14 CFR 29.519 - Hull type rotorcraft: Water-based and amphibian.

Code of Federal Regulations, 2010 CFR

2010-01-01

... at zero forward speed in likely pitch and roll attitudes which result in critical design loadings... forward velocities from zero up to 30 knots in likely pitch, roll, and yaw attitudes and with a vertical...

SU-F-P-31: Dosimetric Effects of Roll and Pitch Corrections Using Robotic Table

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mamalui, M; Su, Z; Flampouri, S

Purpose: To quantify the dosimetric effect of roll and pitch corrections being performed by two types of robotic tables available at our institution: BrainLabTM 5DOF robotic table installed at VERO (BrainLab&MHI) dedicated SBRT linear accelerator and 6DOF robotic couch by IBA Proton Therapy with QFixTM couch top. Methods: Planning study used a thorax phantom (CIRSTM), scanned at 4DCT protocol; targets (IGTV, PTV) were determined according to the institutional lung site-specific standards. 12 CT sets were generated with Pitch and Roll angles ranging from −4 to +4 degrees each. 2 table tops were placed onto the scans according to the modality-specificmore » patient treatment workflows. The pitched/rolled CT sets were fused to the original CT scan and the verification treatment plans were generated (12 photon SBRT plans and 12 proton conventional fractionation lung plans). Then the CT sets were fused again to simulate the effect of patient roll/pitch corrections by the robotic table. DVH sets were evaluated for all cases. Results: The effect of not correcting the phantom position for roll/pitch in photon SBRT cases was reducing the target coverage by 2% as maximum; correcting the positional errors by robotic table varied the target coverage within 0.7%. in case of proton treatment, not correcting the phantom position led to the coverage loss up to 4%, applying the corrections using robotic table reduced the coverage variation to less than 2% for PTV and within 1% for IGTV. Conclusion: correcting the patient position by using robotic tables is highly preferable, despite the small dosimetric changes introduced by the devices.« less

The effects of visual scenes on roll and pitch thresholds in pilots versus nonpilots.

PubMed

Otakeno, Shinji; Matthews, Roger S J; Folio, Les; Previc, Fred H; Lessard, Charles S

2002-02-01

Previous studies have indicated that, compared with nonpilots, pilots rely more on vision than "seat-of-the-pants" sensations when presented with visual-vestibular conflict. The objective of this study was to evaluate whether pilots and nonpilots differ in their thresholds for tilt perception while viewing visual scenes depicting simulated flight. This study was conducted in the Advanced Spatial Disorientation Demonstrator (ASDD) at Brooks AFB, TX. There were 14 subjects (7 pilots and 7 nonpilots) who recorded tilt detection thresholds in pitch and roll while exposed to sub-threshold movement in each axis. During each test run, subjects were presented with computer-generated visual scenes depicting accelerating forward flight by day or night, and a blank (control) condition. The only significant effect detected by an analysis of variance (ANOVA) was that all subjects were more sensitive to tilt in roll than in pitch [F (2,24) = 18.96, p < 0.001]. Overall, pilots had marginally higher tilt detection thresholds compared with nonpilots (p = 0.055), but the type of visual scene had no significant effect on thresholds. In this study, pilots did not demonstrate greater visual dominance over vestibular and proprioceptive cues than nonpilots, but appeared to have higher pitch and roll thresholds overall. The finding of significantly lower detection thresholds in the roll axis vs. the pitch axis was an incidental finding for both subject groups.

Some Effects of Roll Rate on the Longitudinal Stability Characteristics of a Cruciform Missile Configuration as Determined from Flight Test for a Mach Number Range of 1.1 to 1.8

NASA Technical Reports Server (NTRS)

Barber, H. T., Jr.; Lundstrom, R. R.

1956-01-01

A model of a cruciform missile configuration having a low-aspectratio wing equipped with flap-type controls was flight tested in order to determine stability and control characteristics while rolling at about 5 radians per second. Comparison is made with results from a similar model which rolled at a much lower rate. Results showed that, if the ratio of roll rate to natural circular frequency in pitch is not greater than about 0.3, the motion following a step disturbance in pitch essentially remains in a plane in space. The slope of normal-force coefficient against angle of attack C(sub N(sub A)) was the same as for the slowly rolling model at O deg control deflection but C(sub N(sub A)) was much higher for the faster rolling model at about 5 deg control deflection. The slope of pitching-moment coefficient against angle of attack & same for both models at 0 deg control deflection but was lower for the faster rolling model at about 5 deg control deflection. Damping data for the faster rolling model showed considerably more scatter than for the slowly rolling model.

78 FR 63848 - Special Conditions: Embraer S.A., Model EMB-550 Airplanes; Sidestick Controllers

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-25

..., freedom of arm movement, controller displacement, handgrip size and accommodations for a range of pilot... column controls. Pitch and roll control force and displacement sensitivity must be compatible so that... precision path control/tasks and turbulence. In addition, pitch and roll control force and displacement...

Computer programs for the calculation of dual sting pitch and roll angles required for an articulated sting to obtain angles of attack and sideslip on wind-tunnel models

NASA Technical Reports Server (NTRS)

Peterson, John B., Jr.

1991-01-01

Two programs were developed to calculate the pitch and roll position of the conventional sting drive and the pitch of a high angle articulated sting to position a wind tunnel model at the desired angle of attack and sideslip and position the model as near as possible to the centerline of the tunnel. These programs account for the effects of sting offset angles, sting bending angles, and wind-tunnel stream flow angles. In addition, the second program incorporates inputs form on-board accelerometers that measure model pitch and roll with respect to gravity. The programs are presented and a description of the numerical operation of the programs with a definition of the variables used in the programs is given.

Effects of prolonged weightlessness on self-motion perception and eye movements evoked by roll and pitch

NASA Technical Reports Server (NTRS)

Reschke, Millard F.; Parker, Donald E.

1987-01-01

Seven astronauts reported translational self-motion during roll simulation 1-3 h after landing following 5-7 d of orbital flight. Two reported strong translational self-motion perception when they performed pitch head motions during entry and while the orbiter was stationary on the runway. One of two astronauts from whom adequate data were collected exhibited a 132-deg shift in the phase angle between roll stimulation and horizontal eye position 2 h after landing. Neither of two from whom adequate data were collected exhibited increased horizontal eye movement amplitude or disturbance of voluntary pitch or roll body motion immediately postflight. These results are generally consistent with an otolith tilt-translation reinterpretation model and are being applied to the development of apparatus and procedures intended to preadapt astronauts to the sensory rearrangement of weightlessness.

Software Design Document for the AirNET Aeromodel and Weapons Model Conversion. Volume 1. Version 0.0,

DTIC Science & Technology

1993-01-22

AUGLPITCHROLLCONTROLa ttitude .-ontrol_roll_command, MAX..STABAUG3_PITCH-.ROLL..CONTROL); return ( attitude -.control-roll-commuand); static REAL set...pitch...if any). V V RETURNS: TRUE if successful, FALSE if not. V * PURPOSE: This routine performs the functions V V specifically related to the firing of a...specifically related to the flying a ADAT * missile. * void missile _adaLfly (aptr, sightiocation, locqsightto.world, tube, veh_list) ADATMISSILE

A head-up display for mid-air drone recovery

NASA Technical Reports Server (NTRS)

Augustine, W. L.; Heft, E. L.; Bowen, T. E.; Newman, R. L.

1978-01-01

During mid-air retrieval of parachute packages, the absence of a natural horizon creates serious difficulties for the pilot of the recovery helicopter. A head-up display (HUD) was tested in an attempt to solve this problem. Both a roll-stabilized HUD and a no-roll (pitch only) HUD were tested. The results show that fewer missed passes occurred with the roll-stabilized HUD when the horizon was obscured. The pilots also reported that the workload was greatly reduced. Roll-stabilization was required to prevent vertigo when flying in the absence of a natural horizon. Any HUD intended for mid-air retrieval should display pitch, roll, sideslip, airspeed, and vertical velocity.

Some Effects of Roll Rate on the Longitudinal Stability Characteristics of a Cruciform Missile Configuration as Determined from Flight Test for a Mach Number Range of 1.1. to 1.8

NASA Technical Reports Server (NTRS)

Lundstrom, Reginald R; Baber, Hal T , Jr

1956-01-01

A model of a cruciform missile configuration having a low-aspect-ratio wing equipped with flap-type controls was flight tested in order to determine stability and control characteristics while rolling at about 5 radians per second. Comparison is made with results from a similar model which rolled at a much lower rate. Results showed that, if the ratio of roll rate to natural circular frequency in pitch is not greater than about 0.3, the motion following a step disturbance in pitch essentially remains in a plane in space. The slope of normal- force coefficient against angle of attack C(sub N(sub alpha)) was the same as for the slowly rolling model at 0 degrees control deflection but C(sub N(sub alpha)) was much higher for the faster rolling model at about 5 degrees control deflection. The slope of pitching-moment coefficient against angle of attack C(sub m(sub alpha)) as determined from the model period of oscillation was the same for both models at 0 degrees control deflection but was lower for the faster rolling model at about 5 degrees control deflection. Damping data for the faster rolling model showed considerably more scatter than for the slowly rolling model.

An investigation of the effects of pitch-roll (de)-coupling on helicopter handling qualities

NASA Technical Reports Server (NTRS)

Ockier, C. J.; Pausder, H. J.; Blanken, C. L.

1995-01-01

An investigation of the effects of pitch-roll coupling on helicopter handling qualities was performed by the US Army and DLR, using a NASA ground-based and a DLR inflight simulator. Over 90 different coupling configurations were evaluated using a roll-axis tracking task. The results show that although the current ADS-33C coupling criterion discriminates against those types of coupling typical of conventionally controlled helicopters, it not always suited for the prediction of handling qualities of helicopters with modern control systems. Based on the observation that high frequency inputs during tracking are used to alleviate coupling, a frequency domain pitch-roll coupling criterion that uses the average coupling ratio between the bandwidth and neutral stability frequency is formulated. This criterion provides a more comprehensive coverage with respect to the different types of coupling and shows excellent consistency.

Environmental Data Collection Using Autonomous Wave Gliders

DTIC Science & Technology

2014-12-01

Observing System IMU Inertial Measurement Unit LRI Liquid Robotics, Inc. MASFlux Marine-Air-Sea-Flux METOC meteorological and oceanographic...position, velocity, heading, pitch, roll , and six-axis acceleration rates (Figure 11). A separate temperature probe also provides sea surface...Position, Velocity, and Magnetic declination True North Revolution Technologies GS Gyro Stabilized Electronic Compass Heading, Pitch, and Roll

Computer programs for calculation of sting pitch and roll angles required to obtain angles of attack and sideslip on wind tunnel models

NASA Technical Reports Server (NTRS)

Peterson, John B., Jr.

1988-01-01

Two programs have been developed to calculate the pitch and roll angles of a wind-tunnel sting drive system that will position a model at the desired angle of attack and and angle of sideslip in the wind tunnel. These programs account for the effects of sting offset angles, sting bending angles and wind-tunnel stream flow angles. In addition, the second program incorporates inputs from on-board accelerometers that measure model pitch and roll with respect to gravity. The programs are presented in the report and a description of the numerical operation of the programs with a definition of the variables used in the programs is given.

Dynamic stability characteristics in pitch, yaw, and roll of a supercritical-wing research airplane model. [langley 8-foot transonic tunnel tests

NASA Technical Reports Server (NTRS)

Boyden, R. P.

1974-01-01

The aerodynamic damping in pitch, yaw, and roll and the oscillatory stability in pitch and yaw of a supercritical-wing research airplane model were determined for Mach numbers of 0.25 to 1.20 by using the small-amplitude forced-oscillation technique. The angle-of-attack range was from -2 deg to 20 deg. The effects of the underwing leading-edge vortex generators and the contributions of the wing, vertical tail, and horizontal tail to the appropriate damping and stability were measured.

Vision-based flight control in the hawkmoth Hyles lineata

PubMed Central

Windsor, Shane P.; Bomphrey, Richard J.; Taylor, Graham K.

2014-01-01

Vision is a key sensory modality for flying insects, playing an important role in guidance, navigation and control. Here, we use a virtual-reality flight simulator to measure the optomotor responses of the hawkmoth Hyles lineata, and use a published linear-time invariant model of the flight dynamics to interpret the function of the measured responses in flight stabilization and control. We recorded the forces and moments produced during oscillation of the visual field in roll, pitch and yaw, varying the temporal frequency, amplitude or spatial frequency of the stimulus. The moths’ responses were strongly dependent upon contrast frequency, as expected if the optomotor system uses correlation-type motion detectors to sense self-motion. The flight dynamics model predicts that roll angle feedback is needed to stabilize the lateral dynamics, and that a combination of pitch angle and pitch rate feedback is most effective in stabilizing the longitudinal dynamics. The moths’ responses to roll and pitch stimuli coincided qualitatively with these functional predictions. The moths produced coupled roll and yaw moments in response to yaw stimuli, which could help to reduce the energetic cost of correcting heading. Our results emphasize the close relationship between physics and physiology in the stabilization of insect flight. PMID:24335557

Vision-based flight control in the hawkmoth Hyles lineata.

PubMed

Windsor, Shane P; Bomphrey, Richard J; Taylor, Graham K

2014-02-06

Vision is a key sensory modality for flying insects, playing an important role in guidance, navigation and control. Here, we use a virtual-reality flight simulator to measure the optomotor responses of the hawkmoth Hyles lineata, and use a published linear-time invariant model of the flight dynamics to interpret the function of the measured responses in flight stabilization and control. We recorded the forces and moments produced during oscillation of the visual field in roll, pitch and yaw, varying the temporal frequency, amplitude or spatial frequency of the stimulus. The moths' responses were strongly dependent upon contrast frequency, as expected if the optomotor system uses correlation-type motion detectors to sense self-motion. The flight dynamics model predicts that roll angle feedback is needed to stabilize the lateral dynamics, and that a combination of pitch angle and pitch rate feedback is most effective in stabilizing the longitudinal dynamics. The moths' responses to roll and pitch stimuli coincided qualitatively with these functional predictions. The moths produced coupled roll and yaw moments in response to yaw stimuli, which could help to reduce the energetic cost of correcting heading. Our results emphasize the close relationship between physics and physiology in the stabilization of insect flight.

Large Diameter Shuttle Launched-AEM (LDSL-AEM) study

NASA Technical Reports Server (NTRS)

1976-01-01

A technical description of a Large Diameter Shuttle Launched-AEM (LDSL-AEM), an AEM base module adapted to carry 5 ft diameter payloads in the shuttle with propulsion for carrying payloads to higher altitude orbits from a 150 NM shuttle orbit, is described. The AEM is designed for launch on the scout launch vehicle. Onboard equipment provides capability to despin, acquire the earth, and control the vehicle in an earth pointing mode using reaction wheels for torque with magnets for all attitude acquisition, wheel desaturation, and nutation damping. Earth sensors in the wheels provide pitch and roll attitude. This system provides autonomous control capability to 1 degree in pitch and roll and 2 degrees in yaw. The attitude can be determined to .5 degrees in pitch and roll and 2 degrees in yaw.

Biomimetic mechanism for micro aircraft

NASA Technical Reports Server (NTRS)

Pines, Darryll J. (Inventor); Bohorquez, Felipe A. (Inventor); Sirohi, Jayant (Inventor)

2005-01-01

A biomimetic pitching and flapping mechanism including a support member, at least two blade joints for holding blades and operatively connected to the support member. An outer shaft member is concentric with the support member, and an inner shaft member is concentric with the outer shaft member. The mechanism allows the blades of a small-scale rotor to be actuated in the flap and pitch degrees of freedom. The pitching and the flapping are completely independent from and uncoupled to each other. As such, the rotor can independently flap, or independently pitch, or flap and pitch simultaneously with different amplitudes and/or frequencies. The mechanism can also be used in a non-rotary wing configuration, such as an ornithopter, in which case the rotational degree of freedom would be suppressed.

Clinical brain MR imaging prescriptions in Talairach space: technologist- and computer-driven methods.

PubMed

Weiss, Kenneth L; Pan, Hai; Storrs, Judd; Strub, William; Weiss, Jane L; Jia, Li; Eldevik, O Petter

2003-05-01

Variability in patient head positioning may yield substantial interstudy image variance in the clinical setting. We describe and test three-step technologist and computer-automated algorithms designed to image the brain in a standard reference system and reduce variance. Triple oblique axial images obtained parallel to the Talairach anterior commissure (AC)-posterior commissure (PC) plane were reviewed in a prospective analysis of 126 consecutive patients. Requisite roll, yaw, and pitch correction, as three authors determined independently and subsequently by consensus, were compared with the technologists' actual graphical prescriptions and those generated by a novel computer automated three-step (CATS) program. Automated pitch determinations generated with Statistical Parametric Mapping '99 (SPM'99) were also compared. Requisite pitch correction (15.2 degrees +/- 10.2 degrees ) far exceeded that for roll (-0.6 degrees +/- 3.7 degrees ) and yaw (-0.9 degrees +/- 4.7 degrees ) in terms of magnitude and variance (P <.001). Technologist and computer-generated prescriptions substantially reduced interpatient image variance with regard to roll (3.4 degrees and 3.9 degrees vs 13.5 degrees ), yaw (0.6 degrees and 2.5 degrees vs 22.3 degrees ), and pitch (28.6 degrees, 18.5 degrees with CATS, and 59.3 degrees with SPM'99 vs 104 degrees ). CATS performed worse than the technologists in yaw prescription, and it was equivalent in roll and pitch prescriptions. Talairach prescriptions better approximated standard CT canthomeatal angulations (9 degrees vs 24 degrees ) and provided more efficient brain coverage than that of routine axial imaging. Brain MR prescriptions corrected for direct roll, yaw, and Talairach AC-PC pitch can be readily achieved by trained technologists or automated computer algorithms. This ability will substantially reduce interpatient variance, allow better approximation of standard CT angulation, and yield more efficient brain coverage than that of routine clinical axial imaging.

Deviations of the visual upright in three dimensions in disorders of the brainstem: a clinical exploration.

