as well as the angular motion range of the base that can be isolated. A novel two-stage stabilization configuration is developed, which combines multi-axis gimbals configuration and magnetic actuators as well as both of their advantages. At the first stage, a multi-axis gimbals configuration is adopted to isolate the large angular motion of the base while at the second stage magnetic actuators are utilized to perform high-accuracy stabilization. A so-called "stabilizing inside and tracking outside" scheme is carried out to perform two-stage stabilization control. The advantage of this configuration compared with conventional configuration is analyzed through analytical method. Finally, the effectiveness of the design is investigated through simulation studies.

  11. High-performance gimbal control for self-protection weapon systems

    NASA Astrophysics Data System (ADS)

    Downs, James; Smith, Stephen A.; Schwickert, Jim; Stockum, Larry A.

    1998-07-01

    The gimbal and control system for a high performance, acquisition, tracking and pointing system is described. This system provides full hemispherical coverage, precision stabilization, rapid position response, and precision laser pointing. The high performance laser pointing system (HPLPS) receives position and rate cues form an integrated threat- warning-system, slews to the predicted target location, acquires, tracks, and designates the target. The azimuth and elevation axes of the HPLPS are inertially stabilized with independent, high bandwidth, inertial rate loops. The cue to position control loop is implemented using a time-optimal control algorithm which slews each axis of the platform to the predicted target location with high accuracy and zero overshoot in minimum time. After cuing to position,m auto- track mode engages with a type 4, high bandwidth track loop. Track loop integrators are initialized to keep the platform moving at the cued target rate as control transfers from position cue to auto-track mode. After initially tracking with a narrow field of view tracking sensor, an active laser track is performed with a narrower field of view laser-spot- tracking sensor. The gimbal electronics use a Texas Instruments TMS320C30 digital signal processor and proprietary software executive to achieve the performance required for the 960 Hz control loop sample rates. Optical encoder, resolver, and high bandwidth fiver-optic-gyro sensors are used. Linear amplifiers drive the azimuth and elevation mirror motors and a sine wave commutated amplifier drives the outer gimbal motor.

  12. A new continuous self-calibration scheme for a gimbaled inertial measurement unit

    NASA Astrophysics Data System (ADS)

    Cao, Yuan; Cai, Hong; Zhang, Shifeng; Li, Anliang

    2012-01-01

    A typical calibration scheme for a gimbaled inertial measurement unit (IMU) involves an estimation of error parameters of an IMU mounted on an inertial platform and the platform's misalignment angles. However, traditional calibration methods for the gimbaled IMU have some serious defects. The excitation for a gyro's scale factors and misalignment angles is only the Earth rate in multi-position calibration methods and dynamic errors (unneeded motion of gyro floaters) involved in a continuous calibration process. This paper presents a new continuous self-calibration scheme for the gimbaled IMU. By processing the multi-position and continuous rotation steps alternately, the dynamic errors are suppressed and the excitation is augmented. This is more effective than traditional methods. Additionally, the platform rotation trajectory is designed to provide adequate observability for all parameters through a new methodology. The Lie derivative is used to compute the observability, and the genetic algorithm is utilized to obtain the inertial platform's optimal rotation trajectory based on the measurement of observability for all parameters. Simulation results show that the error coefficients can be effectively calibrated within an hour by the proposed scheme, and it is of high significance for fast launching of missiles and rockets.

  13. Optimization design about gimbal structure of high-precision autonomous celestial navigation tracking mirror system

    NASA Astrophysics Data System (ADS)

    Huang, Wei; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Zhang, Jing; Xie, Mei-lin; Yue, Peng

    2016-01-01

    High precision tracking platform of celestial navigation with control mirror servo structure form, to solve the disadvantages of big volume and rotational inertia, slow response speed, and so on. It improved the stability and tracking accuracy of platform. Due to optical sensor and mirror are installed on the middle-gimbal, stiffness and resonant frequency requirement for high. Based on the application of finite element modality analysis theory, doing Research on dynamic characteristics of the middle-gimbal, and ANSYS was used for the finite element dynamic emulator analysis. According to the result of the computer to find out the weak links of the structure, and Put forward improvement suggestions and reanalysis. The lowest resonant frequency of optimization middle-gimbal avoid the bandwidth of the platform servo mechanism, and much higher than the disturbance frequency of carrier aircraft, and reduces mechanical resonance of the framework. Reaching provides a theoretical basis for the whole machine structure optimization design of high-precision of autonomous Celestial navigation tracking mirror system.

  14. Design and manufacturing considerations for high-performance gimbals used for land, sea, air, and space

    NASA Astrophysics Data System (ADS)

    Sweeney, Mike; Redd, Lafe; Vettese, Tom; Myatt, Ray; Uchida, David; Sellers, Del

    2015-09-01

    High performance stabilized EO/IR surveillance and targeting systems are in demand for a wide variety of military, law enforcement, and commercial assets for land, sea, air, and space. Operating ranges, wavelengths, and angular resolution capabilities define the requirements for EO/IR optics and sensors, and line of sight stabilization. Many materials and design configurations are available for EO/IR pointing gimbals depending on trade-offs of size, weight, power (SWaP), performance, and cost. Space and high performance military aircraft applications are often driven toward expensive but exceptionally performing beryllium and aluminum beryllium components. Commercial applications often rely on aluminum and composite materials. Gimbal design considerations include achieving minimized mass and inertia simultaneous with demanding structural, thermal, optical, and scene stabilization requirements when operating in dynamic operational environments. Manufacturing considerations include precision lapping and honing of ball bearing interfaces, brazing, welding, and casting of complex aluminum and beryllium alloy structures, and molding of composite structures. Several notional and previously developed EO/IR gimbal platforms are profiled that exemplify applicable design and manufacturing technologies.

  15. Effect of gimbal friction modelling technique on control stability and performance for Centaur upper stage

    NASA Technical Reports Server (NTRS)

    Graham, Ronald E.

    1987-01-01

    The powered-phase autopilot for the Centaur upper stage rocket uses an autopilot forward loop gain scheduler that decreases the proportional gain as propellant mass is depleted. Nonlinear time response simulation studies revealed that Centaur vehicles with low-gain autopilots would have large attitude error limit cycles. These limit cycles were due to the assumed presence of Coulomb friction in the engine gimbals. This situation could be corrected through the use of an harmonic dither, programmed into the on-board digital computer and added to the engine command signal. This would introduce impending motion to the engines, allowing control of the engines even under small commands. Control authority was found to be restored when dither was used. A concern arose that the Centaur could be unacceptably excited at resonances near the dither frequency, if the dither amplitude was to be chosen on the basis of friction level present, a test was conducted to measure this level. Dither characteristics were to be based on the test results. The test results showed that the gimbal friction characteristic was actually hysteretic rather than the assumed Coulomb friction. The simulation results showed that, using this new model of gimbal friction, dither would no longer be necessary.