PubMed

Frisén, Lars

2010-12-01

Deviations of the subjective visual vertical in the roll or fronto-parallel plane occur commonly in disorders of the brainstem and have been extensively explored. In contrast, little is known about deviations in other directions. The present retrospective study focused on deviations in the pitch (sagittal) direction in 176 patients with a wide variety of disorders. The test task was to set a self-illuminated rod in the apparent upright position, in total darkness. Abnormal results (outside ± 4°) were recorded in 58% of the subjects. Negative (top backward) deviations were the most common, particularly with mass lesions in the pineal region, obstructive hydrocephalus, cerebellar lesions and crowding at the craniocervical junction. Positive and negative deviations were about equally common with focal intra-axial lesions. Negative deviations appeared related to dorsal locations of lesions and vice versa. Normal pressure hydrocephalus, Parkinson's disease and progressive supranuclear palsy were associated with smaller deviations, without a clear directional preponderance, and a larger individual variability. Most subjects lacked overt clinical corollaries. The most common ocular signs were aqueduct syndromes (n = 17) and ocular tilt reactions (n = 12), which were associated with deviations in 47 and 92% of instances, respectively. Subjective corollaries of deviation were never reported, not even by those subjects who showed a dramatic improvement upon resolution of the underlying condition. Deviations were also assessed in roll in a subgroup of 40 patients with focal lesions. Thirty subjects returned abnormal results: 13% in roll, 47% in pitch and 40% in pitch and roll. The direction of roll deviation appeared primarily related to laterality, with clockwise deviations with right-sided lesions and vice versa. All subjects with ocular tilt reactions had combined pitch and roll deviations, implying a common neural substrate. Correlation analyses, geometrical modelling and experimental self-observations indicated that deviations in pitch were attributable to cyclotorsional asymmetries between the eyes. The frequent co-existence of abnormal pitch and roll results implies that the true axis of deviation in focal brainstem disorders commonly falls outside traditional reference planes. The term 'visual upright in three dimensions' is suggested to identify unrestricted measurements, preserving the established term 'visual vertical' for measurements confined to the roll plane. Assessment of the visual upright in three dimensions provides a new, quantitative angle on brainstem disorders. The test appears useful for identifying a ubiquitous yet clinically silent feature of brainstem disease and also for monitoring the evolution of underlying conditions. More detailed explorations appear well motivated.

Identification of Time-Varying Pilot Control Behavior in Multi-Axis Control Tasks

NASA Technical Reports Server (NTRS)

Zaal, Peter M. T.; Sweet, Barbara T.

2012-01-01

Recent developments in fly-by-wire control architectures for rotorcraft have introduced new interest in the identification of time-varying pilot control behavior in multi-axis control tasks. In this paper a maximum likelihood estimation method is used to estimate the parameters of a pilot model with time-dependent sigmoid functions to characterize time-varying human control behavior. An experiment was performed by 9 general aviation pilots who had to perform a simultaneous roll and pitch control task with time-varying aircraft dynamics. In 8 different conditions, the axis containing the time-varying dynamics and the growth factor of the dynamics were varied, allowing for an analysis of the performance of the estimation method when estimating time-dependent parameter functions. In addition, a detailed analysis of pilots adaptation to the time-varying aircraft dynamics in both the roll and pitch axes could be performed. Pilot control behavior in both axes was significantly affected by the time-varying aircraft dynamics in roll and pitch, and by the growth factor. The main effect was found in the axis that contained the time-varying dynamics. However, pilot control behavior also changed over time in the axis not containing the time-varying aircraft dynamics. This indicates that some cross coupling exists in the perception and control processes between the roll and pitch axes.

Sensory Interactions for Head and Trunk Control in Space in Young and Older Adults During Normal and Narrow-Base Walking.

PubMed

Zhang, Fang; Deshpande, Nandini

2016-01-01

Fifteen young (20-30 years old) and 15 older (>65 years old) healthy participants were recruited to investigate age-related differences in head and trunk control under suboptimal vestibular conditions (galvanic vestibular stimulation, or GVS) and vision conditions during normal and narrow-based walking. Head-roll velocity decreased in the blurred-vision condition and marginally increased with GVS in older but not in young participants. Head pitch increased, whereas head-roll velocity decreased in narrow-base walking. Trunk pitch, trunk-pitch velocity, and gait speed increased with GVS, whereas trunk-pitch velocity and gait speed decreased in narrow-base walking. Marginally increased head-roll velocity in the older participants possibly suggests decreased integrative ability of the central nervous system in elderly people. The changes in head control during narrow-base walking may be an attempt to simplify the interpretation of the vestibular signal and increase otolith sensitivity. The complexity of controlling the trunk in the mediolateral direction was suggested by different strategies used for trunk control in different conditions.

Effect of Variation of Chord and Span of Ailerons on Rolling and Yawing Moments at Several Angles of Pitch

NASA Technical Reports Server (NTRS)

Heald, R H; Strother, D H; Monish, B H

1931-01-01

This report presents the results of an extension to higher angles of attack of the investigation of the rolling and yawing moments due to ailerons of various chords and spans on two airfoils having the Clark Y and U. S. A. 27 wings. The measurements were made at various angles of pitch but at zero angle of roll and yaw, the wing chord being set at an angle of +4 degrees to the fuselage axis. In the case of the Clark Y airfoil the measurements have been extended to a pitch angle of 40 degrees, using ailerons of span equal to 67 per cent of the wing semispan and chord equal to 20 and 30 per cent of the wing chord. The work was conducted on wing models of 60-inch span and 10-inch chord.

Effect of heliotropism on the bidirectional reflectance of irrigated cotton

NASA Technical Reports Server (NTRS)

Schutt, J. B.; Kimes, D. S.; Newcomb, W. W.

1985-01-01

The dynamic behavior of cotton leaves is described using gyroscopic coordinates. Angular movements represented as pitching, rolling, and yawing are used to follow the movement of leaf normals and their instantaneous relationships to the sun on an individual basis. A sensitivity analysis establishes that the angle between a leaf normal and the sun is most affected by changes in pitch and roll. Plots of the phase angle gamma averaged by quadrant show the pronounced heliotropic behavior of cotton leaves. Plots of pitch versus roll averaged by quadrant demonstrate the differential behavior of cotton leaves relative to the position of the sun. These results are used to interpret sections taken from bidirectional reflectance curves obtained using 0.57-0.69 micron band in terms of the evolution of gamma from sunrise until noon. The measured and experimental values of gamma are in reasonable agreement. Forescattered and backscattered exitances are observed to have distinct leaf normal directions.

Proposed MIL Standard and Handbook - Flying Qualities of Air Vehicles. Volume I. Proposed MIL Standard

DTIC Science & Technology

1982-11-01

control 4centering and breakout forces 21 3.2.9.6 Pitch axis control forces- free play 21 3.2.9.7 Pitch axis control force limits 21 3.2.9.7.1 Pitch axis...axis control forces - control centering and breakout forces 31 *3.5.10.5 Roll axis control forces -- free play 31 3.5.10.6 Roll axis control force limits...vs. deflection 3.2.9.5 Control centering and -- no(-) to homin and hOax breakout forces no(*) 3.2.9.6 Free play I 3.2.9.7.1 Force limits -- takeoff

Integrated tuned vibration absorbers: a theoretical study.

PubMed

Gardonio, Paolo; Zilletti, Michele

2013-11-01

This article presents a simulation study on two integrated tuned vibration absorbers (TVAs) designed to control the global flexural vibration of lightly damped thin structures subject to broad frequency band disturbances. The first one consists of a single axial switching TVA composed by a seismic mass mounted on variable axial spring and damper elements so that the characteristic damping and natural frequency of the absorber can be switched iteratively to control the resonant response of three flexural modes of the hosting structure. The second one consists of a single three-axes TVA composed by a seismic mass mounted on axial and rotational springs and dampers, which are arranged in such a way that the suspended mass is characterized by uncoupled heave and pitch-rolling vibrations. In this case the three damping and natural frequency parameters of the absorber are tuned separately to control three flexural modes of the hosting structure. The simulation study shows that the proposed single-unit absorbers produce, respectively, 5.3 and 8.7 dB reductions of the global flexural vibration of a rectangular plate between 20 and 120 Hz.

An investigation of the effects of pitch-roll (de)coupling on helicopter handling qualities

NASA Technical Reports Server (NTRS)

Blanken, C. L.; Pausder, H. J.; Ockier, C. J.

1995-01-01

An extensive investigation of the effects of pitch-roll coupling on helicopter handling qualities was performed by the U.S. Army and Deutsche Forschungsanstalt fur Luft- und Raumfahrt (DLR), using a NASA ground-based and a DLR in-flight simulator. Over 90 different coupling configurations were evaluated using a high gain roll-axis tracking task. The results show that although the current ADS-33C coupling criterion discriminates against those types of coupling typical of conventionally controlled helicopters, it is not always suited for the prediction of handling qualities of helicopters with modern control systems. Based on the observation that high frequency inputs during tracking are used to alleviate coupling, a frequency domain pitch-roll coupling criterion that uses the average coupling ratio between the bandwidth and neutral stability frequency is formulated. This criterion provides a more comprehensive coverage with respect to the different types of coupling, shows excellent consistency, and has the additional benefit that compliance testing data are obtained from the bandwidth/phase delay tests, so that no additional flight testing is needed.

Flow visualization around a rotating body in a wind tunnel

NASA Astrophysics Data System (ADS)

Hiraki, K.; Zaitsu, D.; Yanaga, Y.; Kleine, H.

2017-02-01

The rotational behavior of capsule-shaped models is investigated in the transonic wind tunnel of JAXA. A special support is developed to allow the model to rotate around the pitch, yaw and roll axes. This 3-DOF free rotational mounting apparatus achieves the least frictional torque from the support and the instruments. Two types of capsule models are prepared, one is drag type (SPH model) and the other is lift type (HTV-R model). The developed mounting apparatus is used in the wind tunnel tests with these capsule models. In a flow of Mach 0.9, the SPH model exhibits oscillations in pitch and yaw, and it rolls half a turn during the test. Similarly, the HTV-R model exhibits pitch and yaw oscillations in a flow of Mach 0.5. Moreover, it rolls multiple times during the test. In order to investigate the flow field around the capsule, the combined technique of color schlieren and surface tufts is applied. This visualization clearly shows the flow reattachment on the back surface of a capsule, which is suspected to induce the rapid rolling motion.

Rotation and direction judgment from visual images head-slaved in two and three degrees-of-freedom.

PubMed

Adelstein, B D; Ellis, S R

2000-03-01

The contribution to spatial awareness of adding a roll degree-of-freedom (DOF) to telepresence camera platform yaw and pitch was examined in an experiment where subjects judged direction and rotation of stationary target markers in a remote scene. Subjects viewed the scene via head-slaved camera images in a head-mounted display. Elimination of the roll DOF affected rotation judgment, but only at extreme yaw and pitch combinations, and did not affect azimuth and elevation judgement. Systematic azimuth overshoot occurred regardless of roll condition. Observed rotation misjudgments are explained by kinematic models for eye-head direction of gaze.

Are pitch and roll compensations required in all pathologies? A data analysis of 2945 fractions.

PubMed

Mancosu, Pietro; Reggiori, Giacomo; Gaudino, Anna; Lobefalo, Francesca; Paganini, Lucia; Palumbo, Valentina; Stravato, Antonella; Tomatis, Stefano; Scorsetti, Marta

2015-01-01

New linear accelerators can be equipped with a 6D robotic couch, providing two additional rotational motion axes: pitch and roll. These shifts in kilo voltage-cone beam CT (kV-CBCT) image-guided radiotherapy (IGRT) were evaluated over the first 6 months of usage of a 6D robotic couch-top, ranking the treatment sites for which the two compensations are larger for patient set-up. The couch compensations of 2945 fractions for 376 consecutive patients treated on the PerfectPitch™ 6D couch (Varian(®) Medical Systems, Palo Alto, CA) were analysed. Among these patients, 169 were treated for brain, 111 for lung, 54 for liver, 26 for pancreas and 16 for prostate tumours. During the set-up, patient anatomy from planning CT was aligned to kV-CBCT, and 6D movements were executed. Information related to pitch and roll were extracted by proper querying of the Microsoft(®) SQL server (Microsoft Corporation, Redmond, WA) ARIA database (Varian Medical Systems). Mean values and standard deviations were calculated for all sites. Kolmogorov-Smirnov (KS) test was performed. Considering all the data, mean pitch and roll adjustments were -0.10° ± 0.92° and 0.12° ± 0.96°, respectively; mean absolute values for both adjustments were 0.58° ± 0.69° and 0.69° ± 0.72°, respectively. Brain treatments showed the highest mean absolute values for pitch and roll rotations (0.73° ± 0.69° and 0.80° ± 0.78°, respectively); the lowest values of 0.36° ± 0.47° and 0.49° ± 0.58° were found for pancreas. KS test was significant for brain vs liver, pancreas and prostate. Collective corrections (pitch + roll) >0.5°, >1.0° and >2.0° were observed in, respectively, 79.8%, 61.0% and 29.1% for brain and 56.7%, 39.4% and 6.7% for pancreas. Adjustments in all six dimensions, including unconventional pitch and roll rotations, improve the patient set-up in all treatment sites. The greatest improvement was observed for patients with brain tumours. To our knowledge, this is the first systematic evaluation of the clinical efficacy of a 6D Robotic couch-top in CBCT IGRT over different tumour regions.

SU-E-J-46: Evaluation of the Accuracy of a Six Degree of Freedom Robotic Couch Using ConeBeam CT Images of the Isocal Phantom

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhang, Q; Driewer, J; Wang, S

Purpose The accuracy of Varian PerfectPitch six degree of freedom (DOF) robotic couch was examined using Varian Isocal phantom and cone-beam CT (CBCT) system. Methods CBCT images of the Isocal phantom were taken at different pitch and roll angles. The pitch and roll angles were varied from 357 to 3 degrees in one degree increments by input from service console, generating a total of 49 combinations with couch angle (yaw) zero. The center positions of the 16 tungsten carbide BBs contained in the Isocal were determined with in-house image processing software. Expected BBs positions at different rotation angles were determinedmore » mathematically by applying a combined translation/rotation operator to BB positions at zero pitch and roll values. A least square method was used to minimize the difference between the expected BB positions and their measured positions. In this way rotation angles were obtained and compared with input values from the console. Results A total of 49 CBCT images with voxel sizes 0.51 mm × 0.51 mm × 1 mm were used in analysis. Among the 49 calculations, the maximum rotation angle differences were 0.1 degree, 0.15 degree, and 0.09 degree, for pitch, roll, and couch rotation, respectively. The mean ± standard-deviation angle differences were 0.028±0.001 degree, −0.043±0.003 degree, and −0.009±0.001 degree, for pitch, roll, and couch rotation, respectively. The maximum isocenter shifts were 0.3 mm, 0.5 mm, 0.4 mm in x, y, z direction respectively following IEC6127 convention. The mean isocenter shifts were 0.07±0.02 mm, −0.05±0.06 mm, and −0.12±0.02 mm in x, y and z directions. Conclusion The accuracy of the Varian PerfectPitch six DOF couch was studied with CBCTs of the Isocal phantom. The rotational errors were less than 0.15 degree and isocenter shifts were less than 0.5 mm in any direction. This accuracy is sufficient for stereotactic radiotherapy clinical applications.« less

Development of a Dirigible Bomb

DTIC Science & Technology

1943-04-15

X - ¥ control for all future high-angle dirigible bombs in spite of the instrumental complications involved. /. two gyro system consisting of t...ts found thet the bomb wos in roll equilibrium £.t aero roll orientetion . Moreover, these roll equilibrium positions ire stt-ble ss indicated by...tirflow giving rise to voll torques in the seme direction fcs roll dis- placements from the «ero orientetion , the roll equilibrium found for equel pitch

Star tracker error analysis: Roll-to-pitch nonorthogonality

NASA Technical Reports Server (NTRS)

Corson, R. W.

1979-01-01

An error analysis is described on an anomaly isolated in the star tracker software line of sight (LOS) rate test. The LOS rate cosine was found to be greater than one in certain cases which implied that either one or both of the star tracker measured end point unit vectors used to compute the LOS rate cosine had lengths greater than unity. The roll/pitch nonorthogonality matrix in the TNB CL module of the IMU software is examined as the source of error.

Digital Systems Validation Handbook. Volume 2

DTIC Science & Technology

1989-02-01

0 TABLE 7.2-3. FAILURE RATES FOR MAJOR RDFCS COMPONENTS COMPONENT UNIT FAILURE RATE* Pitch Angle Gyro 303 Roll Angle Gyro 303 Yaw Rate Gyro 200...Airplane Weight 314,500 lb Altitude 35 ft Angle of Attack 10.91 0 Indicated Air Speed 168 kts Flap Deployment 22 o Transition capability was added to go...various pieces of information into the form needed by the FCCs. For example, roll angle and pitch angle are converted to three-wire AC signals, properly

Direct and precise measurement of displacement and velocity of flexible web in roll-to-roll manufacturing systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kang, Dongwoo; Lee, Eonseok; Choi, Young-Man

Interest in the production of printed electronics using a roll-to-roll system has gradually increased due to its low mass-production costs and compatibility with flexible substrate. To improve the accuracy of roll-to-roll manufacturing systems, the movement of the web needs to be measured precisely in advance. In this paper, a novel measurement method is developed to measure the displacement and velocity of the web precisely and directly. The proposed algorithm is based on the traditional single field encoder principle, and the scale grating has been replaced with a printed grating on the web. Because a printed grating cannot be as accuratemore » as a scale grating in a traditional encoder, there will inevitably be variations in pitch and line-width, and the motion of the web should be measured even though there are variations in pitch and line-width in the printed grating patterns. For this reason, the developed algorithm includes a precise method of estimating the variations in pitch. In addtion, a method of correcting the Lissajous curve is presented for precision phase interpolation to improve measurement accuracy by correcting Lissajous circle to unit circle. The performance of the developed method is evaluated by simulation and experiment. In the experiment, the displacement error was less than 2.5 μm and the velocity error of 1σ was about 0.25%, while the grating scale moved 30 mm.« less

Direct and precise measurement of displacement and velocity of flexible web in roll-to-roll manufacturing systems

NASA Astrophysics Data System (ADS)

Kang, Dongwoo; duk Kim, Young; Lee, Eonseok; Choi, Young-Man; Lee, Taik-Min; Kim, Dongmin

2013-12-01

Interest in the production of printed electronics using a roll-to-roll system has gradually increased due to its low mass-production costs and compatibility with flexible substrate. To improve the accuracy of roll-to-roll manufacturing systems, the movement of the web needs to be measured precisely in advance. In this paper, a novel measurement method is developed to measure the displacement and velocity of the web precisely and directly. The proposed algorithm is based on the traditional single field encoder principle, and the scale grating has been replaced with a printed grating on the web. Because a printed grating cannot be as accurate as a scale grating in a traditional encoder, there will inevitably be variations in pitch and line-width, and the motion of the web should be measured even though there are variations in pitch and line-width in the printed grating patterns. For this reason, the developed algorithm includes a precise method of estimating the variations in pitch. In addtion, a method of correcting the Lissajous curve is presented for precision phase interpolation to improve measurement accuracy by correcting Lissajous circle to unit circle. The performance of the developed method is evaluated by simulation and experiment. In the experiment, the displacement error was less than 2.5 μm and the velocity error of 1σ was about 0.25%, while the grating scale moved 30 mm.

Use of an adjustable hand plate in studying the perceived horizontal plane during simulated flight.

PubMed

Tribukait, Arne; Eiken, Ola; Lemming, Dag; Levin, Britta

2013-07-01

Quantitative data on spatial orientation would be valuable not only in assessing the fidelity of flight simulators, but also in evaluation of spatial orientation training. In this study a manual indicator was used for recording the subjective horizontal plane during simulated flight. In a six-degrees-of-freedom hexapod hydraulic motion platform simulator, simulating an F-16 aircraft, seven fixed-wing student pilots were passively exposed to two flight sequences. The first consisted in a number of coordinated turns with visual contact with the landscape below. The visually presented roll tilt was up to a maximum 670. The second was a takeoff with a cabin pitch up of 100, whereupon external visual references were lost. The subjects continuously indicated, with the left hand on an adjustable plate, what they perceived as horizontal in roll and pitch. There were two test occasions separated by a 3-d course on spatial disorientation. Responses to changes in simulated roll were, in general, instantaneous. The indicated roll tilt was approximately 30% of the visually presented roll. There was a considerable interindividual variability. However, for the roll response there was a correlation between the two occasions. The amplitude of the response to the pitch up of the cabin was approximately 75%; the response decayed much more slowly than the stimulus. With a manual indicator for recording the subjective horizontal plane, individual characteristics in the response to visual tilt stimuli may be detected, suggesting a potential for evaluation of simulation algorithms or training programs.

Roll and pitch set-up errors during volumetric modulated arc delivery: can adapting gantry and collimator angles compensate?

PubMed

Hoffmans-Holtzer, Nienke A; Hoffmans, Daan; Dahele, Max; Slotman, Ben J; Verbakel, Wilko F A R

2015-03-01

The purpose of this work was to investigate whether adapting gantry and collimator angles can compensate for roll and pitch setup errors during volumetric modulated arc therapy (VMAT) delivery. Previously delivered clinical plans for locally advanced head-and-neck (H&N) cancer (n = 5), localized prostate cancer (n = 2), and whole brain with simultaneous integrated boost to 5 metastases (WB + 5M, n = 1) were used for this study. Known rigid rotations were introduced in the planning CT scans. To compensate for these, in-house software was used to adapt gantry and collimator angles in the plan. Doses to planning target volumes (PTV) and critical organs at risk (OAR) were calculated with and without compensation and compared with the original clinical plan. Measurements in the sagittal plane in a polystyrene phantom using radiochromic film were compared by gamma (γ) evaluation for 2 H&N cancer patients. For H&N plans, the introduction of 2°-roll and 3°-pitch rotations reduced mean PTV coverage from 98.7 to 96.3%. This improved to 98.1% with gantry and collimator compensation. For prostate plans respective figures were 98.4, 97.5, and 98.4%. For WB + 5M, compensation worked less well, especially for smaller volumes and volumes farther from the isocenter. Mean comparative γ evaluation (3%, 1 mm) between original and pitched plans resulted in 86% γ < 1. The corrected plan restored the mean comparison to 96% γ < 1. Preliminary data suggest that adapting gantry and collimator angles is a promising way to correct roll and pitch set-up errors of < 3° during VMAT for H&N and prostate cancer.

Multimodal Pilot Behavior in Multi-Axis Tracking Tasks with Time-Varying Motion Cueing Gains

NASA Technical Reports Server (NTRS)

Zaal, P. M. T; Pool, D. M.

2014-01-01

In a large number of motion-base simulators, adaptive motion filters are utilized to maximize the use of the available motion envelope of the motion system. However, not much is known about how the time-varying characteristics of such adaptive filters affect pilots when performing manual aircraft control. This paper presents the results of a study investigating the effects of time-varying motion filter gains on pilot control behavior and performance. An experiment was performed in a motion-base simulator where participants performed a simultaneous roll and pitch tracking task, while the roll and/or pitch motion filter gains changed over time. Results indicate that performance increases over time with increasing motion gains. This increase is a result of a time-varying adaptation of pilots' equalization dynamics, characterized by increased visual and motion response gains and decreased visual lead time constants. Opposite trends are found for decreasing motion filter gains. Even though the trends in both controlled axes are found to be largely the same, effects are less significant in roll. In addition, results indicate minor cross-coupling effects between pitch and roll, where a cueing variation in one axis affects the behavior adopted in the other axis.

Background and principles of throttles-only flight control

NASA Technical Reports Server (NTRS)

Burcham, Frank W., Jr.

1995-01-01

There have been many cases in which the crew of a multi-engine airplane had to use engine thrust for emergency flight control. Such a procedure is very difficult, because the propulsive control forces are small, the engine response is slow, and airplane dynamics such as the phugoid and dutch roll are difficult to damp with thrust. In general, thrust increases are used to climb, thrust decreases to descend, and differential thrust is used to turn. Average speed is not significantly affected by changes in throttle setting. Pitch control is achieved because of pitching moments due to speed changes, from thrust offset, and from the vertical component of thrust. Roll control is achieved by using differential thrust to develop yaw, which, through the normal dihedral effect, causes a roll. Control power in pitch and roll tends to increase as speed decreases. Although speed is not controlled by the throttles, configuration changes are often available (lowering gear, flaps, moving center-of-gravity) to change the speed. The airplane basic stability is also a significant factor. Fuel slosh and gyroscopic moments are small influences on throttles-only control. The background and principles of throttles-only flight control are described.

Angle Measurement System (AMS) for Establishing Model Pitch and Roll Zero, and Performing Single Axis Angle Comparisons

NASA Technical Reports Server (NTRS)

Crawford, Bradley L.

2007-01-01

The angle measurement system (AMS) developed at NASA Langley Research Center (LaRC) is a system for many uses. It was originally developed to check taper fits in the wind tunnel model support system. The system was further developed to measure simultaneous pitch and roll angles using 3 orthogonally mounted accelerometers (3-axis). This 3-axis arrangement is used as a transfer standard from the calibration standard to the wind tunnel facility. It is generally used to establish model pitch and roll zero and performs the in-situ calibration on model attitude devices. The AMS originally used a laptop computer running DOS based software but has recently been upgraded to operate in a windows environment. Other improvements have also been made to the software to enhance its accuracy and add features. This paper will discuss the accuracy and calibration methodologies used in this system and some of the features that have contributed to its popularity.

Microgravity vestibular investigations: perception of self-orientation and self-motion

NASA Technical Reports Server (NTRS)

Benson, A. J.; Guedry, F. E.; Parker, D. E.; Reschke, M. F.

1997-01-01

Four astronauts experienced passive whole-body rotation in a number of test sessions during a 7-day orbital mission. Pitch (Y-axis) and roll (X-axis) rotation required subject orientations on the rotator in which the otolith system was at radius of 0.5 m. Thus subjects experienced a constant -0.22 Gz stimulus to the otoliths during the 60 s constant-velocity segments of "pitch" and "roll" ramp profiles. The Gz stimulus, a radius-dependent vector ranging from -0.22 Gz at the otoliths to +0.36 Gz at the feet, generated sensory information that was not interpreted as inversion in any of the 16 tests carried out in flight (12 in pitch and 4 in roll orientation). None of the subjects was rotated with head off-center during the first 33 h of the mission. In the state of orbital adaptation of these subjects, a -0.22 Gz otolith stimulus did not provide a vertical reference in the presence of a gradient of +Gz stimuli to the trunk and legs.

Bathymetric surveying with GPS and heave, pitch, and roll compensation

USGS Publications Warehouse

Work, P.A.; Hansen, M.; Rogers, W.E.

1998-01-01

Field and laboratory tests of a shipborne hydrographic survey system were conducted. The system consists of two 12-channel GPS receivers (one on-board, one fixed on shore), a digital acoustic fathometer, and a digital heave-pitch-roll (HPR) recorder. Laboratory tests of the HPR recorder and fathometer are documented. Results of field tests of the isolated GPS system and then of the entire suite of instruments are presented. A method for data reduction is developed to account for vertical errors introduced by roll and pitch of the survey vessel, which can be substantial (decimeters). The GPS vertical position data are found to be reliable to 2-3 cm and the fathometer to 5 cm in the laboratory. The field test of the complete system in shallow water (<2 m) indicates absolute vertical accuracy of 10-20 cm. Much of this error is attributed to the fathometer. Careful surveying and equipment setup can minimize systematic error and yield much smaller average errors.

Handling Qualities of Model Reference Adaptive Controllers with Varying Complexity for Pitch-Roll Coupled Failures

NASA Technical Reports Server (NTRS)

Schaefer, Jacob; Hanson, Curt; Johnson, Marcus A.; Nguyen, Nhan

2011-01-01

Three model reference adaptive controllers (MRAC) with varying levels of complexity were evaluated on a high performance jet aircraft and compared along with a baseline nonlinear dynamic inversion controller. The handling qualities and performance of the controllers were examined during failure conditions that induce coupling between the pitch and roll axes. Results from flight tests showed with a roll to pitch input coupling failure, the handling qualities went from Level 2 with the baseline controller to Level 1 with the most complex MRAC tested. A failure scenario with the left stabilator frozen also showed improvement with the MRAC. Improvement in performance and handling qualities was generally seen as complexity was incrementally added; however, added complexity usually corresponds to increased verification and validation effort required for certification. The tradeoff between complexity and performance is thus important to a controls system designer when implementing an adaptive controller on an aircraft. This paper investigates this relation through flight testing of several controllers of vary complexity.

Perception-action coupling and anticipatory performance in baseball batting.

PubMed

Ranganathan, Rajiv; Carlton, Les G

2007-09-01

The authors examined 10 expert and 10 novice baseball batters' ability to distinguish between a fastball and a change-up in a virtual environment. They used 2 different response modes: (a) an uncoupled response in which the batters verbally predicted the type of pitch and (b) a coupled response in which the batters swung a baseball bat to try and hit the virtual ball. The authors manipulated visual information from the pitcher and ball in 6 visual conditions. The batters were more accurate in predicting the type of pitch when the response was uncoupled. In coupled responses, experts were better able to use the first 100 ms of ball flight independently of the pitcher's kinematics. In addition, the skilled batters' stepping patterns were related to the pitcher's kinematics, whereas their swing time was related to ball speed. Those findings suggest that specific task requirements determine whether a highly coupled perception-action environment improves anticipatory performance. The authors also highlight the need for research on interceptive actions to be conducted in the performer's natural environment.

Artificial Immune System for Flight Envelope Estimation and Protection

DTIC Science & Technology

2014-12-31

Throttle Failure 103 5.3. Estimation Algorithms for Sensor AC 108 5.3.1. Roll Rate Sensor Bias 108...4.13. Reference Features-Pattern for a Roll Rate Sensor Under Low Severity Failure 93 Figure 4.14. Reference Features-Pattern for a Roll Rate...Average PI for Different ACs 134 Figure 6.9. Roll Response Under High Magnitude Stabilator Failure 135 Figure 6.10. Pitch

Study of the Algorithm of Backtracking Decoupling and Adaptive Extended Kalman Filter Based on the Quaternion Expanded to the State Variable for Underwater Glider Navigation

PubMed Central

Huang, Haoqian; Chen, Xiyuan; Zhou, Zhikai; Xu, Yuan; Lv, Caiping

2014-01-01

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult problem for a practical underwater glider. To solve this problem, this paper proposes backing decoupling and adaptive extended Kalman filter (EKF) based on the quaternion expanded to the state variable (BD-AEKF). The backtracking decoupling can eliminate effectively the cross-coupling among the three attitudes when pitch or roll motion occurs. After decoupling, the adaptive extended Kalman filter (AEKF) based on quaternion expanded to the state variable further smoothes the filtering output to improve the accuracy and stability of attitude and position determination. In order to evaluate the performance of the proposed BD-AEKF method, the pitch and roll motion are simulated and the proposed method performance is analyzed and compared with the traditional method. Simulation results demonstrate the proposed BD-AEKF performs better. Furthermore, for further verification, a new underwater navigation system is designed, and the three-axis non-magnetic turn table experiments and the vehicle experiments are done. The results show that the proposed BD-AEKF is effective in eliminating cross-coupling and reducing the errors compared with the conventional method. PMID:25479331

Study of the algorithm of backtracking decoupling and adaptive extended Kalman filter based on the quaternion expanded to the state variable for underwater glider navigation.

PubMed

Huang, Haoqian; Chen, Xiyuan; Zhou, Zhikai; Xu, Yuan; Lv, Caiping

2014-12-03

High accuracy attitude and position determination is very important for underwater gliders. The cross-coupling among three attitude angles (heading angle, pitch angle and roll angle) becomes more serious when pitch or roll motion occurs. This cross-coupling makes attitude angles inaccurate or even erroneous. Therefore, the high accuracy attitude and position determination becomes a difficult problem for a practical underwater glider. To solve this problem, this paper proposes backing decoupling and adaptive extended Kalman filter (EKF) based on the quaternion expanded to the state variable (BD-AEKF). The backtracking decoupling can eliminate effectively the cross-coupling among the three attitudes when pitch or roll motion occurs. After decoupling, the adaptive extended Kalman filter (AEKF) based on quaternion expanded to the state variable further smoothes the filtering output to improve the accuracy and stability of attitude and position determination. In order to evaluate the performance of the proposed BD-AEKF method, the pitch and roll motion are simulated and the proposed method performance is analyzed and compared with the traditional method. Simulation results demonstrate the proposed BD-AEKF performs better. Furthermore, for further verification, a new underwater navigation system is designed, and the three-axis non-magnetic turn table experiments and the vehicle experiments are done. The results show that the proposed BD-AEKF is effective in eliminating cross-coupling and reducing the errors compared with the conventional method.

Engines-only flight control system

NASA Technical Reports Server (NTRS)

Burcham, Frank W. (Inventor); Gilyard, Glenn B (Inventor); Conley, Joseph L. (Inventor); Stewart, James F. (Inventor); Fullerton, Charles G. (Inventor)

1994-01-01

A backup flight control system for controlling the flightpath of a multi-engine airplane using the main drive engines is introduced. The backup flight control system comprises an input device for generating a control command indicative of a desired flightpath, a feedback sensor for generating a feedback signal indicative of at least one of pitch rate, pitch attitude, roll rate and roll attitude, and a control device for changing the output power of at least one of the main drive engines on each side of the airplane in response to the control command and the feedback signal.

A piloted simulator study on augmentation systems to improve helicopter flying qualities in terrain flight

NASA Technical Reports Server (NTRS)

Chen, R. T. N.; Talbot, P. D.; Gerdes, R. M.; Dugan, D. C.

1979-01-01

Four basic single-rotor helicopters, one teetering, on articulated, and two hingeless, which were found to have a variety of major deficiencies in a previous fixed-based simulator study, were selected as baseline configurations. The stability and control augmentation systems (SCAS) include simple control augmentation systems to decouple pitch and yaw responses due to collective input and to quicken the pitch and roll control responses; SCAS of rate-command type designed to optimize the sensitivity and damping and to decouple the pitch-roll due to aircraft angular tate; and attitude-command type SCAS. Pilot ratings and commentary are presented as well as performance data related to the task. SCAS control usages and their gain levels associated with specific rotor types are also discussed.

Design and stable flight of a 21 g insect-like tailless flapping wing micro air vehicle with angular rates feedback control.

PubMed

Phan, Hoang Vu; Kang, Taesam; Park, Hoon Cheol

2017-04-04

An insect-like tailless flapping wing micro air vehicle (FW-MAV) without feedback control eventually becomes unstable after takeoff. Flying an insect-like tailless FW-MAV is more challenging than flying a bird-like tailed FW-MAV, due to the difference in control principles. This work introduces the design and controlled flight of an insect-like tailless FW-MAV, named KUBeetle. A combination of four-bar linkage and pulley-string mechanisms was used to develop a lightweight flapping mechanism that could achieve a high flapping amplitude of approximately 190°. Clap-and-flings at dorsal and ventral stroke reversals were implemented to enhance vertical force. In the absence of a control surface at the tail, adjustment of the location of the trailing edges at the wing roots to modulate the rotational angle of the wings was used to generate control moments for the attitude control. Measurements by a 6-axis load cell showed that the control mechanism produced reasonable pitch, roll and yaw moments according to the corresponding control inputs. The control mechanism was integrated with three sub-micro servos to realize the pitch, roll and yaw controls. A simple PD feedback controller was implemented for flight stability with an onboard microcontroller and a gyroscope that sensed the pitch, roll and yaw rates. Several flight tests demonstrated that the tailless KUBeetle could successfully perform a vertical climb, then hover and loiter within a 0.3 m ground radius with small variations in pitch and roll body angles.

Vortex topology of rolling and pitching wings

NASA Astrophysics Data System (ADS)

Johnson, Kyle; Thurow, Brian; Wabick, Kevin; Buchholz, James; Berdon, Randall

2017-11-01

A flat, rectangular plate with an aspect ratio of 2 was articulated in roll and pitch, individually and simultaneously, to isolate the effects of each motion. The plate was immersed into a Re = 10,000 flow (based on chord length) to simulate forward, flapping flight. Measurements were made using a 3D-3C plenoptic PIV system to allow for the study of vortex topology in the instantaneous flow, in addition to phase-averaged results. The prominent focus is leading-edge vortex (LEV) stability and the lifespan of shed LEVs. The parameter space involves multiple values of advance coefficient J and reduced frequency k for roll and pitch, respectively. This space aims to determine the influence of each parameter on LEVs, which has been identified as an important factor for the lift enhancement seen in flapping wing flight. A variety of results are to be presented characterizing the variations in vortex topology across this parameter space. This work is supported by the Air Force Office of Scientific Research (Grant Number FA9550-16-1-0107, Dr. Douglas Smith, program manager).