  16. Effect of Gimbal friction modeling technique on control stability and performance for Centaur upper-stage

    NASA Technical Reports Server (NTRS)

    Graham, Ronald E.

    1987-01-01

    The powered-phase autopilot for the Centaur upper stage rocket uses an autopilot forward loop gain scheduler that decreases the proportional gain as propellant mass is depleted. Nonlinear time response simulation studies revealed that Centaur vehicles with low-gain autopilots would have large attitude error limit cycles. These limit cycles were due to the assumed presence of Coulomb friction in the engine gimbals. This situation could be corrected through the use of an harmonic dither, programmed into the on-board digital computer and added to the engine command signal. This would introduce impending motion to the engines, allowing control of the engines even under small commands. Control authority was found to be restored when dither was used. A concern arose that the Centaur could be unacceptably excited at resonances near the dither frequency, if the dither amplitude was to be chosen on the basis of friction level present, a test was conducted to measure this level. Dither characteristics were to be based on the test results. The test results showed that the gimbal friction characteristic was actually hysteretic rather than the assumed Coulomb friction. The simulation results showed that, using this new model of gimbal friction, dither would no longer be necessary.

  17. Probe assembly

    SciTech Connect

    Avera, C.J.

    1981-01-06

    A hand-held probe assembly, suitable for monitoring a radioactive fibrinogen tracer, is disclosed comprising a substantially cylindrically shaped probe handle having an open end. The probe handle is adapted to be interconnected with electrical circuitry for monitoring radioactivity that is sensed or detected by the probe assembly. Mounted within the probe handle is a probe body assembly that includes a cylindrically shaped probe body inserted through the open end of the probe handle. The probe body includes a photomultiplier tube that is electrically connected with a male connector positioned at the rearward end of the probe body. Mounted at the opposite end of the probe body is a probe head which supports an optical coupler therewithin. The probe head is interconnected with a probe cap which supports a detecting crystal. The probe body assembly, which consists of the probe body, the probe head, and the probe cap is supported within the probe handle by means of a pair of compressible o-rings which permit the probe assembly to be freely rotatable, preferably through 360*, within the probe handle and removable therefrom without requiring any disassembly.

  18. Heads Up

    MedlinePlus

    ... Juvenil HEADS UP to School Sports Online Concussion Training Coaches Parents Athletes Sports Officials HEADS UP to Schools School Nurses Teachers, Counselors, and School Professionals Parents HEADS UP ...

  19. Violations of Listing's law after large eye and head gaze shifts.

    PubMed

    Glenn, B; Vilis, T

    1992-07-01

    1. Kinematic constraints were examined in static eye and head positions after large gaze shifts to visual targets. Three-dimensional eye and head rotations were measured in six adult human subjects by the use of the magnetic field search coil technique. 2. Eye positions in space were found to obey Donder's law; i.e., for any given gaze direction there was a unique three-dimensional orientation. In other words, angular eye positions in space (expressed as quaternions) were constrained to a two-dimensional surface. 3. When only the eye moved (head stationary), the shape of this surface resembled a plane and thus the eye position in space obeyed Listing's law. However, after gaze shifts involving both the eye and the head, the eye in space surface became twisted and thus nonplanar. This twist was similar to that achieved by a Fick gimbal model of rotations in which the horizontal axis is nested within a fixed vertical axis. During oblique gaze shifts, the head made predominantly horizontal movements whereas the eye made predominantly vertical movements. This, combined with the fact that the eye is mounted within the head, causes the eye in space surface to resemble that of a Fick gimbal. 4. The angular position of the head in space was also constrained to a two-dimensional surface. This surface was also not planar (Listinglike) and twisted in a manner similar to that of the eye in space. 5. Whereas the angular position of the eye in head was found to obey Listing's law after head-fixed gaze shifts, violations of Listing's law occurred after head-free gaze shifts. These violations showed significant intersubject variation in their magnitude and character. 6. Given that the eye in space violates Listing's law after head movements, the supposition that Listing's law serves the perceptual purpose of maintaining radial constancy is untenable. The Fick gimballike behavior of the head in space and eye in space may hold several advantages over a Listing's system. When the

  20. Development of a Gimballed, dual frequency, space-based, microwave antenna for volume production

    NASA Technical Reports Server (NTRS)

    Leckie, Martin; Laidig, Dave

    1996-01-01

    A dual-frequency, two-axis Gimballed, Microwave Antenna (GMA) has been developed by COM DEV and Motorola for commercial satellites. The need for volume production of over three hundred antennas at a rate of four per week, a compressed development schedule, and the commercial nature of the effort necessitated a paradigm shift to an 'overall' cost-driven design approach. The translation of these demands into antenna requirements, a description of the resulting GMA design, and examples of development issues are detailed herein.

  1. 2-SPEED, a single-gimbal control moment gyro attitude control system.

    NASA Technical Reports Server (NTRS)

    Crenshaw, J. W.

    1973-01-01

    In 2-SPEED (Two Scissored Pair Ensemble, Explicit Distribution) four single-gimbal control moment gyros (SGCMGs) configured into two scissored pairs are combined with an explicit distribution of angular momentum between pairs to produce a system relatively insensitive to the singularity problems which have plagued other SGCMG concepts. In this system, the singularity surfaces in momentum space degenerate to discrete curves. Further, the system permits a smooth passage through these remaining singularities with, at worst, a temporary delay while momentum redistribution takes place. Finally, CMG-out operation is possible within the full volume of the reduced momentum envelope.

  2. Conceptual design of pointing control systems for space station gimballed payloads

    NASA Technical Reports Server (NTRS)

    Hughes, Robert O.

    1986-01-01

    A conceptual design of the control system for Payload Pointing Systems (PPS) is developed using classic Proportional-Integral-Derivatives (PID) techniques. The major source of system pointing error is due to the disturbance-rich environment of the space station in the form of gimbal baseplate motions. These baseplate vibrations are characterized using Fast Fourier Transform (FFT) techniques. Both time domain and frequency domain dynamic models are developed to assess control system performance. Three basic methods exist for the improvement of PPS pointing performance: increase control system bandwidth, add Image Motion Compensation, and/or reduce (or change) the baseplate disturbance environment.

  3. Investigations of an integrated angular velocity measurement and attitude control system for spacecraft using magnetically suspended double-gimbal CMGs

    NASA Astrophysics Data System (ADS)

    Zheng, Shiqiang; Han, Bangcheng

    2013-06-01

    This paper presents an integrated angular velocity measurement and attitude control system of spacecraft using magnetically suspended double-gimbal control moment gyros (MSDGCMGs). The high speed rotor of MSDGCMG is alleviated by a five-degree-of-freedom permanent magnet biased AMB control system. With this special rotor supported manner, the MSDGCMG has the function of attitude rate sensing as well as attitude control. This characteristic provides a new approach to a compact light-weight spacecraft design, which can combine these two functions into a single device. This paper discusses the principles and implementations of AMB-based angular velocity measurement. Spacecraft dynamics with DGMSCMG actuators, including the dynamics of magnetically suspended high-speed rotor, the dynamics of inner gimbal and outer gimbal, as well as the determination method of spacecraft angular velocity are modeled, respectively. The effectiveness of the proposed integrated system is also validated numerically and experimentally.