Computer program for post-flight evaluation of the control surface response for an attitude controlled missile

NASA Technical Reports Server (NTRS)

Knauber, R. N.

1982-01-01

A FORTRAN IV coded computer program is presented for post-flight analysis of a missile's control surface response. It includes preprocessing of digitized telemetry data for time lags, biases, non-linear calibration changes and filtering. Measurements include autopilot attitude rate and displacement gyro output and four control surface deflections. Simple first order lags are assumed for the pitch, yaw and roll axes of control. Each actuator is also assumed to be represented by a first order lag. Mixing of pitch, yaw and roll commands to four control surfaces is assumed. A pseudo-inverse technique is used to obtain the pitch, yaw and roll components from the four measured deflections. This program has been used for over 10 years on the NASA/SCOUT launch vehicle for post-flight analysis and was helpful in detecting incipient actuator stall due to excessive hinge moments. The program is currently set up for a CDC CYBER 175 computer system. It requires 34K words of memory and contains 675 cards. A sample problem presented herein including the optional plotting requires eleven (11) seconds of central processor time.

A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm.

PubMed

Feng, Kaiqiang; Li, Jie; Zhang, Xiaoming; Shen, Chong; Bi, Yu; Zheng, Tao; Liu, Jun

2017-09-19

In order to reduce the computational complexity, and improve the pitch/roll estimation accuracy of the low-cost attitude heading reference system (AHRS) under conditions of magnetic-distortion, a novel linear Kalman filter, suitable for nonlinear attitude estimation, is proposed in this paper. The new algorithm is the combination of two-step geometrically-intuitive correction (TGIC) and the Kalman filter. In the proposed algorithm, the sequential two-step geometrically-intuitive correction scheme is used to make the current estimation of pitch/roll immune to magnetic distortion. Meanwhile, the TGIC produces a computed quaternion input for the Kalman filter, which avoids the linearization error of measurement equations and reduces the computational complexity. Several experiments have been carried out to validate the performance of the filter design. The results demonstrate that the mean time consumption and the root mean square error (RMSE) of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter. In addition, the proposed filter is applicable for attitude estimation under various dynamic conditions.

A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm

PubMed Central

Feng, Kaiqiang; Li, Jie; Zhang, Xiaoming; Shen, Chong; Bi, Yu; Zheng, Tao; Liu, Jun

2017-01-01

In order to reduce the computational complexity, and improve the pitch/roll estimation accuracy of the low-cost attitude heading reference system (AHRS) under conditions of magnetic-distortion, a novel linear Kalman filter, suitable for nonlinear attitude estimation, is proposed in this paper. The new algorithm is the combination of two-step geometrically-intuitive correction (TGIC) and the Kalman filter. In the proposed algorithm, the sequential two-step geometrically-intuitive correction scheme is used to make the current estimation of pitch/roll immune to magnetic distortion. Meanwhile, the TGIC produces a computed quaternion input for the Kalman filter, which avoids the linearization error of measurement equations and reduces the computational complexity. Several experiments have been carried out to validate the performance of the filter design. The results demonstrate that the mean time consumption and the root mean square error (RMSE) of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter. In addition, the proposed filter is applicable for attitude estimation under various dynamic conditions. PMID:28925979

Nonlinear Motion Cueing Algorithm: Filtering at Pilot Station and Development of the Nonlinear Optimal Filters for Pitch and Roll

NASA Technical Reports Server (NTRS)

Zaychik, Kirill B.; Cardullo, Frank M.

2012-01-01

Telban and Cardullo have developed and successfully implemented the non-linear optimal motion cueing algorithm at the Visual Motion Simulator (VMS) at the NASA Langley Research Center in 2005. The latest version of the non-linear algorithm performed filtering of motion cues in all degrees-of-freedom except for pitch and roll. This manuscript describes the development and implementation of the non-linear optimal motion cueing algorithm for the pitch and roll degrees of freedom. Presented results indicate improved cues in the specified channels as compared to the original design. To further advance motion cueing in general, this manuscript describes modifications to the existing algorithm, which allow for filtering at the location of the pilot's head as opposed to the centroid of the motion platform. The rational for such modification to the cueing algorithms is that the location of the pilot's vestibular system must be taken into account as opposed to the off-set of the centroid of the cockpit relative to the center of rotation alone. Results provided in this report suggest improved performance of the motion cueing algorithm.

Parametric Investigation of the Effect of Hub Pitching Moment on Blade Vortex Interaction (BVI) Noise of an Isolated Rotor

DTIC Science & Technology

2016-05-19

1 Parametric Investigation of the Effect of Hub Pitching Moment on Blade Vortex Interaction (BVI) Noise of an Isolated Rotor Carlos Malpica...changing the hub pitching moment for an isolated rotor, trimmed in nominal 80 knot, 6 and 12 deg descent, flight conditions, alters the miss distance...compensate for the uncomfortable change in fuselage pitch attitude introduced by a fuselage-mounted X-force controller. NOMENCLATURE xM C rolling

Biased optimal guidance for a bank-to-turn missile

NASA Astrophysics Data System (ADS)

Stallard, D. V.

A practical terminal-phase guidance law for controlling the pitch acceleration and roll rate of a bank-to-turn missile with zero autopilot lags was derived and tested, so as to minimize squared miss distance without requiring overly large commands. An acceleration bias is introduced to prevent excessive roll commands due to noise. The Separation Theorem is invoked and the guidance (control) law is derived by applying optimal control theory, linearizing the nonlinear plant equation around the present missile orientation, and obtaining a closed-form solution. The optimal pitch-acceleration and roll-rate commands are respectively proportional to two components of the projected, constant-bias, miss distance, with a resemblance to earlier derivations and proportional navigation. Simulaiation results and other related work confirm the suitability of the guidance law.

Cerebellar nodulectomy impairs spatial memory of vestibular and optokinetic stimulation in rabbits.

PubMed

Barmack, N H; Errico, P; Ferraresi, A; Fushiki, H; Pettorossi, V E; Yakhnitsa, V

2002-02-01

Natural vestibular and optokinetic stimulation were used to investigate the possible role of the cerebellar nodulus in the regulation and modification of reflexive eye movements in rabbits. The nodulus and folium 9d of the uvula were destroyed by surgical aspiration. Before and after nodulectomy the vertical and horizontal vestibuloocular reflexes (VVOR, HVOR) were measured during sinusoidal vestibular stimulation about the longitudinal (roll) and vertical (yaw) axes. Although the gain of the HVOR (G(HVOR) = peak eye movement velocity/peak head velocity) was not affected by the nodulectomy, the gain of the VVOR (G(VVOR)) was reduced. The gains of the vertical and horizontal optokinetic reflexes (G(VOKR), G(HOKR)) were measured during monocular, sinusoidal optokinetic stimulation (OKS) about the longitudinal and vertical axes. Following nodulectomy, there was no reduction in G(VOKR) or G(HOKR). Long-term binocular OKS was used to generate optokinetic afternystagmus, OKAN II, that lasts for hours. After OKAN II was induced, rabbits were subjected to static pitch and roll, to determine how the plane and velocity of OKAN II is influenced by a changing vestibular environment. During static pitch, OKAN II slow phase remained aligned with earth-horizontal. This was true for normal and nodulectomized rabbits. During static roll, OKAN II remained aligned with earth-horizontal in normal rabbits. During static roll in nodulectomized rabbits, OKAN II slow phase developed a centripetal vertical drift. We examined the suppression and recovery of G(VVOR) following exposure to conflicting vertical OKS for 10-30 min. This vestibular-optokinetic conflict reduced G(VVOR) in both normal and nodulectomized rabbits. The time course of recovery of G(VVOR) after conflicting OKS was the same before and after nodulectomy. In normal rabbits, the head pitch angle, at which peak OKAN II velocity occurred, corresponded to the head pitch angle maintained during long-term OKS. If the head was maintained in a "pitched-up" or "pitched-down" orientation during long-term OKS, the subsequently measured OKAN II peak velocity occurred at the same orientation. This was not true for nodulectomized rabbits, who had OKAN II peak velocities at head pitch angles independent of those maintained during long-term OKS. We conclude that the nodulus participates in the regulation of compensatory reflexive movements. The nodulus also influences "remembered" head position in space derived from previous optokinetic and vestibular stimulation.

Flight Control System Analysis and Design for a Remotely Piloted Vehicle with Thrust Vectoring Unit.

DTIC Science & Technology

1980-12-01

about the X-axis (slug-ft 2) Ixz Product of inertia (slug-ft 2 ) ly Moi,;ent of inertia about Y-axis (slug-ft 2) Iz Moment of inertia about Z-axis (slug...domain n Load factor (g’s) P Roll rate (rad/sec) xi p Perturbation roll rate (rad/sec) Q Pitch rate (rad/sec) q Perturbation pitch rate (rad/sec...was decided to employ a scale factor of 1.75 in increasing the vertical tail area. This choice was somewhat aruitrary since no documentation could be

Vestibular Responses and Motion Sickness during Pitch, Roll, and Yaw Sinusoidal Whole-Body Oscillation.

DTIC Science & Technology

1990-03-01

vestibulo-ocular reflex) pitch, ’- 11’, 1 3c\\ " ’ I...[ 16. PRC C nystagmus 1 ’>"( k 1.,’ roll V-) , __r_ ,_t_ _ _ 17. SECURITY CLASSIFICATION 1S SECURITY...of amplification of EOG was 3.0 s. Because of the position of subjEcts’ heads relative to the axis of rotation, vertical nystagmus comprised the VOR...response in Groups I and III. To achieve measurement of the VOR in Groups IV and V, subjects were instructed to gaze downward, 30 deg in Group IV, and

Effect of head pitch and roll orientations on magnetically induced vertigo.

PubMed

Mian, Omar S; Li, Yan; Antunes, Andre; Glover, Paul M; Day, Brian L

2016-02-15

Lying supine in a strong magnetic field, such as in magnetic resonance imaging scanners, can induce a perception of whole-body rotation. The leading hypothesis to explain this invokes a Lorentz force mechanism acting on vestibular endolymph that acts to stimulate semicircular canals. The hypothesis predicts that the perception of whole-body rotation will depend on head orientation in the field. Results showed that the direction and magnitude of apparent whole-body rotation while stationary in a 7 T magnetic field is influenced by head orientation. The data are compatible with the Lorentz force hypothesis of magnetic vestibular stimulation and furthermore demonstrate the operation of a spatial transformation process from head-referenced vestibular signals to Earth-referenced body motion. High strength static magnetic fields are known to induce vertigo, believed to be via stimulation of the vestibular system. The leading hypothesis (Lorentz forces) predicts that the induced vertigo should depend on the orientation of the magnetic field relative to the head. In this study we examined the effect of static head pitch (-80 to +40 deg; 12 participants) and roll (-40 to +40 deg; 11 participants) on qualitative and quantitative aspects of vertigo experienced in the dark by healthy humans when exposed to the static uniform magnetic field inside a 7 T MRI scanner. Three participants were additionally examined at 180 deg pitch and roll orientations. The effect of roll orientation on horizontal and vertical nystagmus was also measured and was found to affect only the vertical component. Vertigo was most discomforting when head pitch was around 60 deg extension and was mildest when it was around 20 deg flexion. Quantitative analysis of vertigo focused on the induced perception of horizontal-plane rotation reported online with the aid of hand-held switches. Head orientation had effects on both the magnitude and the direction of this perceived rotation. The data suggest sinusoidal relationships between head orientation and perception with spatial periods of 180 deg for pitch and 360 deg for roll, which we explain is consistent with the Lorentz force hypothesis. The effects of head pitch on vertigo and previously reported nystagmus are consistent with both effects being driven by a common vestibular signal. To explain all the observed effects, this common signal requires contributions from multiple semicircular canals. © 2015 The Authors. The Journal of Physiology published by John Wiley & Sons Ltd on behalf of The Physiological Society.

Context-specific adaptation of the gain of the oculomotor response to lateral translation using roll and pitch head tilts as contexts

NASA Technical Reports Server (NTRS)

Shelhamer, Mark; Peng, Grace C Y.; Ramat, Stefano; Patel, Vivek

2002-01-01

Previous studies established that vestibular and oculomotor behaviors can have two adapted states (e.g., gain) simultaneously, and that a context cue (e.g., vertical eye position) can switch between the two states. The present study examined this phenomenon of context-specific adaptation for the oculomotor response to interaural translation (which we term "linear vestibulo-ocular reflex" or LVOR even though it may have extravestibular components). Subjects sat upright on a linear sled and were translated at 0.7 Hz and 0.3 gpeak acceleration while a visual-vestibular mismatch paradigm was used to adaptively increase (x2) or decrease (x0) the gain of the LVOR. In each experimental session, gain increase was asked for in one context, and gain decrease in another context. Testing in darkness with steps and sines before and after adaptation, in each context, assessed the extent to which the context itself could recall the gain state that was imposed in that context during adaptation. Two different contexts were used: head pitch (26 degrees forward and backward) and head roll (26 degrees or 45 degrees, right and left). Head roll tilt worked well as a context cue: with the head rolled to the right the LVOR could be made to have a higher gain than with the head rolled to the left. Head pitch tilt was less effective as a context cue. This suggests that the more closely related a context cue is to the response being adapted, the more effective it is.

Innovative Control Effectors (ICE)

DTIC Science & Technology

1996-01-01

Figure 4-1 shows the ICE high AOA roll performance goals compared to several current fighter aircraft. For this comparison, the 1-DOF roll equation ...9 ]Body The first bracketed term in equation (1) is recognizable as the expression for Cnpdyn. The second term represents control power for controls...deflected to provide Cn’MAX, trimmed in pitch and roll. The user selects the maximum sideslip to augment by specifying f. Equation (1) can be

Analysis of Aeroheating Augmentation due to Reaction Control System Jets on Orion Crew Exploration Vehicle

NASA Technical Reports Server (NTRS)

Dyakonov, Artem A.; Buck, Gregory M.; Decaro, Anthony D.

2009-01-01

The analysis of effects of the reaction control system jet plumes on aftbody heating of Orion entry capsule is presented. The analysis covered hypersonic continuum part of the entry trajectory. Aerothermal environments at flight conditions were evaluated using Langley Aerothermal Upwind Relaxation Algorithm (LAURA) code and Data Parallel Line Relaxation (DPLR) algorithm code. Results show a marked augmentation of aftbody heating due to roll, yaw and aft pitch thrusters. No significant augmentation is expected due to forward pitch thrusters. Of the conditions surveyed the maximum heat rate on the aftshell is expected when firing a pair of roll thrusters at a maximum deceleration condition.

Head movements in low and high gravitoinertial force environments elicit motion sickness - Implications for space motion sickness

NASA Technical Reports Server (NTRS)

Lackner, James R.; Graybiel, Ashton

1987-01-01

Astronauts report that head movements in flight tend to bring on symptoms of space motion sickness (SMS). The effects of head movements in pitch, yaw, and roll (made both with normal vision and with eyes occluded) on susceptibility to motion sickness in the zero G phase of parabolic flight maneuvers were evaluated. The findings are clear-cut: pitch head movements are most provocative, yaw least provocative, and roll intermediate. These experiments suggest that SMS is not a unique nosological entity, but is the consequence of exposure to nonterrestrial force levels. Head movements during departures in either direction from 1 G elicit symptoms.

The Six-Component Wind Balance

NASA Technical Reports Server (NTRS)

Zahm, A F

1923-01-01

Dr. Zahm's report is a description of the six-component wind-tunnel balance in use at the Aerodynamic Laboratory, Washington Navy Yard. The description of the balance gives the mechanical details and the method of operation, and is accompanied by line drawings showing the construction of the balance. The balance is of particular interest, as it allows the model to be set up quickly and accurately in roll, pitch, and yaw, without stopping the wind. It is possible to measure automatically, directly, and independently the drag, cross-wind force, and lift; also the rolling, pitching, and yawing moments. It is also possible to make the balance self-recording.

Unsteady, Transonic Flow Around Delta Wings Undergoing Coupled and Natural Modes Response: A Multidisciplinary Problem

NASA Technical Reports Server (NTRS)

Menzies, Margaret Anne

1996-01-01

The unsteady, three-dimensional Navier-Stokes equations coupled with the Euler equations of rigid-body dynamics are sequentially solved to simulate and analyze the aerodynamic response of a high angle of attack delta wing undergoing oscillatory motion. The governing equations of fluid flow and dynamics of the multidisciplinary problem are solved using a time-accurate solution of the laminar, unsteady, compressible, full Navier- Stokes equations with the implicit, upwind, Roe flux-difference splitting, finite-volume scheme and a four-stage Runge-Kutta scheme, respectively. The primary model under consideration consists of a 65 deg swept, sharp-edged, cropped delta wing of zero thickness at 20 deg angle of attack. In a freestream of Mach 0.85 and Reynolds number of 3.23 x 10(exp 6), the flow over the upper surface of the wing develops a complex shock system which interacts with the leading-edge primary vortices producing vortex breakdown. The effect of the oscillatory motion of the wing on the vortex breakdown and overall aerodynamic response is detailed to provide insight to the complicated physics associated with unsteady flows and the phenomenon of wing rock. Forced sinusoidal single and coupled mode rolling and pitching motion is presented for the wing in a transonic freestream. The Reynolds number, frequency of oscillation, and the phase angle are varied. Comparison between the single and coupled mode forced rolling and pitching oscillation cases illustrate the effects of coupling the motion. This investigation shows that even when coupled, forced rolling oscillation at a reduced frequency of 2(pi) eliminates the vortex breakdown which results in an increase in lift. The coupling effect for in phase forced oscillations show that the lift coefficient of the pitching-alone case and the rolling-moment coefficient of the rolling-alone case dominate the resulting response. However, with a phase lead in the pitching motion, the coupled motion results in a non-periodic response of the rolling moment. The second class of problems involve releasing the wing in roll to respond to the flowfield. Two models of sharp-edged delta wings, the previous 65 deg swept model and an 80 deg swept, sharp-edged delta wing, are used to observe the aerodynamic response of a wing free to roll in a transonic and subsonic freestream, respectively. These cases demonstrate damped oscillations, self-sustained limit cycle oscillations, and divergent rolling oscillations. Ultimately, an active control model using a mass injection system was applied on the surface of the wing to suppress the self-sustained limit cycle oscillation known as wing rock. Comparisons with experimental investigations complete this study, validating the analysis and illustrating the complex details afforded by computational investigations.

TRMM On-Orbit Performance Re-Accessed After Control Change

NASA Technical Reports Server (NTRS)

Bilanow, Steve

2006-01-01

The Tropical Rainfall Measuring Mission (TRMM) spacecraft, a joint mission between the U.S. and Japan, launched onboard an HI1 rocket on November 27,1997 and transitioned in August, 2001 from an average operating altitude of 350 kilometers to 402.5 kilometers. Due to problems using the Earth Sensor Assembly (ESA) at the higher altitude, TRMM switched to a backup attitude control mode. Prior to the orbit boost TRMM controlled pitch and roll to the local vertical using ESA measurements while using gyro data to propagate yaw attitude between yaw updates from the Sun sensors. After the orbit boost, a Kalman filter used 3-axis gyro data with Sun sensor and magnetometers to estimate onboard attitude. While originally intended to meet a degraded attitude accuracy of 0.7 degrees, the new control mode met the original 0.2 degree attitude accuracy requirement after improving onboard ephemeris prediction and adjusting the magnetometer calibration onboard. Independent roll attitude checks using a science instrument, the Precipitation Radar (PR) which was built in Japan, provided a novel insight into the pointing performance. The PR data helped identify the pointing errors after the orbit boost, track the performance improvements, and show subtle effects from ephemeris errors and gyro bias errors. It also helped identify average bias trends throughout the mission. Roll errors tracked by the PR from sample orbits pre-boost and post-boost are shown in Figure 1. Prior to the orbit boost the largest attitude errors were due to occasional interference in the ESA. These errors were sometime larger than 0.2 degrees in pitch and roll, but usually less, as estimated from a comprehensive review of the attitude excursions using gyro data. Sudden jumps in the onboard roll show up as spikes in the reported attitude since the control responds within tens of seconds to null the pointing error. The PR estimated roll tracks well with an estimate of the roll history propagated using gyro data. After the orbit boost, the attitude errors shown by the PR roll have a smooth sine-wave type signal because of the way that attitude errors propagate with the use of gyro data. Yaw errors couple at orbit period to roll with '/4 orbit lag. By tracking the amplitude, phase, and bias of the sinusoidal PR roll error signal, it was shown that the average pitch rotation axis tends to be offset from orbit normal in a direction perpendicular to the Sun direction, as shown in Figure 2 for a 200 day period following the orbit boost. This is a result of the higher accuracy and stability of the Sun sensor measurements relative to the magnetometer measurements used in the Kalman filter. In November, 2001 a magnetometer calibration adjustment was uploaded which improved the pointing performance, keeping the roll and yaw amplitudes within about 0.1 degrees. After the boost, onboard ephemeris errors had a direct effect on the pitch pointing, being used to compute the Earth pointing reference frame. Improvements after the orbit boost have kept the the onboard ephemeris errors generally below 20 kilometers. Ephemeris errors have secondary effects on roll and yaw, especially during high beta angle when pitch effects can couple into roll and yaw. This is illustrated in figure 3. The onboard roll bias trends as measured by PR data show correlations with the Kalman filter's gyro bias error. This particularly shows up after yaw turns (every 2 to 4 weeks) as shown in Figure 3, when a slight roll bias is observed while the onboard computed gyro biases settle to new values. As for longer term trends, the PR data shows that the roll bias was influenced by Earth horizon radiance effects prior to the boost, changing values at yaw turns, and indicated a long term drift as shown in Figure 4. After the boost, the bias variations were smaller and showed some possible correlation with solar beta angle, probably due to sun sensor misalignment effects.

Self-rotations in simulated microgravity: performance effects of strategy training.

PubMed

Stirling, Leia; Newman, Dava; Willcox, Karen

2009-01-01

This research studies reorientation methodologies in a simulated microgravity environment using an experimental framework to reduce astronaut adaptation time and provide for a safety countermeasure during extravehicular activity. There were 20 subjects (10 men, 10 women, mean age of 23.6 +/- 3.5) who were divided into 2 groups, fully trained and minimally trained, which determined the amount of motion strategy training received. Subjects performed a total of 48 rotations about their pitch, roll, and yaw axes in a suspension system that simulated microgravity. In each trial subjects either rotated 90 degrees in pitch, 90 degrees in roll, or 180 degrees in yaw. Experimental measures include subject coordination, performance time, cognitive workload assessments, and qualitative motion control strategies. Subjects in the fully trained group had better initial performance with respect to performance time and workload scores for the pitch and yaw rotations. Further, trained subjects reached a steady-state performance time in fewer trials than those with minimal training. The subjects with minimal training tended to use motions that were common in an Earth environment since no technique was provided. For roll rotations they developed motions that would have led to significant off-axis (pitch and yaw) rotations in a true microgravity environment. We have shown that certain body axes are easier to rotate about than others and that fully trained subjects had an easier time performing the body rotations than the minimally trained subjects. This study has provided the groundwork for the development of an astronaut motion-control training program.

attitude control design for the solar polar orbit radio telesope

NASA Astrophysics Data System (ADS)

Gao, D.; Zheng, J.

This paper studies the attitude dynamics and control of the Solar Polar Orbit Radio Telescope SPORT The SPORT which consists of one parent satellite and eight tethered satellites runs around the Sun in a polar orbit The parent satellite locates at the mass center of the constellation and tethered satellites which are tied with the parent satellite through a non-electric rope rotate around the parent satellite It is also supposed that the parent satellite and all tethered satellites are in a plane when the constellation works begin figure htbp centerline includegraphics width 3 85in height 2 38in 75271331 6a6eb71057 doc1 eps label fig1 end figure Fig 1 the SPORT constellation Firstly this paper gives the dynamic equations of the tethered satellite and the parent satellite From the dynamic characteristic of the tethered satellite we then find that the roll axis is coupled with the yaw axis The control torque of the roll axis can control the yaw angle But the control torque of the roll axis and pitch axis provided by the tether is very small it can not meet the accuracy requirement of the yaw angle In order to improve the attitude pointing accuracy of the tethered satellite a gradient pole is set in the negative orientation of the yaw axis The gradient pole can improve not only the attitude accuracy of roll angle and pitch angle but also that of the yaw angle indirectly As to the dynamic characteristic of the parent satellite the roll axis is coupled with the pitch axis due to the spinning angular velocity At the same

Age-dependent variations in the directional sensitivity of balance corrections and compensatory arm movements in man

PubMed Central

Allum, J H J; Carpenter, M G; Honegger, F; Adkin, A L; Bloem, B R

2002-01-01

We investigated the effects of ageing on balance corrections induced by sudden stance perturbations in different directions. Effects were examined in biomechanical and electromyographic (EMG) recordings from a total of 36 healthy subjects divided equally into three age groups (20–34, 35–55 and 60–75 years old). Perturbations consisted of six combinations of support-surface roll (laterally) and pitch (forward-backward) each with 7.5 deg amplitude (2 pure pitch, and 4 roll and pitch) delivered randomly. To reduce stimulus predictability further and to investigate scaling effects, perturbations were at either 30 or 60 deg s−1. In the legs, trunk and arms we observed age-related changes in balance corrections. The changes that appeared in the lower leg responses included smaller stretch reflexes in soleus and larger reflexes in tibialis anterior of the elderly compared with the young. For all perturbation directions, onsets of balance correcting responses in these ankle muscles were delayed by 20–30 ms and initially had smaller amplitudes (between 120–220 ms) in the elderly. This reduced early activity was compensated by increased lower leg activity after 240 ms. These EMG changes were paralleled by comparable differences in ankle torque responses, which were initially (after 160 ms) smaller in the elderly, but subsequently greater (after 280 ms). Findings in the middle-aged group were generally intermediate between the young and the elderly groups. Comparable results were obtained for the two different stimulus velocities. Stimulus-induced trunk roll, but not trunk pitch, changed dramatically with increasing age. Young subjects responded with early large roll movements of the trunk in the opposite direction to platform roll. A similarly directed but reduced amplitude of trunk roll was observed in the middle-aged. The elderly had very little initial roll modulation and also had smaller stretch reflexes in paraspinals. Balance-correcting responses (over 120–220 ms) in gluteus medius and paraspinals were equally well tuned to roll in the elderly, as in the young, but were reduced in amplitude. Onset latencies were delayed with age in gluteus medius muscles. Following the onset of trunk and hip balance corrections, trunk roll was in the same direction as support-surface motion for all age groups and resulted in overall trunk roll towards the fall side in the elderly, but not in the young. Protective arm movements also changed with age. Initial arm roll movements were largest in the young, smaller in the middle aged, and smallest in the elderly. Initial arm roll movements were in the same direction as initial trunk motion in the young and middle aged. Thus initial roll arm movements in the elderly were directed oppositely to those in the young. Initial pitch motion of the arms was similar across age groups. Subsequent arm movements were related to the amplitude of deltoid muscle responses which commenced at 100 ms in the young and 20–30 ms later in the elderly. These deltoid muscle responses preceded additional arm roll motion which left the arms directed ‘downhill’ (in the direction of the fall) in the elderly, but ‘uphill’ (to counterbalance motion of the pelvis) in the young. We conclude that increased trunk roll stiffness is a key biomechanical change with age. This interferes with early compensatory trunk movements and leads to trunk displacements in the direction of the impending fall. The reversal of protective arm movements in the elderly may reflect an adaptive strategy to cushion the fall. The uniform delay and amplitude reduction of balance-correcting responses across many segments (legs, hips and arms) suggests a neurally based alteration in processing times and response modulation with age. Interestingly, the elderly compensated for these ‘early abnormalities’ with enlarged later responses in the legs, but no similar adaptation was noted in the arms and trunk. These changes with age provide an insight into possible mechanisms underlying falls in the elderly. PMID:12122159

DOE Office of Scientific and Technical Information (OSTI.GOV)

McCarroll, R; Rubinstein, A; Kingsley, C

Purpose: New small-animal irradiators include extremely precise IGRT capabilities. However, mouse immobilization and localization remains a challenge. In particular, unlike week-to-week translational displacements, rotational changes in positioning are not easily corrected for in subject setup. Using two methods of setup, we aim to quantify week-to-week rotational variation in mice for the purpose of IGRT planning in small animal studies. Methods: Ten mice were imaged weekly using breath-hold CBCT (X-RAD 225 Cx), with the mouse positioned in a half-pipe support, providing 40 scans. A second group of two mice were positioned in a 3D printed immobilization device, which was created usingmore » a CT from a similarly shaped mouse, providing 10 scans. For each mouse, the first image was taken to be the reference image. Subsequent CT images were then rigidly registered, based on bony anatomy. Rotations in the axial (roll), sagittal (pitch), and coronal (yaw) planes were recorded and used to quantify variation in angular setup. Results: For the mice imaged in the half pipe, average magnitude of roll was found to be 5.4±4.6° (range: −12.9:18.86°), of pitch 1.6±1.3° (range: −1.4:4.7°), and of yaw 1.9±1.5° (range −5.4:1.1°). For the mice imaged in the printed setup; average magnitude of roll was found to be 0.64±0.6° (range: −2.1:1.0°), of pitch 0.6±0.4° (range: 0.0:1.3°), and of yaw 0.2±0.1° (range: 0.0:0.4°). The printed setup provided reduction in roll, pitch, and yaw by 88, 62, and 90 percent, respectively. Conclusion: For the typical setup routine, roll in mouse position is the dominant source of rotational variation. However, when a printed device was used, drastic improvements in mouse immobilization were seen. This work provides a promising foundation for mouse immobilization, required for full scale small animal IGRT. Currently, we are making improvements to allo±w the use of a similar system for MR, PET, and bioluminescence.« less

Triple-axis common-pivot arm wrist device for manipulative applications

NASA Technical Reports Server (NTRS)

Kersten, L.; Johnston, J. D.

1980-01-01

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Design and evaluation of a slave manipulator with roll-pitch-roll wrist and automatic tool loading mechanism in telerobotic surgery.

PubMed

Kim, Ki-Young; Lee, Jung-Ju

2012-12-01

As there is a shortage of scrub nurses in many hospitals, automatic surgical tool exchanging mechanism without human labour has been studied. Minimally invasive robotic surgeries (MIRS) also require scrub nurses. A surgical tool loading mechanism without a scrub nurse's assistance for MIRS is proposed. Many researchers have developed minimally invasive surgical instruments with a wrist joint that can be movable inside the abdomen. However, implementation of a distal rolling joint on a gripper is rare. To implement surgical tool exchanging without a scrub nurse's assistance, a slave manipulator and a tool loader were developed to load and unload a surgical tool unit. A surgical tool unit with a roll-pitch-roll wrist was developed. Several experiments were performed to validate the effectiveness of the slave manipulator and the surgical tool unit. The slave manipulator and the tool loader were able to successfully unload and load the surgical tool unit without human assistance. The total duration of unloading and loading the surgical tool unit was 97 s. Motion tracking experiments of the distal rolling joint were performed. The maximum positioning error of the step input response was 2°. The advantage of the proposed slave manipulator and tool loader is that other robotic systems or human labour are not needed for surgical tool loading. The feasibility of the distal rolling joint in MIS is verified. Copyright © 2012 John Wiley & Sons, Ltd.

Controller Requirements for Uncoupled Aircraft Motion. Volume 1

DTIC Science & Technology

1984-09-01

the nose down to the run-in line, followed by roll- out into a straight line dive. Well learned precognitive maneuvers do not nvolve much psychomotor...This is initially a precognitive transient track- ing maneuver, fo’llowed by maintaining a constant, safe g level until a desired ra e of climb- is

A piloted evaluation of an oblique-wing research aircraft motion simulation with decoupling control laws

NASA Technical Reports Server (NTRS)

Kempel, Robert W.; Mcneill, Walter E.; Gilyard, Glenn B.; Maine, Trindel A.

1988-01-01

The NASA Ames Research Center developed an oblique-wing research plane from NASA's digital fly-by-wire airplane. Oblique-wing airplanes show large cross-coupling in control and dynamic behavior which is not present on conventional symmetric airplanes and must be compensated for to obtain acceptable handling qualities. The large vertical motion simulator at NASA Ames-Moffett was used in the piloted evaluation of a proposed flight control system designed to provide decoupled handling qualities. Five discrete flight conditions were evaluated ranging from low altitude subsonic Mach numbers to moderate altitude supersonic Mach numbers. The flight control system was effective in generally decoupling the airplane. However, all participating pilots objected to the high levels of lateral acceleration encountered in pitch maneuvers. In addition, the pilots were more critical of left turns (in the direction of the trailing wingtip when skewed) than they were of right turns due to the tendency to be rolled into the left turns and out of the right turns. Asymmetric side force as a function of angle of attack was the primary cause of lateral acceleration in pitch. Along with the lateral acceleration in pitch, variation of rolling and yawing moments as functions of angle of attack caused the tendency to roll into left turns and out of right turns.

Dynamics stability derivatives of space shuttle orbiter obtained from wind-tunnel and approach and landing flight tests

NASA Technical Reports Server (NTRS)

Freeman, D. C., Jr.

1980-01-01

A comparison was made between ground facility measurements, the aerodynamic design data book values, and the dynamic damping derivatives extracted from the space shuttle orbiter approach and landing flight tests. The comparison covers an angle of attack range from 2 deg to 10 deg at subsonic Mach numbers. The parameters of pitch, yaw, and roll damping, as well as the yawing moment due to rolling velocity and rolling moment due to yawing velocity are compared.

A piloted simulator investigation of augmentation systems to improve helicopter nap-of-the-earth handling qualities

NASA Technical Reports Server (NTRS)

Chen, R. T. N.; Talbot, P. D.; Gerdes, R. M.; Dugan, D. C.

1978-01-01

A piloted simulation study assessed various levels of stability and control augmentation designed to improve the handling qualities of several helicopters in nap-of-the-earth (NOE) flight. Five basic single rotor helicopters - one teetering, two articulated, and two hingeless - which were found to have a variety of major deficiencies in a previous fixed-based simulator study were selected as baseline configurations. The stability and control augmentation systems (SCAS) include simple control augmentation systems (CAS) to decouple pitch and yaw responses due to collective input and to quicken the pitch and roll control responses; SCAS of rate command type designed to optimize the sensitivity and damping and to decouple the pitch-roll due to aircraft angular rate; and attitude command type SCAS. Pilot ratings and commentary are presented as well as performance data related to the task. SCAS control usage and their gain levels associated with specific rotor type are also discussed.

Determination of pitch rotation in a spherical birefringent microparticle

NASA Astrophysics Data System (ADS)

Roy, Basudev; Ramaiya, Avin; Schäffer, Erik

2018-03-01

Rotational motion of a three dimensional spherical microscopic object can happen either in pitch, yaw or roll fashion. Among these, the yaw motion has been conventionally studied using the intensity of scattered light from birefringent microspheres through crossed polarizers. Up until now, however, there is no way to study the pitch motion in spherical microspheres. Here, we suggest a new method to study the pitch motion of birefringent microspheres under crossed polarizers by measuring the 2-fold asymmetry in the scattered signal either using video microscopy or with optical tweezers. We show a couple of simple examples of pitch rotation determination using video microscopy for a microsphere attached with a kinesin molecule while moving along a microtubule and of a particle diffusing freely in water.

Combined influence of vergence and eye position on three-dimensional vestibulo-ocular reflex in the monkey.

PubMed

Misslisch, H; Hess, B J M

2002-11-01

This study examined two kinematical features of the rotational vestibulo-ocular reflex (VOR) of the monkey in near vision. First, is there an effect of eye position on the axes of eye rotation during yaw, pitch and roll head rotations when the eyes are converged to fixate near targets? Second, do the three-dimensional positions of the left and right eye during yaw and roll head rotations obey the binocular extension of Listing's law (L2), showing eye position planes that rotate temporally by a quarter as far as the angle of horizontal vergence? Animals fixated near visual targets requiring 17 or 8.5 degrees vergence and placed at straight ahead, 20 degrees up, down, left, or right during yaw, pitch, and roll head rotations at 1 Hz. The 17 degrees vergence experiments were performed both with and without a structured visual background, the 8.5 degrees vergence experiments with a visual background only. A 40 degrees horizontal change in eye position never influenced the axis of eye rotation produced by the VOR during pitch head rotation. Eye position did not affect the VOR eye rotation axes, which stayed aligned with the yaw and roll head rotation axes, when torsional gain was high. If torsional gain was low, eccentric eye positions produced yaw and roll VOR eye rotation axes that tilted somewhat in the directions predicted by Listing's law, i.e., with or opposite to gaze during yaw or roll. These findings were seen in both visual conditions and in both vergence experiments. During yaw and roll head rotations with a 40 degrees vertical change in gaze, torsional eye position followed on average the prediction of L2: the left eye showed counterclockwise (ex-) torsion in down gaze and clockwise (in-) torsion in up gaze and vice versa for the right eye. In other words, the left and right eye's position plane rotated temporally by about a quarter of the horizontal vergence angle. Our results indicate that torsional gain is the central mechanism by which the brain adjusts the retinal image stabilizing function of the VOR both in far and near vision and the three dimensional eye positions during yaw and roll head rotations in near vision follow on average the predictions of L2, a kinematic pattern that is maintained by the saccadic/quick phase system.