  4. The effect of initial perturbations on the uniform rotations of a balanced asynchronous gyroscope in a gimbal suspension

    NASA Astrophysics Data System (ADS)

    Konosevich, B. I.

    In the problem considered here, the gyroscope is mounted on a stationary base, the rotor is dynamically symmetric, and the whole system is statically balanced relative to the suspension axes. It is shown that if all the three roots of the characteristic equation of the reduced system, linearized in the vicinity of uniform rotation, have negative real components then the gimbal angles are incremented due to the initial perturbations. The increments are limited during the entire duration of subsequent motion. Formulas for the limiting increments of the gimbal angles are given.

  5. Stability study of the Large Space Telescope /LST/ system with nonlinear CMG gimbal friction. [Control Moment Gyroscopes

    NASA Technical Reports Server (NTRS)

    Kuo, B. C.; Singh, G.; Seltzer, S. M.

    1974-01-01

    The purpose of the investigation reported upon is to study the existence and characteristics of self-sustained oscillations in the dynamic behavior of the Large Space Telescope (LST) system due to the presence of nonlinear gimbal friction in the control moment gyroscopes (CMGs). A continuous-data single-axis model of the LST is considered. A solid friction model is used to represent CMG gimbal friction. A rigorous mathematical model is derived for use in a continuous describing function analysis. Conditions for self-sustained oscillations are then determined.

  6. The design and characteristics analysis of lunar based Two Axes gimbal with high reliability

    NASA Astrophysics Data System (ADS)

    Huang, Jing; Liu, Zhao-hui; Li, Zhi-guo; Chang, Zhi-yuan; Shi, Xin

    2011-08-01

    In order to meet the requirements of lunar based astronomical observation which includes three different observing modes: specific celestial body observations, calibration observations, sky surveys, the two Axes gimbal is designed to guarantee the telescope can point and listen to a exact point in the sky. Due to the harsh environment on the moon and space payload weight limit, based on lightweight design method, such as structure optimization and rational material selection, the weight of gimbal is greatly reduced without decrease of rigidity and strength. In addition, because of the usage of external rotor mechanism for vertical shaft, the system's first order mode along the emission direction is greatly improved. On the other hand, The shaft with one fixed end and another free end is adopted to reduce the deflection between its two larger span ends. Furthermore, the shaft stuck at both ends due to temperature changes on the moon is eliminated by rational determining the clearance of deep groove ball bearings. Experiments show that, the system's first order resonant frequency can reach 81HZ, and the mechanism works well from -25 °C to +60 °C without stuck phenomenon occured. So, because of the adoption of approaches mentioned above, the mechanism has good mechanical properties, such as high reliability and light weight.

  7. Spacecraft attitude maneuver using two single-gimbal control moment gyros

    NASA Astrophysics Data System (ADS)

    Kasai, Shinya; Kojima, Hirohisa; Satoh, Mitsunori

    2013-03-01

    In this paper, arbitrary rest-to-rest attitude maneuver problems for a satellite using two single-gimbal control moment gyros (2SGCMGs) are considered. Although single-gimbal control moment gyros are configured in the same manner as the traditional pyramid-array CMG, only two CMGs are assumed to be available. Attitude maneuver problems are similar to problems involving two reaction wheels (RWs) from the viewpoint of the number of actuators. In other words, the problem treated herein is a kind of underactuated problem. Although 2SGCMGs can generate torques around all axes, they cannot generate torques around each axis independently. Therefore, control methods designed for a satellite using two reaction wheels cannot be applied to three-axis attitude maneuver problems for a satellite using 2SGCMGs. In this paper, for simplicity, maneuvers around the x- and z-axes are first considered, and then a maneuver around the y-axis due to the corning effect resulting from the maneuver around the x- and z-axes is considered. Since maneuvers around each axis are established by the proposed method, arbitrary attitude maneuvers can be achieved using 2SGCMGs. In addition, the maneuvering angles around the z- and x-axes, which are required in order to maneuver around the y-axis, are analytically determined, and the total time required for maneuvering around the y-axis is then analyzed numerically.

  8. Aeroelastic Stability of a Soft-Inplane Gimballed Tiltrotor Model in Hover

    NASA Technical Reports Server (NTRS)

    Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Piatak, David J.; Kvaternik, Raymond G.; Corso, Lawrence M.; Brown, Ross

    2001-01-01

    Soft-inplane rotor systems can significantly reduce the inplane rotor loads generated during the maneuvers of large tiltrotors, thereby reducing the strength requirements and the associated structural weight of the hub. Soft-inplane rotor systems, however, are subject to instabilities associated with ground resonance, and for tiltrotors this instability has increased complexity as compared to a conventional helicopter. Researchers at Langley Research Center and Bell Helicopter-Textron, Inc. have completed an initial study of a soft-inplane gimballed tiltrotor model subject to ground resonance conditions in hover. Parametric variations of the rotor collective pitch and blade root damping., and their associated effects on the model stability were examined. Also considered in the study was the effectiveness of an active swashplate and a generalized predictive control (GPC) algorithm for stability augmentation of the ground resonance conditions. Results of this study show that the ground resonance behavior of a gimballed soft-inplane tiltrotor can be significantly different from that of a classical soft-inplane helicopter rotor. The GPC-based active swashplate was successfully implemented, and served to significantly augment damping of the critical modes to an acceptable value.

  9. Aeroelastic Stability of A Soft-Inplane Gimballed Tiltrotor Model In Hover

    NASA Technical Reports Server (NTRS)

    Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Piatak, David J.; Kvaternik, Raymond G.; Corso, Lawrence M.; Brown, Ross

    2001-01-01

    Soft-inplane rotor systems can significantly reduce the inplane rotor loads generated during the maneuvers of large tiltrotors, thereby reducing the strength requirements and the associated structural weight of the hub. Soft-inplane rotor systems. however, are subject to instabilities associated with ground resonance, and for tiltrotors this instability has increased complexity as compared to a conventional helicopter. Researchers at Langley Research Center and Bell Helicopter-Textron, Inc. have completed ail initial study of a soft-inplane gimballed tiltrotor model subject to ground resonance conditions in hover. Parametric variations of the rotor collective pitch and blade root damping, and their associated effects oil the model stability were examined. Also considered in the study was the effectiveness of ail active swash-plate and a generalized predictive control (GPC) algorithm for stability augmentation of the ground resonance conditions. Results of this study show that the ground resonance behavior of a gimballed soft-inplane tiltrotor can be significantly different from that of a classical soft-inplane helicopter rotor. The GPC-based active swash-plate was successfully implemented, and served to significantly augment damping of the critical modes to an acceptable value.