Effect of Configuration Pitching Motion on Twin Tail Buffet Response

NASA Technical Reports Server (NTRS)

Sheta, Essam F.; Kandil, Osama A.

1998-01-01

The effect of dynamic pitch-up motion of delta wing on twin-tail buffet response is investigated. The computational model consists of a delta wing-twin tail configuration. The computations are carried out on a dynamic multi-block grid structure. This multidisciplinary problem is solved using three sets of equations which consists of the unsteady Navier-Stokes equations, the aeroelastic equations, and the grid displacement equations. The configuration is pitched-up from zero up to 60 deg. angle of attack, and the freestream Mach number and Reynolds number are 0.3 and 1.25 million, respectively. With the twin tail fixed as rigid surfaces and with no-forced pitch-up motion, the problem is solved for the initial flow conditions. Next, the problem is solved for the twin-tail response for uncoupled bending and torsional vibrations due to the unsteady loads on the twin tail and due to the forced pitch-up motion. The dynamic pitch-up problem is also solved for the flow response with the twin tail kept rigid. The configuration is investigated for inboard position of the twin tail which corresponds to a separation distance between the twin tail of 33% wing chord. The computed results are compared with the available experimental data.

STOLAND

NASA Technical Reports Server (NTRS)

Grgurich, J.; Bradbury, P.

1976-01-01

The STOLAND system includes air data, navigation, guidance, flight director (including a throttle flight director on the Augmentor Wing), 3-axis autopilot and autothrottle functions. The 3-axis autopilot and autothrottle control through parallel electric servos on both aircraft and on the augmentor wing, the system also interfaces with three electrohydraulic series actuators which drive the roll control surfaces, elevator and rudder. The system incorporates automatic configuration control of the flaps and nozzles on the augmentor wing and of the flaps on the Twin Otter. Interfaces are also provided to control the wing flap chokes on the Augmentor Wing and the spoilers on the Twin Otter. The STOLAND system has all the capabilities of a conventional integrated avionics system. Aircraft stabilization is provided in pitch, roll and yaw including control wheel steering in pitch and roll. The basic modes include altitude hold and select, indicated airspeed hold and select, flight path angle hold and select, and heading hold and select. The system can couple to TACAN and VOR/DME navaids for conventional radial flying.

Evaluation of CBS 600 carburized steel as a gear material

NASA Technical Reports Server (NTRS)

Townsend, D. P.; Parker, R. J.; Zaretsky, E. V.

1979-01-01

Gear endurance tests were conducted with one lot of consumable-electrode vacuum-melted (CVM) AISI 9310 gears and one lot of air-melt CBS 600 gears. The gears were 8 pitch with a pitch diameter of 8.89 centimeters (3.5 in.). Bench-type rolling-element fatigue tests were also conducted with one lot of CVM AISI 9310, three lots of CVM CBS 600, and one of air-melt CBS 600 material. The rolling-element bars were 0.952 centimeter (0.375 in.) in diameter. The CBS 600 material exhibited pitting fatigue lives in both rolling-element specimens and gears at least equivalent to that of CVM AISI 9310. Tooth fracture failure occurred with the CBS 600 gears after overrunning a fatigue spall, but it did not occur with the CVM AISI 9310 gears. Tooth fracture in the CBS 600 was attributed to excessive carbon content in the case, excessive case depth, and a higher than normal core hardness.

Development of a compact, fiber-coupled, six degree-of-freedom measurement system for precision linear stage metrology

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yu, Xiangzhi, E-mail: xiangzhi.yu@rochester.edu; Gillmer, Steven R.; Woody, Shane C.

2016-06-15

A compact, fiber-coupled, six degree-of-freedom measurement system which enables fast, accurate calibration, and error mapping of precision linear stages is presented. The novel design has the advantages of simplicity, compactness, and relatively low cost. This proposed sensor can simultaneously measure displacement, two straightness errors, and changes in pitch, yaw, and roll using a single optical beam traveling between the measurement system and a small target. The optical configuration of the system and the working principle for all degrees-of-freedom are presented along with the influence and compensation of crosstalk motions in roll and straightness measurements. Several comparison experiments are conducted tomore » investigate the feasibility and performance of the proposed system in each degree-of-freedom independently. Comparison experiments to a commercial interferometer demonstrate error standard deviations of 0.33 μm in straightness, 0.14 μrad in pitch, 0.44 μradin yaw, and 45.8 μrad in roll.« less

The influence of an immersive virtual environment on the segmental organization of postural stabilizing responses.

PubMed

Keshner, E A; Kenyon, R V

2000-01-01

We examined the effect of a 3-dimensional stereoscopic scene on segmental stabilization. Eight subjects participated in static sway and locomotion experiments with a visual scene that moved sinusoidally or at constant velocity about the pitch or roll axes. Segmental displacements, Fast Fourier Transforms, and Root Mean Square values were calculated. In both pitch and roll, subjects exhibited greater magnitudes of motion in head and trunk than ankle. Smaller amplitudes and frequent phase reversals suggested control of the ankle by segmental proprioceptive inputs and ground reaction forces rather than by the visual-vestibular signals. Postural controllers may set limits of motion at each body segment rather than be governed solely by a perception of the visual vertical. Two locomotor strategies were also exhibited, implying that some subjects could override the effect of the roll axis optic flow field. Our results demonstrate task dependent differences that argue against using static postural responses to moving visual fields when assessing more dynamic tasks.

Demonstration of the Berkeley UXO Discrimination at Live Sites

DTIC Science & Technology

2010-02-01

BUD then occupied each of the 11 points and acquired a stationary measurement. The cart was equipped with a two-component tiltmeter and three...component magnetometer. Both devices were calibrated before the survey. The tiltmeters readings were used to compute the cart pitch (positive pitch...cart front down = negative tiltmeter change), and roll (positive=cart rightside down - positive tiltmeter change). The magnetometer values were used to

Modular multimorphic kinematic arm structure and pitch and yaw joint for same

DOEpatents

Martin, H. Lee; Williams, Daniel M.; Holt, W. Eugene

1989-01-01

A multimorphic kinematic manipulator arm is provided with seven degrees of freedom and modular kinematic redundancy through identical pitch/yaw, shoulder, elbow and wrist joints and a wrist roll device at the wrist joint, which further provides to the manipulator arm an obstacle avoidance capability. The modular pitch/yaw joints are traction drive devices which provide backlash free operation with smooth torque transmission and enhanced rigidity. A dual input drive arrangement is provided for each joint resulting in a reduction of the load required to be assumed by each drive and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.

Modular multimorphic kinematic arm structure and pitch and yaw joint for same

DOEpatents

Martin, H.L.; Williams, D.M.; Holt, W.E.

1987-04-21

A multimorphic kinematic manipulator arm is provided with seven degrees of freedom and modular kinematic redundancy through identical pitch/yaw, shoulder, elbow and wrist joints and a wrist roll device at the wrist joint, which further provides to the manipulator arm an obstacle avoidance capability. The modular pitch/yaw joints are traction drive devices which provide backlash free operation with smooth torque transmission and enhanced rigidity. A dual input drive arrangement is provided for each joint resulting in a reduction of the load required to be assumed by each drive means and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive means. 12 figs.

Verticality Perceptions Associate with Postural Control and Functionality in Stroke Patients

PubMed Central

Baggio, Jussara A. O.; Mazin, Suleimy S. C.; Alessio-Alves, Frederico F.; Barros, Camila G. C.; Carneiro, Antonio A. O.; Leite, João P.; Pontes-Neto, Octavio M.; Santos-Pontelli, Taiza E. G.

2016-01-01

Deficits of postural control and perceptions of verticality are disabling problems observed in stroke patients that have been recently correlated to each other. However, there is no evidence in the literature confirming this relationship with quantitative posturography analysis. Therefore, the objectives of the present study were to analyze the relationship between Subjective Postural Vertical (SPV) and Haptic Vertical (HV) with posturography and functionality in stroke patients. We included 45 stroke patients. The study protocol was composed by clinical interview, evaluation of SPV and HV in roll and pitch planes and posturography. Posturography was measured in the sitting and standing positions under the conditions: eyes open, stable surface (EOSS); eyes closed, stable surface (ECSS); eyes open, unstable surface (EOUS); and eyes closed, unstable surface (ECUS). The median PV in roll plane was 0.34° (-1.44° to 2.54°) and in pitch plane 0.36° (-2.72° to 2.45°). The median of HV in roll and pitch planes were -0.94° (-5.86° to 3.84°) and 3.56° (-0.68° to 8.36°), respectively. SPV in the roll plane was correlated with all posturagraphy parameters in sitting position in all conditions (r = 0.35 to 0.47; p < 0.006). There were moderate correlations with the verticality perceptions and all the functional scales. Linear regression model showed association between speed and SPV in the roll plane in the condition EOSS (R2 of 0.37; p = 0.005), in the condition ECSS (R2 of 0.13; p = 0.04) and in the condition EOUS (R2 of 0.22; p = 0.03). These results suggest that verticality perception is a relevant component of postural control and should be systematically evaluated, particularly in patients with abnormal postural control. PMID:26954679

HEAD MOVEMENT DURING WALKING IN THE CAT

PubMed Central

ZUBAIR, HUMZA N.; BELOOZEROVA, IRINA N.; SUN, HAI; MARLINSKI, VLADIMIR

2016-01-01

Knowledge of how the head moves during locomotion is essential for understanding how locomotion is controlled by sensory systems of the head. We have analyzed head movements of the cat walking along a straight flat pathway in the darkness and light. We found that cats' head left-right translations, and roll and yaw rotations oscillated once per stride, while fore-aft and vertical translations, and pitch rotations oscillated twice. The head reached its highest vertical positions during second half of each forelimb swing, following maxima of the shoulder/trunk by 20–90°. Nose-up rotation followed head upward translation by another 40–90° delay. The peak-to-peak amplitude of vertical translation was ~1.5 cm and amplitude of pitch rotation was ~3°. Amplitudes of lateral translation and roll rotation were ~1 cm and 1.5–3°, respectively. Overall, cats' heads were neutral in roll and 10–30° nose-down, maintaining horizontal semicircular canals and utriculi within 10° of the earth horizontal. The head longitudinal velocity was 0.5–1 m/s, maximal upward and downward linear velocities were ~0.05 and ~0.1 m/s, respectively, and maximal lateral velocity was ~0.05 m/s. Maximal velocities of head pitch rotation were 20–50 °/s. During walking in light, cats stood 0.3–0.5 cm taller and held their head 0.5–2 cm higher than in darkness. Forward acceleration was 25–100% higher and peak-to-peak amplitude of head pitch oscillations was ~20 °/s larger. We concluded that, during walking, the head of the cat is held actively. Reflexes appear to play only a partial role in determining head movement, and vision might further diminish their role. PMID:27339731

Obstacle Detection using Binocular Stereo Vision in Trajectory Planning for Quadcopter Navigation

NASA Astrophysics Data System (ADS)

Bugayong, Albert; Ramos, Manuel, Jr.

2018-02-01

Quadcopters are one of the most versatile unmanned aerial vehicles due to its vertical take-off and landing as well as hovering capabilities. This research uses the Sum of Absolute Differences (SAD) block matching algorithm for stereo vision. A complementary filter was used in sensor fusion to combine obtained quadcopter orientation data from the accelerometer and the gyroscope. PID control was implemented for the motor control and VFH+ algorithm was implemented for trajectory planning. Results show that the quadcopter was able to consistently actuate itself in the roll, yaw and z-axis during obstacle avoidance but was however found to be inconsistent in the pitch axis during forward and backward maneuvers due to the significant noise present in the pitch axis angle outputs compared to the roll and yaw axes.

Design of a mixer for the thrust-vectoring system on the high-alpha research vehicle

NASA Technical Reports Server (NTRS)

Pahle, Joseph W.; Bundick, W. Thomas; Yeager, Jessie C.; Beissner, Fred L., Jr.

1996-01-01

One of the advanced control concepts being investigated on the High-Alpha Research Vehicle (HARV) is multi-axis thrust vectoring using an experimental thrust-vectoring (TV) system consisting of three hydraulically actuated vanes per engine. A mixer is used to translate the pitch-, roll-, and yaw-TV commands into the appropriate TV-vane commands for distribution to the vane actuators. A computer-aided optimization process was developed to perform the inversion of the thrust-vectoring effectiveness data for use by the mixer in performing this command translation. Using this process a new mixer was designed for the HARV and evaluated in simulation and flight. An important element of the Mixer is the priority logic, which determines priority among the pitch-, roll-, and yaw-TV commands.

Candidate control design metrics for an agile fighter

NASA Technical Reports Server (NTRS)

Murphy, Patrick C.; Bailey, Melvin L.; Ostroff, Aaron J.

1991-01-01

Success in the fighter combat environment of the future will certainly demand increasing capability from aircraft technology. These advanced capabilities in the form of superagility and supermaneuverability will require special design techniques which translate advanced air combat maneuvering requirements into design criteria. Control design metrics can provide some of these techniques for the control designer. Thus study presents an overview of control design metrics and investigates metrics for advanced fighter agility. The objectives of various metric users, such as airframe designers and pilots, are differentiated from the objectives of the control designer. Using an advanced fighter model, metric values are documented over a portion of the flight envelope through piloted simulation. These metric values provide a baseline against which future control system improvements can be compared and against which a control design methodology can be developed. Agility is measured for axial, pitch, and roll axes. Axial metrics highlight acceleration and deceleration capabilities under different flight loads and include specific excess power measurements to characterize energy meneuverability. Pitch metrics cover both body-axis and wind-axis pitch rates and accelerations. Included in pitch metrics are nose pointing metrics which highlight displacement capability between the nose and the velocity vector. Roll metrics (or torsion metrics) focus on rotational capability about the wind axis.

Analytical Method of Approximating the Motion of a Spinning Vehicle with Variable Mass and Inertia Properties Acted Upon by Several Disturbing Parameters

NASA Technical Reports Server (NTRS)

Buglia, James J.; Young, George R.; Timmons, Jesse D.; Brinkworth, Helen S.

1961-01-01

An analytical method has been developed which approximates the dispersion of a spinning symmetrical body in a vacuum, with time-varying mass and inertia characteristics, under the action of several external disturbances-initial pitching rate, thrust misalignment, and dynamic unbalance. The ratio of the roll inertia to the pitch or yaw inertia is assumed constant. Spin was found to be very effective in reducing the dispersion due to an initial pitch rate or thrust misalignment, but was completely Ineffective in reducing the dispersion of a dynamically unbalanced body.

Supersonic aerodynamic characteristics of a maneuvering canard-controlled missile with fixed and free-rolling tail fins

NASA Technical Reports Server (NTRS)

Blair, A. B., Jr.

1990-01-01

Wind tunnel investigations were conducted on a generic cruciform canard-controlled missile configuration. The model featured fixed or free-rolling tail-fin afterbodies to provide an expanded aerodynamic data base with particular emphasis on alleviating large induced rolling moments and/or for providing canard roll control throughout the entire test angle-of-attack range. The tests were conducted in the NASA Langley Unitary Plan Wind Tunnel at Mach numbers from 2.50 to 3.50 at a constant Reynolds number per foot of 2.00 x 10 to the 6th. Selected test results are presented to show the effects of a fixed or free-rolling tail-fin afterbody on the static longitudinal and lateral-directional aerodynamic characteristics of a canard-controlled missile with pitch, yaw, and roll control at model roll angles of 0 deg and 45 deg.

Flight Test of the F/A-18 Active Aeroelastic Wing Airplane

NASA Technical Reports Server (NTRS)

Voracek, David

2007-01-01

A viewgraph presentation of flight tests performed on the F/A active aeroelastic wing airplane is shown. The topics include: 1) F/A-18 AAW Airplane; 2) F/A-18 AAW Control Surfaces; 3) Flight Test Background; 4) Roll Control Effectiveness Regions; 5) AAW Design Test Points; 6) AAW Phase I Test Maneuvers; 7) OBES Pitch Doublets; 8) OBES Roll Doublets; 9) AAW Aileron Flexibility; 10) Phase I - Lessons Learned; 11) Control Law Development and Verification & Validation Testing; 12) AAW Phase II RFCS Envelopes; 13) AAW 1-g Phase II Flight Test; 14) Region I - Subsonic 1-g Rolls; 15) Region I - Subsonic 1-g 360 Roll; 16) Region II - Supersonic 1-g Rolls; 17) Region II - Supersonic 1-g 360 Roll; 18) Region III - Subsonic 1-g Rolls; 19) Roll Axis HOS/LOS Comparison Region II - Supersonic (open-loop); 20) Roll Axis HOS/LOS Comparison Region II - Supersonic (closed-loop); 21) AAW Phase II Elevated-g Flight Test; 22) Region I - Subsonic 4-g RPO; and 23) Phase II - Lessons Learned

Kinematic properties of the helicopter in coordinated turns

NASA Technical Reports Server (NTRS)

Chen, R. T. N.; Jeske, J. A.

1981-01-01

A study on the kinematic relationship of the variables of helicopter motion in steady, coordinated turns involving inherent sideslip is described. A set of exact kinematic equations which govern a steady coordinated helical turn about an Earth referenced vertical axis is developed. A precise definition for the load factor parameter that best characterizes a coordinated turn is proposed. Formulas are developed which relate the aircraft angular rates and pitch and roll attitudes to the turn parameters, angle of attack, and inherent sideslip. A steep, coordinated helical turn at extreme angles of attack with inherent sideslip is of primary interest. The bank angle of the aircraft can differ markedly from the tilt angle of the normal load factor. The normal load factor can also differ substantially from the accelerometer reading along the vertical body axis of the aircraft. Sideslip has a strong influence on the pitch attitude and roll rate of the helicopter. Pitch rate is independent of angle of attack in a coordinated turn and in the absence of sideslip, angular rates about the stability axes are independent of the aerodynamic characteristics of the aircraft.