  10. Head Injuries

    MedlinePlus

    ... of head injuries include bicycle or motorcycle wrecks, sports injuries, falls from windows (especially among children who live ... to watch for? When can I start playing sports again after a head injury? How can brain damage from a head injury ...

  11. Head Lice

    MedlinePlus

    Head lice are parasitic wingless insects. They live on people's heads and feed on their blood. An adult louse ... Children ages 3-11 and their families get head lice most often. Personal hygiene has nothing to ...

  12. Head circumference

    MedlinePlus

    ... a child's head circumference Normal ranges for a child's sex and age (weeks, months), based on values that experts have obtained for normal growth rates of infants' and children's heads Measurement of the head circumference is an ...

  13. Head Lice

    MedlinePlus

    Head lice are parasitic wingless insects. They live on people's heads and feed on their blood. An adult ... Children ages 3-11 and their families get head lice most often. Personal hygiene has nothing to do ...

  14. Horizontal geophone transducer assembly

    SciTech Connect

    Hefer, F.W.

    1985-06-25

    The geophone transducer comprises in combination: a geophone capable of detecting horizontal seismic waves, and a rigid casing having a gimbal chamber. A gimbal is provided inside the chamber on which the geophone is mounted for limited free angular movement in one direction only. The gimbal includes in one preferred embodiment a viscous liquid in which the geophone is only partially submerged while it is supported by a U-shaped bracket which is mounted for rotation about a fixed axis.

  15. Reactor pressure vessel vented head

    DOEpatents

    Sawabe, J.K.

    1994-01-11

    A head for closing a nuclear reactor pressure vessel shell includes an arcuate dome having an integral head flange which includes a mating surface for sealingly mating with the shell upon assembly therewith. The head flange includes an internal passage extending therethrough with a first port being disposed on the head mating surface. A vent line includes a proximal end disposed in flow communication with the head internal passage, and a distal end disposed in flow communication with the inside of the dome for channeling a fluid therethrough. The vent line is fixedly joined to the dome and is carried therewith when the head is assembled to and disassembled from the shell. 6 figures.

  16. Dual-Head Robotic Welder

    NASA Technical Reports Server (NTRS)

    Beard, Gary S.

    1990-01-01

    Robotic welder uses two welding heads simultaneously. Developed for assembly of "hot dog" shell on main injector for Space Shuttle main engine, concept applicable to other, similarly rounded or contoured workpieces. Opposed heads reduce distortion and stress in opposed weld joints and speed up welding operations.

  17. Performance testing of a magnetically suspended double gimbal control moment gyro based on the single axis air bearing table.

    PubMed

    Cui, Peiling; Zhang, Huijuan; Yan, Ning; Fang, Jiancheng

    2012-01-01

    Integrating the advantage of magnetic bearings with a double gimble control moment gyroscope (DGCMG), a magnetically suspended DGCMG (MSDGCMG) is an ideal actuator in high-precision, long life, and rapid maneuver attitude control systems. The work presented here mainly focuses on performance testing of a MSDGCMG independently developed by Beihang University, based on the single axis air bearing table. In this paper, taking into sufficient consideration to the moving-gimbal effects and the response bandwidth limit of the gimbal, a special MSDGCMG steering law is proposed subject to the limits of gimbal angle rate and angle acceleration. Finally, multiple experiments are carried out, with different MSDGCMG angular momenta as well as different desired attitude angles. The experimental results indicate that the MSDGCMG has a good gimbal angle rate and output torque tracking capabilities, and that the attitude stability with MSDGCMG as actuator is superior to 10(-3)°/s. The MSDGCMG performance testing in this paper, carried out under moving-base condition, will offer a technique base for the future research and application of MSDGCMGs. PMID:23012536

  18. Performance Testing of a Magnetically Suspended Double Gimbal Control Moment Gyro Based on the Single Axis Air Bearing Table

    PubMed Central

    Cui, Peiling; Zhang, Huijuan; Yan, Ning; Fang, Jiancheng

    2012-01-01

    Integrating the advantage of magnetic bearings with a double gimble control moment gyroscope (DGCMG), a magnetically suspended DGCMG (MSDGCMG) is an ideal actuator in high-precision, long life, and rapid maneuver attitude control systems. The work presented here mainly focuses on performance testing of a MSDGCMG independently developed by Beihang University, based on the single axis air bearing table. In this paper, taking into sufficient consideration to the moving-gimbal effects and the response bandwidth limit of the gimbal, a special MSDGCMG steering law is proposed subject to the limits of gimbal angle rate and angle acceleration. Finally, multiple experiments are carried out, with different MSDGCMG angular momenta as well as different desired attitude angles. The experimental results indicate that the MSDGCMG has a good gimbal angle rate and output torque tracking capabilities, and that the attitude stability with MSDGCMG as actuator is superior to 10−3°/s. The MSDGCMG performance testing in this paper, carried out under moving-base condition, will offer a technique base for the future research and application of MSDGCMGs. PMID:23012536

  19. Eye-head coordination during large gaze shifts.

    PubMed

    Tweed, D; Glenn, B; Vilis, T

    1995-02-01

    1. Three-dimensional (3D) eye and head rotations were measured with the use of the magnetic search coil technique in six healthy human subjects as they made large gaze shifts. The aims of this study were 1) to see whether the kinematic rules that constrain eye and head orientations to two degrees of freedom between saccades also hold during movements; 2) to chart the curvature and looping in eye and head trajectories; and 3) to assess whether the timing and paths of eye and head movements are more compatible with a single gaze error command driving both movements, or with two different feedback loops. 2. Static orientations of the eye and head relative to space are known to resemble the distribution that would be generated by a Fick gimbal (a horizontal axis moving on a fixed vertical axis). We show that gaze point trajectories during eye-head gaze shifts fit the Fick gimbal pattern, with horizontal movements following straight "line of latitude" paths and vertical movements curving like lines of longitude. However, horizontal (and to a lesser extent vertical) movements showed direction-dependent looping, with rightward and leftward (and up and down) saccades tracing slightly different paths. Plots of facing direction (the analogue of gaze direction for the head) also showed the latitude/longitude pattern, without looping. In radial saccades, the gaze point initially moved more vertically than the target direction and then curved; head trajectories were straight. 3. The eye and head components of randomly sequenced gaze shifts were not time locked to one another. The head could start moving at any time from slightly before the eye until 200 ms after, and the standard deviation of this interval could be as large as 80 ms. The head continued moving for a long (up to 400 ms) and highly variable time after the gaze error had fallen to zero. For repeated saccades between the same targets, peak eye and head velocities were directly, but very weakly, correlated; fast eye

  20. The Determination of Forces and Moments on a Gimballed SRM Nozzle Using a Cold Flow Model

    NASA Technical Reports Server (NTRS)

    Whitesides, R. Harold; Bacchus, David L.; Hengel, John E.