Lipid raft-associated β-adducin is required for PSGL-1-mediated neutrophil rolling on P-selectin.

PubMed

Xu, Tingshuang; Liu, Wenai; Yang, Chen; Ba, Xueqing; Wang, Xiaoguang; Jiang, Yong; Zeng, Xianlu

2015-02-01

Lipid rafts, a liquid-ordered plasma membrane microdomain, are related to cell-surface receptor function. PSGL-1, a major surface receptor protein for leukocyte, also acts as a signaling receptor in leukocyte rolling. To investigate the role of lipid raft in PSGL-1 signaling in human neutrophils, we quantitatively analyzed lipid raft proteome of human promyelocytic leukemia cell line HL-60 cells and identified a lipid raft-associated protein β-adducin. PSGL-1 ligation induced dissociation of the raft-associated protein β-adducin from lipid rafts and actin, as well as phosphorylation of β-adducin, indicating a transient uncoupling of lipid rafts from the actin cytoskeleton. Knockdown of β-adducin greatly attenuated HL-60 cells rolling on P-selectin. We also showed that Src kinase is crucial for PSGL-1 ligation-induced β-adducin phosphorylation and relocation. Taken together, these results show that β-adducin is a pivotal lipid raft-associated protein in PSGL-1-mediated neutrophil rolling on P-selectin. © Society for Leukocyte Biology.

Advancements in the U.S. Army Corps of Engineers Hydrographic Survey Capabilities: The SHOALS System

DTIC Science & Technology

2016-05-12

forward direction of the aircraft. The scanner uses feedback from an inertial reference unit , rigidly mounted to the TRS, that measures aircraft roll ...LTN-90 inertial reference unit provides aircraft attitude, including roll , pitch, and heading and vertical accelerations. The unit supports four...Figure 3 The transceiver subsystem. From left to right, receiver optics, receiver electronics, telescope, scanner, and inertial reference unit . The

Difference in quick phases induced by horizontal and vertical vestibular stimulations: role of the otolithic input.

PubMed

Pettorossi, V E; Errico, P; Ferraresi, A

1997-01-01

Quick phases (QPs) induced by horizontal and vertical sinusoidal vestibular stimulations were studied in rabbits, cats, and humans. In all the animals, large and frequent horizontal QPs were observed following yaw stimulation in prone position. By contrast, QPs were almost absent during roll stimulation in rabbits, and they were small and oblique during pitch stimulation in cats and humans. As a result of these differences, the range of gaze displacement induced by vestibular stimulations was greater in the horizontal plane than in the vertical one. We also found that the trajectory of the QPs in rabbits was kept horizontal even when the yaw rotation was off vertical axis of +/- 45 degrees in the sagittal plane. Moreover, in the rabbit, the rare horizontal QPs induced by roll stimulation did not change their orientation at various pitch angles of roll stimulation axis. The QPs were also analyzed following roll stimulation of the rabbit in supine position. In this condition, in which the otolithic receptors were activated in the opposite way compared to prone position, large vertical QPs were elicited. We concluded that these results provide evidence that the otolithic signal plays a role in controlling occurrence and trajectory orientation of the QPs.

Leading edge flap system for aircraft control augmentation

NASA Technical Reports Server (NTRS)

Rao, D. M. (Inventor)

1984-01-01

Traditional roll control systems such as ailerons, elevons or spoilers are least effective at high angles of attack due to boundary layer separation over the wing. This invention uses independently deployed leading edge flaps on the upper surfaces of vortex stabilized wings to shift the center of lift outboard. A rolling moment is created that is used to control roll in flight at high angles of attack. The effectiveness of the rolling moment increases linearly with angle of attack. No adverse yaw effects are induced. In an alternate mode of operation, both leading edge flaps are deployed together at cruise speeds to create a very effective airbrake without appreciable modification in pitching moment. Little trim change is required.

A general-purpose balloon-borne pointing system for solar scientific instruments

NASA Technical Reports Server (NTRS)

Polites, M. E.

1990-01-01

A general purpose balloonborne pointing system for accommodating a wide variety of solar scientific instruments is described. It is designed for precise pointing, low cost, and quick launch. It offers the option of three-axis control, pitch-yaw-roll, or two-axis control, pitch-yaw, depending on the needs of the solar instrument. Simulation results are presented that indicate good pointing capability at Sun elevation angles ranging from 10 to 80 deg.

Oscillation damping means for magnetically levitated systems

DOEpatents

Post, Richard F [Walnut Creek, CA

2009-01-20

The present invention presents a novel system and method of damping rolling, pitching, or yawing motions, or longitudinal oscillations superposed on their normal forward or backward velocity of a moving levitated system.

Numerical Simulation of Rolling-Airframes Using a Multi-Level Cartesian Method

NASA Technical Reports Server (NTRS)

Murman, Scott M.; Aftosmis, Michael J.; Berger, Marsha J.; Kwak, Dochan (Technical Monitor)

2002-01-01

A supersonic rolling missile with two synchronous canard control surfaces is analyzed using an automated, inviscid, Cartesian method. Sequential-static and time-dependent dynamic simulations of the complete motion are computed for canard dither schedules for level flight, pitch, and yaw maneuver. The dynamic simulations are compared directly against both high-resolution viscous simulations and relevant experimental data, and are also utilized to compute dynamic stability derivatives. The results show that both the body roll rate and canard dither motion influence the roll-averaged forces and moments on the body. At the relatively, low roll rates analyzed in the current work these dynamic effects are modest, however the dynamic computations are effective in predicting the dynamic stability derivatives which can be significant for highly-maneuverable missiles.

An in-flight investigation of a twin fuselage configuration in approach and landing

NASA Technical Reports Server (NTRS)

Weingarten, N. C.

1984-01-01

An in-flight investigation of the flying qualities of a twin fuselage aircraft design in the approach and landing flight phase was carried out in the USAF/AFWAL Total In-Flight Simulator (TIFS). The objective was to determine the effects of actual motion and visual cues on the pilot when he was offset from the centerline of the aircraft. The experiment variables were lateral pilot offset position (0, 30 and 50 feet) and effective roll mode time constant (.6, 1.2, 2.4 seconds). The evaluation included the final approach, flare and touchdown. Lateral runway offsets and 15 knot crosswinds were used to increase the pilot's workload and force him to make large lateral corrections in the final portion of the approach. Results indicated that large normal accelerations rather than just vertical displacements in rolling maneuvers had the most significant degrading effect on pilot ratings. The normal accelerations are a result of large lateral offset and fast roll mode time constant and caused the pilot to make unnecessary pitch inputs and get into a coupled pitch/roll oscillation while he was making line up and crosswind corrections. A potential criteria for lateral pilot offset position effects is proposed. When the ratio of incremented normal aceleration at the pilot station to the steady state roll rate for a step input reaches .01 to .02 g/deg/sec a deterioration of pilot rating and flying qualities level can be expected.

Diagrams of Spacecraft Reaction Control System (RCS) Function

NASA Image and Video Library

1964-01-13

S64-03506 (1964) --- Diagrams shows Gemini spacecraft functions of the thrusters in the Gemini spacecraft's re-entry control system. Thrusters may be fired in various combinations to cause yaw, roll and pitch.

Recognizable-image selection for fingerprint recognition with a mobile-device camera.

PubMed

Lee, Dongjae; Choi, Kyoungtaek; Choi, Heeseung; Kim, Jaihie

2008-02-01

This paper proposes a recognizable-image selection algorithm for fingerprint-verification systems that use a camera embedded in a mobile device. A recognizable image is defined as the fingerprint image which includes the characteristics that are sufficiently discriminating an individual from other people. While general camera systems obtain focused images by using various gradient measures to estimate high-frequency components, mobile cameras cannot acquire recognizable images in the same way because the obtained images may not be adequate for fingerprint recognition, even if they are properly focused. A recognizable image has to meet the following two conditions: First, valid region in the recognizable image should be large enough compared with other nonrecognizable images. Here, a valid region is a well-focused part, and ridges in the region are clearly distinguishable from valleys. In order to select valid regions, this paper proposes a new focus-measurement algorithm using the secondary partial derivatives and a quality estimation utilizing the coherence and symmetry of gradient distribution. Second, rolling and pitching degrees of a finger measured from the camera plane should be within some limit for a recognizable image. The position of a core point and the contour of a finger are used to estimate the degrees of rolling and pitching. Experimental results show that our proposed method selects valid regions and estimates the degrees of rolling and pitching properly. In addition, fingerprint-verification performance is improved by detecting the recognizable images.

Calibration Variable Selection and Natural Zero Determination for Semispan and Canard Balances

NASA Technical Reports Server (NTRS)

Ulbrich, Norbert M.

2013-01-01

Independent calibration variables for the characterization of semispan and canard wind tunnel balances are discussed. It is shown that the variable selection for a semispan balance is determined by the location of the resultant normal and axial forces that act on the balance. These two forces are the first and second calibration variable. The pitching moment becomes the third calibration variable after the normal and axial forces are shifted to the pitch axis of the balance. Two geometric distances, i.e., the rolling and yawing moment arms, are the fourth and fifth calibration variable. They are traditionally substituted by corresponding moments to simplify the use of calibration data during a wind tunnel test. A canard balance is related to a semispan balance. It also only measures loads on one half of a lifting surface. However, the axial force and yawing moment are of no interest to users of a canard balance. Therefore, its calibration variable set is reduced to the normal force, pitching moment, and rolling moment. The combined load diagrams of the rolling and yawing moment for a semispan balance are discussed. They may be used to illustrate connections between the wind tunnel model geometry, the test section size, and the calibration load schedule. Then, methods are reviewed that may be used to obtain the natural zeros of a semispan or canard balance. In addition, characteristics of three semispan balance calibration rigs are discussed. Finally, basic requirements for a full characterization of a semispan balance are reviewed.

Piloted simulator study of allowable time delays in large-airplane response

NASA Technical Reports Server (NTRS)

Grantham, William D.; Bert T.?aetingas, Stephen A.dings with ran; Bert T.?aetingas, Stephen A.dings with ran

1987-01-01

A piloted simulation was performed to determine the permissible time delay and phase shift in the flight control system of a specific large transport-type airplane. The study was conducted with a six degree of freedom ground-based simulator and a math model similar to an advanced wide-body jet transport. Time delays in discrete and lagged form were incorporated into the longitudinal, lateral, and directional control systems of the airplane. Three experienced pilots flew simulated approaches and landings with random localizer and glide slope offsets during instrument tracking as their principal evaluation task. Results of the present study suggest a level 1 (satisfactory) handling qualities limit for the effective time delay of 0.15 sec in both the pitch and roll axes, as opposed to a 0.10-sec limit of the present specification (MIL-F-8785C) for both axes. Also, the present results suggest a level 2 (acceptable but unsatisfactory) handling qualities limit for an effective time delay of 0.82 sec and 0.57 sec for the pitch and roll axes, respectively, as opposed to 0.20 sec of the present specifications for both axes. In the area of phase shift between cockpit input and control surface deflection,the results of this study, flown in turbulent air, suggest less severe phase shift limitations for the approach and landing task-approximately 50 deg. in pitch and 40 deg. in roll - as opposed to 15 deg. of the present specifications for both axes.

Handling Qualities Evaluations of Low Complexity Model Reference Adaptive Controllers for Reduced Pitch and Roll Damping Scenarios

NASA Technical Reports Server (NTRS)

Hanson, Curt; Schaefer, Jacob; Burken, John J.; Johnson, Marcus; Nguyen, Nhan

2011-01-01

National Aeronautics and Space Administration (NASA) researchers have conducted a series of flight experiments designed to study the effects of varying levels of adaptive controller complexity on the performance and handling qualities of an aircraft under various simulated failure or damage conditions. A baseline, nonlinear dynamic inversion controller was augmented with three variations of a model reference adaptive control design. The simplest design consisted of a single adaptive parameter in each of the pitch and roll axes computed using a basic gradient-based update law. A second design was built upon the first by increasing the complexity of the update law. The third and most complex design added an additional adaptive parameter to each axis. Flight tests were conducted using NASA s Full-scale Advanced Systems Testbed, a highly modified F-18 aircraft that contains a research flight control system capable of housing advanced flight controls experiments. Each controller was evaluated against a suite of simulated failures and damage ranging from destabilization of the pitch and roll axes to significant coupling between the axes. Two pilots evaluated the three adaptive controllers as well as the non-adaptive baseline controller in a variety of dynamic maneuvers and precision flying tasks designed to uncover potential deficiencies in the handling qualities of the aircraft, and adverse interactions between the pilot and the adaptive controllers. The work was completed as part of the Integrated Resilient Aircraft Control Project under NASA s Aviation Safety Program.

Payload vehicle aerodynamic reentry analysis

NASA Astrophysics Data System (ADS)

Tong, Donald

An approach for analyzing the dynamic behavior of a cone-cylinder payload vehicle during reentry to insure proper deployment of the parachute system and recovery of the payload is presented. This analysis includes the study of an aerodynamic device that is useful in extending vehicle axial rotation through the maximum dynamic pressure region. Attention is given to vehicle configuration and reentry trajectory, the derivation of pitch static aerodynamics, the derivation of the pitch damping coefficient, pitching moment modeling, aerodynamic roll device modeling, and payload vehicle reentry dynamics. It is shown that the vehicle dynamics at parachute deployment are well within the design limit of the recovery system, thus ensuring successful payload recovery.

Wind-tunnel investigation at supersonic speeds of a remote-controlled canard missile with a free-rolling-tail brake torque system

NASA Technical Reports Server (NTRS)

Blair, A. B., Jr.

1985-01-01

Wind tunnel tests were conducted at Mach numbers 1.70, 2.16, and 2.86 to determine the static aerodynamic characteristics of a cruciform canard-controlled missile with fixed or free rolling tailfin afterbodies. Mechanical coupling effects of the free-rolling-tail afterbody were investigated by using an electronic electromagnetic brake system providing arbitrary tail-fin brake torques with continuous measurements of tail-to-mainframe torque and tail roll rate. Remote-controlled canards were deflected to provide pitch, yaw, and roll control. Results indicate that the induced rolling moment coefficients due to canard yaw control are reduced and linearized for the free-rolling-tail (free-tail) configuration. The canards of the latter provide conventional roll control for the entire angle-of-attack test range. For the free-tail configuration, the induced rolling moment coefficient due to canard yaw control increased and the canard roll control decreased with increases in brake torque, which simulated bearing friction torque. It appears that a compromise in regard to bearing friction, for example, low-cost bearings with some friction, may allow satisfactory free-tail aerodynamic characteristics that include reductions in adverse rolling-moment coefficients and lower tail roll rates.

Preliminary Assessment of Primary Flight Display Symbology for Electro- Optic Head-Down Displays

DTIC Science & Technology

1991-06-01

information :elated to pitch and power; the vertica! line provides information related to bank and heading. As a result of this geometrica ...steering bar are centered over the aircraft symbol. -n -1-- If the bars are centered, the aircraft is either correcting properly or is flying the desired...a•Isd bas,:ý muve to provide a new pitch command. Roll theading correction ) commands are seen as unbalanced line width, the low command bar side

A Novel Degradation Identification Method for Wind Turbine Pitch System

NASA Astrophysics Data System (ADS)

Guo, Hui-Dong

2018-04-01

It’s difficult for traditional threshold value method to identify degradation of operating equipment accurately. An novel degradation evaluation method suitable for wind turbine condition maintenance strategy implementation was proposed in this paper. Based on the analysis of typical variable-speed pitch-to-feather control principle and monitoring parameters for pitch system, a multi input multi output (MIMO) regression model was applied to pitch system, where wind speed, power generation regarding as input parameters, wheel rotation speed, pitch angle and motor driving currency for three blades as output parameters. Then, the difference between the on-line measurement and the calculated value from the MIMO regression model applying least square support vector machines (LSSVM) method was defined as the Observed Vector of the system. The Gaussian mixture model (GMM) was applied to fitting the distribution of the multi dimension Observed Vectors. Applying the model established, the Degradation Index was calculated using the SCADA data of a wind turbine damaged its pitch bearing retainer and rolling body, which illustrated the feasibility of the provided method.

Accuracy evaluation of a six-degree-of-freedom couch using cone beam CT and IsoCal phantom with an in-house algorithm.

PubMed

Zhang, Qinghui; Driewer, Joseph; Wang, Shuo; Li, Sicong; Zhu, Xiaofeng; Zheng, Dandan; Cao, Yijian; Zhang, Jiaju; Jamshidi, Abolghassem; Cox, Brett W; Knisely, Jonathan P S; Potters, Louis; Klein, Eric E

2017-08-01

The accuracy of a six degree of freedom (6DoF) couch was evaluated using a novel method. Cone beam CT (CBCT) images of a 3D phantom (IsoCal) were acquired with different, known combinations of couch pitch and roll angles. Pitch and roll angles between the maximum allowable values of 357 and 3 degrees were tested in one degree increments. A total of 49 combinations were tested at 0 degrees of yaw (couch rotation angle). The 3D positions of 16 tungsten carbide ball bearings (BBs), each 4 mm in diameter and arranged in a known geometry within the IsoCal phantom, were determined in the 49 image sets with in-house software. The BB positions at different rotation angles were determined using a rotation matrix from the original BB positions at zero pitch and roll angles. A linear least squares fit method estimated the rotation angles and differences between detected and nominal rotation angles were calculated. This study was conducted for the case with and without extra weight on the couch. Couch walk shifts for the system were investigated using eight combinations of rotation, roll and pitch. A total of 49 CBCT images with voxel sizes 0.5 × 0.5 × 1.0 mm 3 were taken for the case without extra weight on the couch. The 16 BBs were determined to evaluate the isocenter translation and rotation differences between the calculated and nominal couch values. Among all 49 calculations, the maximum rotation angle differences were 0.10 degrees for pitch, 0.15 degrees for roll and 0.09 degrees for yaw. The corresponding mean and standard deviation values were 0.028 ± 0.032, -0.043 ± 0.058, and -0.009 ± 0.033 degrees. The maximum translation differences were 0.3 mm in the left-right direction, 0.5 mm in the anterior-posterior direction and 0.4 mm in the superior-inferior direction. The mean values and corresponding standard deviations were 0.07 ± 0.12, -0.05 ± 0.25, and -0.12±0.14 mm for the planes described above. With an 80 kg phantom on the couch, the maximum translation shift was 0.69 mm. The couch walk translation shifts were less than 0.1 mm and rotation shifts were less than 0.1 degree. Errors of a new 6DoF couch were tested using CBCT images of a 3D phantom. The rotation errors were less than 0.3 degree and the translation errors were less than or equal to 0.8 mm in each direction. This level of accuracy is warranted for clinical radiotherapy utilization including stereotactic radiosurgery. © 2017 American Association of Physicists in Medicine.