    1994-01-01

    The Solid Rocket Motor Air Flow Facility (SAF) at NASA Marshall Space Flight Center was used to characterize the flow in the critical aft end and nozzle of a solid propellant rocket motor (SRM) as part of the design phase of development. The SAF is a high pressure, blowdown facility which supplies a controlled flow of air to a subscale model of the internal port and nozzle of a SRM to enable measurement and evaluation of the flow field and surface pressure distributions. The ASRM Aft Section/Nozzle Model is an 8 percent scale model of the 19 second burn time aft port geometry and nozzle of the Advanced Solid Rocket Motor, the now canceled new generation space Shuttle Booster. It has the capability to simulate fixed nozzle gimbal angles of 0, 4, and 8 degrees. The model was tested at full scale motor Reynolds Numbers with extensive surface pressure instrumentation to enable detailed mapping of the surface pressure distributions over the nozzle interior surface, the exterior surface of the nozzle nose and the surface of the simulated propellant grain in the aft motor port. A mathematical analysis and associated numerical procedure were developed to integrate the measured surface pressure distributions to determine the lateral and axial forces on the moveable section of the nozzle, the effective model thrust and the effective aerodynamic thrust vector (as opposed to the geometric nozzle gimbal angle). The nozzle lateral and axial aerodynamic loads and moments about the pivot point are required for design purposes and require complex, three dimensional flow analyses. The alignment of the thrust vector with the nozzle geometric centerline is also a design requirement requiring three dimensional analyses which were supported by this experimental program. The model was tested with all three gimbal angles at three pressure levels to determine Reynolds number effects and reproducibility. This program was successful in demonstrating that a measured surface pressure

  1. Failure detection and isolation methods for redundant gimballed inertial measurement units.

    NASA Technical Reports Server (NTRS)

    Solov, E. G.; Thibodeau, J. R., III

    1973-01-01

    Skewed alignment of two redundant conventional inertial measuring units permits nonambiguous detection and isolation of hard and soft failures in real time by an airborne computer. Accelerometer outputs and gimbal readouts are monitored periodically, and attitude rate and velocity error vectors are computed from these data. Magnitudes of these vectors provide failure detection, and projection of these error vectors onto the coordinate axes of the two clusters permits isolation. A detailed Monte Carlo simulation of one version of the mechanization as applied to Space Shuttle boost trajectories demonstrates effectiveness down to very low levels of inertial instrument performance failures. The results indicate that worst case overall navigation performance occurs when accelerometer failures are of the order of 20 sigma and gyro failures are about 100 sigma for conventional state-of-the-art IMU instruments.

  2. Thermal Analog of Gimbal Lock in a Colloidal Ferromagnetic Janus Rod

    NASA Astrophysics Data System (ADS)

    Gao, Yongxiang; Balin, Andrew Kaan; Dullens, Roel P. A.; Yeomans, Julia M.; Aarts, Dirk G. A. L.

    2015-12-01

    We report an entropy-driven orientational hopping transition in a magnetically confined colloidal Janus rod. In a magnetic field, the sedimented rod randomly hops between horizontal and vertical states: the latter state comes at a substantial gravitational cost at no reduction of magnetic potential energy. The probability distribution over the angles of the rod shows that the presence of an external magnetic field leads to the emergence of a metastable vertical state separated from the ground state by an effective barrier. This barrier does not come from the potential energy but rather from the vast gain in phase space available to the rod as it approaches the vertical state. The loss of rotational degree of freedom that gives rise to this effect is a statistical mechanical analogue of the phenomenon of gimbal lock from classical mechanics.

  3. Gimballed Limb Observer for Radiance Imaging of the Atmosphere (GLORIA) scientific objectives

    NASA Astrophysics Data System (ADS)

    Riese, M.; Oelhaf, H.; Preusse, P.; Blank, J.; Ern, M.; Friedl-Vallon, F.; Fischer, H.; Guggenmoser, T.; Höpfner, M.; Hoor, P.; Kaufmann, M.; Orphal, J.; Plöger, F.; Spang, R.; Suminska-Ebersoldt, O.; Ungermann, J.; Vogel, B.; Woiwode, W.

    2014-07-01

    The upper troposphere/lower stratosphere (UTLS) represents an important part of the climate system. Even small changes in the composition and dynamic structure of this region have significant radiative effects. Quantifying the underlying physical and chemical processes therefore represents a crucial task. Currently, there is a lack of UTLS observations with sufficient three-dimensional resolution. The Gimballed Limb Observer for Radiance Imaging of the Atmosphere (GLORIA) aircraft instrument addresses this observational lack by providing observations of numerous trace constituents as well as temperature and cloud structures with an unprecedented combination of vertical resolution (up to 300 m) and horizontal resolution (about 30 km × 30 km). As a result, important scientific questions concerning stratosphere-troposphere exchange, the occurrence of subvisible cirrus clouds in the lowermost stratosphere (LMS), polar chemistry, and gravity wave processes can be addressed, as reviewed in this paper.

  4. Gimballed Limb Observer for Radiance Imaging of the Atmosphere (GLORIA) scientific objectives

    NASA Astrophysics Data System (ADS)

    Riese, M.; Oelhaf, H.; Preusse, P.; Blank, J.; Ern, M.; Friedl-Vallon, F.; Fischer, H.; Guggenmoser, T.; Höpfner, M.; Hoor, P.; Kaufmann, M.; Orphal, J.; Plöger, F.; Spang, R.; Suminska-Ebersoldt, O.; Ungermann, J.; Vogel, B.; Woiwode, W.

    2014-02-01

    The upper troposphere/lower stratosphere (UTLS) plays a crucial role in the climate system. Changes in the composition and dynamic structure of this atmospheric region result in particularly large changes in the atmospheric radiation balance. Quantifying the physical and chemical processes that control UTLS composition therefore represents an important task. Currently, there is a lack of UTLS observations with sufficient three-dimensional resolution. The Gimballed Limb Observer for Radiance Imaging of the Atmosphere (GLORIA) aircraft instrument addresses this observational lack by providing observations of numerous trace constituents as well as temperature and cloud structures with an unprecedented combination of vertical resolution (up to 300 m) and horizontal resolution (up to 20 km × 20 km). As a result, important scientific questions concerning stratosphere-troposphere-exchange, the occurrence of subvisible cirrus clouds in the lowermost stratosphere (LMS), polar chemistry and gravity wave processes can be addressed, as reviewed in this paper.

  5. Directional passability and quadratic steering logic for pyramid-type single gimbal control moment gyros

    NASA Astrophysics Data System (ADS)

    Yamada, Katsuhiko; Jikuya, Ichiro

    2014-09-01

    Singularity analysis and the steering logic of pyramid-type single gimbal control moment gyros are studied. First, a new concept of directional passability in a specified direction is introduced to investigate the structure of an elliptic singular surface. The differences between passability and directional passability are discussed in detail and are visualized for 0H, 2H, and 4H singular surfaces. Second, quadratic steering logic (QSL), a new steering logic for passing the singular surface, is investigated. The algorithm is based on the quadratic constrained quadratic optimization problem and is reduced to the Newton method by using Gröbner bases. The proposed steering logic is demonstrated through numerical simulations for both constant torque maneuvering examples and attitude control examples.

  6. Calibration of Gimbaled Platforms: The Solar Dynamics Observatory High Gain Antennas

    NASA Technical Reports Server (NTRS)

    Hashmall, Joseph A.

    2006-01-01

    Simple parameterization of gimbaled platform pointing produces a complete set of 13 calibration parameters-9 misalignment angles, 2 scale factors and 2 biases. By modifying the parameter representation, redundancy can be eliminated and a minimum set of 9 independent parameters defined. These consist of 5 misalignment angles, 2 scale factors, and 2 biases. Of these, only 4 misalignment angles and 2 biases are significant for the Solar Dynamics Observatory (SDO) High Gain Antennas (HGAs). An algorithm to determine these parameters after launch has been developed and tested with simulated SDO data. The algorithm consists of a direct minimization of the root-sum-square of the differences between expected power and measured power. The results show that sufficient parameter accuracy can be attained even when time-dependent thermal distortions are present, if measurements from a pattern of intentional offset pointing positions is included.

  7. Thermal Analog of Gimbal Lock in a Colloidal Ferromagnetic Janus Rod.

    PubMed

    Gao, Yongxiang; Balin, Andrew Kaan; Dullens, Roel P A; Yeomans, Julia M; Aarts, Dirk G A L

    2015-12-11

    We report an entropy-driven orientational hopping transition in a magnetically confined colloidal Janus rod. In a magnetic field, the sedimented rod randomly hops between horizontal and vertical states: the latter state comes at a substantial gravitational cost at no reduction of magnetic potential energy. The probability distribution over the angles of the rod shows that the presence of an external magnetic field leads to the emergence of a metastable vertical state separated from the ground state by an effective barrier. This barrier does not come from the potential energy but rather from the vast gain in phase space available to the rod as it approaches the vertical state. The loss of rotational degree of freedom that gives rise to this effect is a statistical mechanical analogue of the phenomenon of gimbal lock from classical mechanics. PMID:26705660

  8. Precision Attitude Determination System (PADS) design and analysis. Two-axis gimbal star tracker

    NASA Technical Reports Server (NTRS)

    1973-01-01

    Development of the Precision Attitude Determination System (PADS) focused chiefly on the two-axis gimballed star tracker and electronics design improved from that of Precision Pointing Control System (PPCS), and application of the improved tracker for PADS at geosynchronous altitude. System design, system analysis, software design, and hardware design activities are reported. The system design encompasses the PADS configuration, system performance characteristics, component design summaries, and interface considerations. The PADS design and performance analysis includes error analysis, performance analysis via attitude determination simulation, and star tracker servo design analysis. The design of the star tracker and electronics are discussed. Sensor electronics schematics are included. A detailed characterization of the application software algorithms and computer requirements is provided.

  9. Exact spacecraft detumbling and reorientation maneuvers with gimbaled thrusters and reaction wheels

    NASA Technical Reports Server (NTRS)

    Dwyer, T. A. W., III; Batten, A. L.

    1985-01-01

    The equations of rotational motion for a spacecraft equipped with external jets and internal reaction wheels are shown to be feedback-equivalent to those of a linear system in attitude parameter space. Reorientation maneuvers are thereby formulated as linear optimal control problems with least mean square acceleration in attitude parameter space, solved in closed form and implementable either with internal or external torque commands, the choice depending on power and throttling requirements. For prior detumbling, an alternative solution with least mean square torque by angular momentum feedback is also given, that is implementable with gimbaled pairs of thrusters at constant throttle. Such a detumbling maneuver may then be followed by an acceleration-commanded rest-to-rest maneuver by means of the reaction wheels.

  10. ISS Double-Gimbaled CMG Subsystem Simulation Using the Agile Development Method

    NASA Technical Reports Server (NTRS)

    Inampudi, Ravi

    2016-01-01

    This paper presents an evolutionary approach in simulating a cluster of 4 Control Moment Gyros (CMG) on the International Space Station (ISS) using a common sense approach (the agile development method) for concurrent mathematical modeling and simulation of the CMG subsystem. This simulation is part of Training systems for the 21st Century simulator which will provide training for crew members, instructors, and flight controllers. The basic idea of how the CMGs on the space station are used for its non-propulsive attitude control is briefly explained to set up the context for simulating a CMG subsystem. Next different reference frames and the detailed equations of motion (EOM) for multiple double-gimbal variable-speed control moment gyroscopes (DGVs) are presented. Fixing some of the terms in the EOM becomes the special case EOM for ISS's double-gimbaled fixed speed CMGs. CMG simulation development using the agile development method is presented in which customer's requirements and solutions evolve through iterative analysis, design, coding, unit testing and acceptance testing. At the end of the iteration a set of features implemented in that iteration are demonstrated to the flight controllers thus creating a short feedback loop and helping in creating adaptive development cycles. The unified modeling language (UML) tool is used in illustrating the user stories, class designs and sequence diagrams. This incremental development approach of mathematical modeling and simulating the CMG subsystem involved the development team and the customer early on, thus improving the quality of the working CMG system in each iteration and helping the team to accurately predict the cost, schedule and delivery of the software.

  11. 49 CFR 572.16 - Head.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 7 2014-10-01 2014-10-01 false Head. 572.16 Section 572.16 Transportation Other... OF TRANSPORTATION (CONTINUED) ANTHROPOMORPHIC TEST DEVICES 3-Year-Old Child § 572.16 Head. (a) The head consists of the assembly designated as SA 103C 010 on drawing No. SA 103C 001, and conforms...

  12. 49 CFR 572.16 - Head.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 7 2013-10-01 2013-10-01 false Head. 572.16 Section 572.16 Transportation Other... OF TRANSPORTATION (CONTINUED) ANTHROPOMORPHIC TEST DEVICES 3-Year-Old Child § 572.16 Head. (a) The head consists of the assembly designated as SA 103C 010 on drawing No. SA 103C 001, and conforms...

  13. Head MRI

    MedlinePlus

    ... the head; MRI - cranial; NMR - cranial; Cranial MRI; Brain MRI; MRI - brain; MRI - head ... tell your health care provider if you have: Brain aneurysm clips Certain types of artificial heart valves ...

  14. Head Injuries

    MedlinePlus

    ... injuries internal head injuries, which may involve the skull, the blood vessels within the skull, or the brain Fortunately, most childhood falls or ... knock the brain into the side of the skull or tear blood vessels. Some internal head injuries ...

  15. Head Lice

    MedlinePlus

    ... or prescription products. Over-the-counter shampoos and lotions containing pyrethrin (one brand name: Rid) or permethrin ( ... commonly used to treat head lice. Shampoos and lotions that kill head lice contain pesticides and other ...

  16. Constrained space camera assembly

    DOEpatents

    Heckendorn, Frank M.; Anderson, Erin K.; Robinson, Casandra W.; Haynes, Harriet B.

    1999-01-01

    A constrained space camera assembly which is intended to be lowered through a hole into a tank, a borehole or another cavity. The assembly includes a generally cylindrical chamber comprising a head and a body and a wiring-carrying conduit extending from the chamber. Means are included in the chamber for rotating the body about the head without breaking an airtight seal formed therebetween. The assembly may be pressurized and accompanied with a pressure sensing means for sensing if a breach has occurred in the assembly. In one embodiment, two cameras, separated from their respective lenses, are installed on a mounting apparatus disposed in the chamber. The mounting apparatus includes means allowing both longitudinal and lateral movement of the cameras. Moving the cameras longitudinally focuses the cameras, and moving the cameras laterally away from one another effectively converges the cameras so that close objects can be viewed. The assembly further includes means for moving lenses of different magnification forward of the cameras.

  17. Head lice.

    PubMed

    Devore, Cynthia D; Schutze, Gordon E

    2015-05-01

    Head lice infestation is associated with limited morbidity but causes a high level of anxiety among parents of school-aged children. Since the 2010 clinical report on head lice was published by the American Academy of Pediatrics, newer medications have been approved for the treatment of head lice. This revised clinical report clarifies current diagnosis and treatment protocols and provides guidance for the management of children with head lice in the school setting. PMID:25917986

  18. Design, fabrication and test of a prototype double gimbal control moment gyroscope for the NASA Space Station

    NASA Technical Reports Server (NTRS)

    Blondin, Joseph; Hahn, Eric; Kolvek, John; Cook, Lewis; Golley, Paul

    1989-01-01

    Recognizing the need to develop future technologies in support of the Space Station, NASA's Advanced Development Program (ADP) placed as its goal the design and fabrication of a prototype 4750 Newton-meter-second (3500 ft-lb-sec) Control Moment Gyroscope (CMG). The CMG uses the principle of momentum exchange to impart control torques for counteracting vehicle disturbances. This paper addresses the selection of the double gimbal CMG over the single gimbal and describes the major subassemblies of the prototype design. Particular attention is given to the choice of the materials, fabrication and design details dictated by the man-rated mission requirement. Physical characteristics and the results of functional testing are presented to demonstrate the level of system performance obtained. Comparisons are made of the measured system responses against design goals and predictions generated by computer simulation.

  19. High-performance two-axis gimbal system for free space laser communications onboard unmanned aircraft systems

    NASA Astrophysics Data System (ADS)

    Locke, Michael; Czarnomski, Mariusz; Qadir, Ashraf; Setness, Brock; Baer, Nicolai; Meyer, Jennifer; Semke, William H.

    2011-03-01

    A custom designed and manufactured gimbal with a wide field-of-view and fast response time is developed. This enhanced custom design is a 24 volt system with integrated motor controllers and drivers which offers a full 180o fieldof- view in both azimuth and elevation; this provides a more continuous tracking capability as well as increased velocities of up to 479° per second. The addition of active high-frequency vibration control, to complement the passive vibration isolation system, is also in development. The ultimate goal of this research is to achieve affordable, reliable, and secure air-to-air laser communications between two separate remotely piloted aircraft. As a proof-of-concept, the practical implementation of an air-to-ground laserbased video communications payload system flown by a small Unmanned Aerial Vehicle (UAV) will be demonstrated. A numerical tracking algorithm has been written, tested, and used to aim the airborne laser transmitter at a stationary ground-based receiver with known GPS coordinates; however, further refinement of the tracking capabilities is dependent on an improved gimbal design for precision pointing of the airborne laser transmitter. The current gimbal pointing system is a two-axis, commercial-off-the-shelf component, which is limited in both range and velocity. The current design is capable of 360o of pan and 78o of tilt at a velocity of 60o per second. The control algorithm used for aiming the gimbal is executed on a PC-104 format embedded computer onboard the payload to accurately track a stationary ground-based receiver. This algorithm autonomously calculates a line-of-sight vector in real-time by using the UAV autopilot's Differential Global Positioning System (DGPS) which provides latitude, longitude, and altitude and Inertial Measurement Unit (IMU) which provides the roll, pitch, and yaw data, along with the known Global Positioning System (GPS) location of the ground-based photodiode array receiver.

  20. Magnetic bearing momentum wheels with magnetic gimballing capability for 3-axis active attitude control and energy storage

    NASA Technical Reports Server (NTRS)

    Sindlinger, R. S.

    1977-01-01

    A 3-axis active attitude control system with only one rotating part was developed using a momentum wheel with magnetic gimballing capability as a torque actuator for all three body axes. A brief description of magnetic bearing technology is given. It is concluded that based on this technology an integrated energy storage/attitude control system with one air of counterrotating rings could reduce the complexity and weight of conventional systems.

  1. Steering Law Design for Redundant Single Gimbal Control Moment Gyro Systems. M.S. Thesis - Massachusetts Inst. of Technology.

    NASA Technical Reports Server (NTRS)

    Bedrossian, Nazareth Sarkis

    1987-01-01

    The correspondence between robotic manipulators and single gimbal Control Moment Gyro (CMG) systems was exploited to aid in the understanding and design of single gimbal CMG Steering laws. A test for null motion near a singular CMG configuration was derived which is able to distinguish between escapable and unescapable singular states. Detailed analysis of the Jacobian matrix null-space was performed and results were used to develop and test a variety of single gimbal CMG steering laws. Computer simulations showed that all existing singularity avoidance methods are unable to avoid Elliptic internal singularities. A new null motion algorithm using the Moore-Penrose pseudoinverse, however, was shown by simulation to avoid Elliptic type singularities under certain conditions. The SR-inverse, with appropriate null motion was proposed as a general approach to singularity avoidance, because of its ability to avoid singularities through limited introduction of torque error. Simulation results confirmed the superior performance of this method compared to the other available and proposed pseudoinverse-based Steering laws.

  2. Coupled dynamic analysis of a single gimbal control moment gyro cluster integrated with an isolation system

    NASA Astrophysics Data System (ADS)

    Luo, Qing; Li, Dongxu; Jiang, Jianping

    2014-01-01

    Control moment gyros (CMGs) are widely used as actuators for attitude control in spacecraft. However, micro-vibrations produced by CMGs will degrade the pointing performance of high-sensitivity instruments on-board the spacecraft. This paper addresses dynamic modelling and performs an analysis on the micro-vibration isolation for a single gimbal CMG (SGCMG) cluster. First, an analytical model was developed to describe both the coupled SGCMG cluster and the multi-axis isolation system that can express the dynamic outputs. This analytical model accurately reflects the mass and inertia properties, the gyroscopic effects and flexible modes of the coupled system, which can be generalized for isolation applications of SGCMG clusters. Second, the analytical model was validated using MSC.NASTRAN software based on the finite element technique. The dynamic characteristics of the coupled system are affected by the mass distribution and the gyroscopic effects of the SGCMGs. The gyroscopic effects produced by the rotary flywheel will stiffen or soften several of the structural modes of the coupled system. In addition, the gyroscopic effect of each SGCMG can interact with or counteract that of others, which induce vibration modes coupled together. Finally, the performance of the passive isolation was analysed. It was demonstrated that the gyroscopic effects should be considered in isolation studies on SGCMG clusters; otherwise, the isolation performance will be underestimated if they are ignored.

  3. Attitude control system design using a flywheel suspended by two gimbals

    NASA Astrophysics Data System (ADS)

    Peres, R. W.; Ricci, M. C.

    2015-10-01

    This work presents the attitude control system design procedures for a three axis stabilized satellite in geostationary orbit, which contains a flywheel suspended by two gimbals. The use of a flywheel with two DOFs is an interesting option because with only one device it's possible to control the torques about vehicle's three axes; through the wheel speed control and gyrotorquing phenomenon with two DOFs. If the wheel size and speed are determined properly it's possible to cancel cyclic torques using gas jets only periodically to cancel secular disturbance torques. The system, based on a flywheel, takes only one pitch/roll (earth) sensor to maintain precise attitude, unlike mass expulsion based control systems, which uses propellants continuously, beyond roll, pitch and yaw sensors. It is considered the satellite is in nominal orbit and, therefore, that the attitude's acquisition phase has already elapsed. Control laws and system parameters are determined in order to cancel the solar pressure radiation disturbance torque and the torque due to misalignment of the thrusters. Stability is analyzed and step and cyclic responses are obtained.

  4. Head lice.

    PubMed

    Frankowski, Barbara L; Bocchini, Joseph A

    2010-08-01

    Head lice infestation is associated with limited morbidity but causes a high level of anxiety among parents of school-aged children. Since the 2002 clinical report on head lice was published by the American Academy of Pediatrics, patterns of resistance to products available over-the-counter and by prescription have changed, and additional mechanical means of removing head lice have been explored. This revised clinical report clarifies current diagnosis and treatment protocols and provides guidance for the management of children with head lice in the school setting. PMID:20660553

  5. A gimbal-mounted pressurization chamber for macroscopic and microscopic assessment of ocular tissues.

    PubMed

    Keyes, Joseph T; Yan, Dongmei; Rader, Jacob H; Utzinger, Urs; Vande Geest, Jonathan P

    2011-09-01

    The biomechanical model of glaucoma considers intraocular pressure-related stress and resultant strain on load bearing connective tissues of the optic nerve and surrounding peripapillary sclera as one major causative influence that effects cellular, vascular, and axonal components of the optic nerve. By this reasoning, the quantification of variations in the microstructural architecture and macromechanical response of scleral shells in glaucomatous compared to healthy populations provides an insight into any variations that exist between patient populations. While scleral shells have been tested mechanically in planar and pressure-inflation scenarios the link between the macroscopic biomechanical response and the underlying microstructure has not been determined to date. A potential roadblock to determining how the microstructure changes based on pressure is the ability to mount the spherical scleral shells in a method that does not induce unwanted stresses to the samples (for instance, in the flattening of the spherical specimens), and then capturing macroscopic and microscopic changes under pressure. Often what is done is a macroscopic test followed by sample fixation and then imaging to determine microstructural organization. We introduce a novel device and method, which allows spherical samples to be pressurized and macroscopic and microstructural behavior quantified on fully hydrated ocular specimens. The samples are pressurized and a series of markers on the surface of the sclera imaged from several different perspectives and reconstructed between pressure points to allow for mapping of nonhomogenous strain. Pictures are taken from different perspectives through the use of mounting the pressurization scheme in a gimbal that allows for positioning the sample in several different spherical coordinate system configurations. This ability to move the sclera in space about the center of the globe, coupled with an upright multiphoton microscope, allows for

  6. Protective helmet assembly

    NASA Technical Reports Server (NTRS)

    Dawn, Frederic S. (Inventor); Weiss, Fred R. (Inventor); Eck, John D. (Inventor)

    1992-01-01

    The invention is a protective helmet assembly with improved safety and impact resistance, high resistance to ignition and combustion, and reduced offgassing. The assembly comprises a hard rigid ballistic outer shell with one or more impact absorbing pads fitted to the interior surface. The pads are made of open cell flexible polyimide foam material, each of which is attached to the inner surface of the ballistic outer shell by cooperative VELCRO fastener strips of hook-and-loop material affixed respectively to the rigid outer shell and the impact absorbing pads. The helmet assembly with shell and pads is sized to fit relatively close over a wearer's head.

  7. Magnetic bearing momentum wheels with magnetic gimballing capability for 3-axis active attitude control and energy storage

    NASA Technical Reports Server (NTRS)

    Sindlinger, R. S.

    1977-01-01

    Magnetic bearings used for the suspension of momentum wheels provide conclusive advantages: the low friction torques and the absence of abrasion allow the realization of lightweight high speed wheels with high angular momentum and energy storage capacity and virtually unlimited lifetime. The use of actively controlled bearings provides a magnetic gimballing capability by applying the external signals to the two servo loops controlling the rotational degrees of freedom. Thus, an attitude control system can be realized by using only one rotating mass for 3-axis active satellite stabilization.

  8. Definition and design of an experiment to test raster scanning with rotating unbalanced-mass devices on gimbaled payloads

    NASA Technical Reports Server (NTRS)

    Lightsey, W. D.; Alhorn, D. C.; Polites, M. E.

    1992-01-01

    An experiment designed to test the feasibility of using rotating unbalanced-mass (RUM) devices for line and raster scanning gimbaled payloads, while expending very little power is described. The experiment is configured for ground-based testing, but the scan concept is applicable to ground-based, balloon-borne, and space-based payloads, as well as free-flying spacecraft. The servos used in scanning are defined; the electronic hardware is specified; and a computer simulation model of the system is described. Simulation results are presented that predict system performance and verify the servo designs.

  9. Head injury.

    PubMed

    Hureibi, K A; McLatchie, G R

    2010-05-01

    Head injury is one of the commonest injuries in sport. Most are mild but some can have serious outcomes. Sports medicine doctors should be able to recognise the clinical features and evaluate athletes with head injury. It is necessary during field assessment to recognise signs and symptoms that help in assessing the severity of injury and making a decision to return-to-play. Prevention of primary head injury should be the aim. This includes protective equipment like helmets and possible rule changes. PMID:20533694

  10. Head Injuries

    MedlinePlus

    ... before. Often, the injury is minor because your skull is hard and it protects your brain. But ... injuries can be more severe, such as a skull fracture, concussion, or traumatic brain injury. Head injuries ...