Rocking the boat: does perfect rowing crew synchronization reduce detrimental boat movements?

PubMed

Cuijpers, L S; Passos, P J M; Murgia, A; Hoogerheide, A; Lemmink, K A P M; de Poel, H J

2017-12-01

In crew rowing, crew members need to mutually synchronize their movements to achieve optimal crew performance. Intuitively, poor crew coordination is often deemed to involve additional boat movements such as surge velocity fluctuations, heave, pitch, and roll, which would imply lower efficiency (eg, due to increased hydrodynamic drag). The aim of this study was to investigate this alleged relation between crew coordination and boat movements at different stroke rates. Fifteen crews of two rowers rowed in a double scull (ie, a two-person boat) at 18, 22, 26, 30, and 34 strokes per minute. Oar angles (using potentiometers) and movements of the boat (using a three-axial accelerometer-gyroscope sensor) were measured (200 Hz). Results indicated that crew synchronization became more consistent with stroke rate, while surge, heave, and pitch fluctuations increased. Further, within each stroke rate condition, better crew synchronization was related to less roll of the boat, but increased fluctuations regarding surge, heave, and pitch. Together this demonstrates that while better crew synchronization relates to enhanced lateral stability of the boat, it inevitably involves more detrimental boat movements and hence involves lower biomechanical efficiency. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Synchronization of Multipoint Hoists

DTIC Science & Technology

A contractor has conceived an electrohydraulic feedback system that will provide position synchronization of four aircraft cargo hoists. To... synchronized hoist system. Test results show that the feedback system concept provides adequate synchronization control; i.e., the platform pitch and roll

78 FR 67077 - Special Conditions: Airbus, Model A350-900 Series Airplane; Side Stick Controllers

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-08

... freedom of movement, displacement angle suitability, and axis harmony. (3) Inadvertent input in turbulence... control/tasks and turbulence. In addition, pitch and roll control force and displacement sensitivity must...

14 CFR 25.1303 - Flight and navigation instruments.

Code of Federal Regulations, 2010 CFR

2010-01-01

... a slip-skid indicator is required on large airplanes with a third attitude instrument system useable through flight attitudes of 360° of pitch and roll and installed in accordance with § 121.305(k) of this...

The response of the Seasat and Magsat infrared horizon scanners to cold clouds

NASA Technical Reports Server (NTRS)

Bilanow, S.; Phenneger, M.

1980-01-01

Cold clouds over the Earth are shown to be the principal cause of pitch and roll measurement noise in flight data from the infrared horizon scanners onboard Seasat and Magsat. The observed effects of clouds on the fixed threshold horizon detection logic of the Magsat scanner and on the variable threshold detection logic of the Seasat scanner are discussed. National Oceanic and Atmospheric Administration (NOAA) Earth photographs marked with the scanner ground trace clearly confirm the relationship between measurement errors and Earth clouds. A one to one correspondence can be seen between excursion in the pitch and roll data and cloud crossings. The characteristics of the cloud-induced noise are discussed, and the response of the satellite control systems to the cloud errors is described. Changes to the horizon scanner designs that would reduce the effects of clouds are noted.

A new momentum management controller for the space station

NASA Technical Reports Server (NTRS)

Wie, B.; Byun, K. W.; Warren, V. W.

1988-01-01

A new approach to CMG (control moment gyro) momentum management and attitude control of the Space Station is developed. The control algorithm utilizes both the gravity-gradient and gyroscopic torques to seek torque equilibrium attitude in the presence of secular and cyclic disturbances. Depending upon mission requirements, either pitch attitude or pitch-axis CMG momentum can be held constant: yaw attitude and roll-axis CMG momentum can be held constant, while roll attitude and yaw-axis CMG momentum cannot be held constant. As a result, the overall attitude and CMG momentum oscillations caused by cyclic aero-dynamic disturbances are minimized. A state feedback controller with minimal computer storage requirement for gain scheduling is also developed. The overall closed-loop system is stable for + or - 30 percent inertia matrix variations and has more than + or - 10 dB and 45 deg stability margins in each loop.

Rotor-state feedback in the design of flight control laws for a hovering helicopter

NASA Technical Reports Server (NTRS)

Takahashi, Marc D.

1994-01-01

The use of rigid-body and rotor-state feedback gains in the design of helicopter flight control laws was investigated analytically on a blade element, articulated rotor, helicopter model. The study was conducted while designing a control law to meet an existing military rotorcraft handling qualities design specification (ADS-33C) in low-speed flight. A systematic approach to meet this specification was developed along with an assessment of the function of these gains in the feedback loops. Using the results of this assessment, the pitch and roll crossover behavior was easily modified by adjusting the body attitude and rotor-flap feedback gains. Critical to understanding the feedback gains is that the roll and pitch rate dynamics each have second-order behavior, not the classic first-order behavior, which arises from a quasi-static rotor, six degree-of-freedom model.

Wrist joint assembly

NASA Technical Reports Server (NTRS)

Kersten, L.; Johnson, J. D. (Inventor)

1978-01-01

A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated.

Pitch, roll, and yaw moment generator for insect-like tailless flapping-wing MAV

NASA Astrophysics Data System (ADS)

Phan, Hoang Vu; Park, Hoon Cheol

2016-04-01

In this work, we proposed a control moment generator, which is called Trailing Edge Change (TEC) mechanism, for attitudes change in hovering insect-like tailless flapping-wing MAV. The control moment generator was installed to the flapping-wing mechanism to manipulate the wing kinematics by adjusting the wing roots location symmetrically or asymmetrically. As a result, the mean aerodynamic force center of each wing is relocated and control moments are generated. The three-dimensional wing kinematics captured by three synchronized high-speed cameras showed that the flapping-wing MAV can properly modify the wing kinematics. In addition, a series of experiments were performed using a multi-axis load cell to evaluate the forces and moments generation. The measurement demonstrated that the TEC mechanism produced reasonable amounts of pitch, roll and yaw moments by shifting position of the trailing edges at the wing roots of the flapping-wing MAV.

An Adjoint-Based Approach to Study a Flexible Flapping Wing in Pitching-Rolling Motion

NASA Astrophysics Data System (ADS)

Jia, Kun; Wei, Mingjun; Xu, Min; Li, Chengyu; Dong, Haibo

2017-11-01

Flapping-wing aerodynamics, with advantages in agility, efficiency, and hovering capability, has been the choice of many flyers in nature. However, the study of bio-inspired flapping-wing propulsion is often hindered by the problem's large control space with different wing kinematics and deformation. The adjoint-based approach reduces largely the computational cost to a feasible level by solving an inverse problem. Facing the complication from moving boundaries, non-cylindrical calculus provides an easy extension of traditional adjoint-based approach to handle the optimization involving moving boundaries. The improved adjoint method with non-cylindrical calculus for boundary treatment is first applied on a rigid pitching-rolling plate, then extended to a flexible one with active deformation to further increase its propulsion efficiency. The comparison of flow dynamics with the initial and optimal kinematics and deformation provides a unique opportunity to understand the flapping-wing mechanism. Supported by AFOSR and ARL.

Study on coupled shock absorber system using four electromagnetic dampers

NASA Astrophysics Data System (ADS)

Fukumori, Y.; Hayashi, R.; Okano, H.; Suda, Y.; Nakano, K.

2016-09-01

Recently, the electromagnetic damper, which is composed of an electric motor, a ball screw, and a nut, was proposed. The electromagnetic damper has high responsiveness, controllability, and energy saving performance. It has been reported that it improved ride comfort and drivability. In addition, the authors have proposed a coupling method of two electromagnetic dampers. The method enables the characteristics of bouncing and rolling or pitching motion of a vehicle to be tuned independently. In this study, the authors increase the number of coupling of electromagnetic dampers from two to four, and propose a method to couple four electromagnetic dampers. The proposed method enables the characteristics of bouncing, rolling and pitching motion of a vehicle to be tuned independently. Basic experiments using proposed circuit and motors and numerical simulations of an automobile equipped with the proposed coupling electromagnetic damper are carried out. The results indicate the proposed method is effective.

Angular relation of axes in perceptual space

NASA Technical Reports Server (NTRS)

Bucher, Urs

1992-01-01

The geometry of perceptual space needs to be known to model spatial orientation constancy or to create virtual environments. To examine one main aspect of this geometry, the angular relation between the three spatial axes was measured. Experiments were performed consisting of a perceptual task in which subjects were asked to set independently their apparent vertical and horizontal plane. The visual background provided no other stimuli to serve as optical direction cues. The task was performed in a number of different body tilt positions with pitches and rolls varied in steps of 30 degs. The results clearly show the distortion of orthogonality of the perceptual space for nonupright body positions. Large interindividual differences were found. Deviations from orthogonality up to 25 deg were detected in the pitch as well as in the roll direction. Implications of this nonorthogonality on further studies of spatial perception and on the construction of virtual environments for human interaction is also discussed.

Dynamics of vehicles in variable velocity runs over non-homogeneous flexible track and foundation with two point input models

NASA Astrophysics Data System (ADS)

Yadav, D.; Upadhyay, H. C.

1992-07-01

Vehicles obtain track-induced input through the wheels, which commonly number more than one. Analysis available for the vehicle response in a variable velocity run on a non-homogeneously profiled flexible track supported by compliant inertial foundation is for a linear heave model having a single ground input. This analysis is being extended to two point input models with heave-pitch and heave-roll degrees of freedom. Closed form expressions have been developed for the system response statistics. Results are presented for a railway coach and track/foundation problem, and the performances of heave, heave-pitch and heave-roll models have been compared. The three models are found to agree in describing the track response. However, the vehicle sprung mass behaviour is predicted to be different by these models, indicating the strong effect of coupling on the vehicle vibration.

Heave-pitch-roll analysis and testing of air cushion landing systems

NASA Technical Reports Server (NTRS)

Boghani, A. B.; Captain, K. M.; Wormley, D. N.

1978-01-01

The analytical tools (analysis and computer simulation) needed to explain and predict the dynamic operation of air cushion landing systems (ACLS) is described. The following tasks were performed: the development of improved analytical models for the fan and the trunk; formulation of a heave pitch roll analysis for the complete ACLS; development of a general purpose computer simulation to evaluate landing and taxi performance of an ACLS equipped aircraft; and the verification and refinement of the analysis by comparison with test data obtained through lab testing of a prototype cushion. Demonstration of simulation capabilities through typical landing and taxi simulation of an ACLS aircraft are given. Initial results show that fan dynamics have a major effect on system performance. Comparison with lab test data (zero forward speed) indicates that the analysis can predict most of the key static and dynamic parameters (pressure, deflection, acceleration, etc.) within a margin of a 10 to 25 percent.

On the effects of basic platform design characteristics on floating offshore wind turbine control and their mitigation

NASA Astrophysics Data System (ADS)

Olondriz, Joannes; Elorza, Iker; Trojaola, Ignacio; Pujana, Aron; Landaluze, Joseba

2016-09-01

Semi-submersible floating offshore wind turbines present significant advantages over other designs in terms of cost, deployment, maintenance and site-independence. However, these advantages are achieved by shifting a part of the burden of stabilising the platform pitch and roll motions to the turbine control system. A study is presented here of the effects of basic platform dimensions on the performance of a standard pitch controller and the possible methods for mitigating said effects.

Head movement during walking in the cat.

PubMed

Zubair, Humza N; Beloozerova, Irina N; Sun, Hai; Marlinski, Vladimir

2016-09-22

Knowledge of how the head moves during locomotion is essential for understanding how locomotion is controlled by sensory systems of the head. We have analyzed head movements of the cat walking along a straight flat pathway in the darkness and light. We found that cats' head left-right translations, and roll and yaw rotations oscillated once per stride, while fore-aft and vertical translations, and pitch rotations oscillated twice. The head reached its highest vertical positions during second half of each forelimb swing, following maxima of the shoulder/trunk by 20-90°. Nose-up rotation followed head upward translation by another 40-90° delay. The peak-to-peak amplitude of vertical translation was ∼1.5cm and amplitude of pitch rotation was ∼3°. Amplitudes of lateral translation and roll rotation were ∼1cm and 1.5-3°, respectively. Overall, cats' heads were neutral in roll and 10-30° nose-down, maintaining horizontal semicircular canals and utriculi within 10° of the earth horizontal. The head longitudinal velocity was 0.5-1m/s, maximal upward and downward linear velocities were ∼0.05 and ∼0.1m/s, respectively, and maximal lateral velocity was ∼0.05m/s. Maximal velocities of head pitch rotation were 20-50°/s. During walking in light, cats stood 0.3-0.5cm taller and held their head 0.5-2cm higher than in darkness. Forward acceleration was 25-100% higher and peak-to-peak amplitude of head pitch oscillations was ∼20°/s larger. We concluded that, during walking, the head of the cat is held actively. Reflexes appear to play only a partial role in determining head movement, and vision might further diminish their role. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Active retroreflector to measure the rotational orientation in conjunction with a laser tracker

NASA Astrophysics Data System (ADS)

Hofherr, O.; Wachten, C.; Müller, C.; Reinecke, H.

2012-10-01

High precision optical non-contact position measurement is a key technology in modern engineering. Laser trackers (LT) can determine accurately x-y-z coordinates of passive retroreflectors. Next-generation systems answer the additional need to measure an object's rotational orientation (pitch, yaw, roll). These devices are based on photogrammetry or on enhanced retroreflectors. However, photogrammetry relies on camera systems and time-consuming image processing. Enhanced retroreflectors analyze the LT's beam but are restricted in roll angle measurements. Here we present an integrated laser based method to evaluate all six degrees of freedom. An active retroreflector directly analyzes its orientation to the LT's beam path by outcoupling laser light on detectors. A proof of concept prototype has been designed with a specified measuring range of 360° for roll angle measurements and +/-15° for pitch and yaw angle respectively. The prototype's optical design is inspired by a cat's eye retroreflector. First results are promising and further improvements are under development. We anticipate our method to facilitate simple and cost-effective six degrees of freedom measurements. Furthermore, for industrial applications wide customizations are possible, e.g. adaptation of measuring range, optimization of accuracy, and further system miniaturization.

Attitude Accuracy Study for the Earth Observing System (EOS) AM-1 Spacecraft

NASA Technical Reports Server (NTRS)

Lesikar, James D., II; Garrick, Joseph C.

1996-01-01

Earth Observing System (EOS) spacecraft will take measurements of the Earth's clouds, oceans, atmosphere, land, and radiation balance. These EOS spacecraft are part of the National Aeronautics and Space Administration's Mission to Planet Earth, and consist of several series of satellites, with each series specializing in a particular class of observations. This paper focuses on the EOS AM-1 spacecraft, which is the first of three satellites constituting the EOS AM series (morning equatorial crossing) and the initial spacecraft of the EOS program. EOS AM-1 has a stringent onboard attitude knowledge requirement, of 36/41/44 arc seconds (3 sigma) in yaw/roll/pitch, respectively. During normal mission operations, attitude is determined onboard using an extended Kalman sequential filter via measurements from two charge coupled device (CCD) star trackers, one Fine Sun Sensor, and an Inertial Rate Unit. The attitude determination error analysis system (ADEAS) was used to model the spacecraft and mission profile, and in a worst case scenario with only one star tracker in operation, the attitude uncertainty was 9.7/ll.5/12.2 arc seconds (3 sigma) in yaw/roll/pitch. The quoted result assumed the spacecraft was in nominal attitude, using only the 1-rotation per orbit motion of the spacecraft about the pitch axis for calibration of the gyro biases. Deviations from the nominal attitude would show greater attitude uncertainties, unless calibration maneuvers which roll and/or yaw the spacecraft have been performed. This permits computation of the gyro misalignments, and the attitude knowledge requirement would remain satisfied.

Quantifying the In-Flight Yaw, Pitch, and Roll of a Semi-Rigidly Mounted Potassium Vapour Magnetometer Suspended Under a Heavy-Lift Multi-Rotor UAV and its Impact on Data Quality

NASA Astrophysics Data System (ADS)

Walter, C. A.; Braun, A.; Fotopoulos, G.

2017-12-01

Research is being conducted to develop an Unmanned Aerial System (UAS) that is capable of reliably and efficiently collecting high resolution, industry standard magnetic data (magnetic data with a fourth difference of +/- 0.05 nT) via an optically pumped vapour magnetometer. The benefits of developing a UAS with these capabilities include improvements in the resolution of localized airborne surveys (2.5 km by 2.5 km) and the ability to conduct 3D magnetic gradiometry surveys in the observation gap evident between traditional terrestrial and manned airborne magnetic surveys (surface elevation up to 120 m). Quantifying the extent of an optically pumped vapour magnetometer's 3D orientation variations, while in-flight and suspended under a UAS, is a significant advancement to existing knowledge as optically pumped magnetometers have an orientation-dependent (to the primary magnetic field vector) process for measuring the magnetic field. This study investigates the orientation characteristics of a GEM Systems potassium vapour magnetometer, GSMP-35U, while semi-rigidly suspended 3 m under a DJI S900, heavy-lift multi-rotor UAV (Unmanned Aerial Vehicle) during an airborne surveying campaign conducted Northeast of Thunder Bay, Ontario, Canada. A nine degrees of freedom IMU (Inertial Measurement Unit), the Adafruit GY-80, was used to quantify the 3D orientation variations (yaw, pitch and roll) of the magnetic sensor during flight. The orientation and magnetic datasets were indexed and linked with a date and time stamp (within 1 ms) via a Raspberry Pi 2, acting as an on-board computer and data storage system. Analysing the two datasets allowed for the in-flight orientation variations of the potassium vapour magnetometer to be directly compared with the gathered magnetic and signal quality data of the magnetometer. The in-flight orientation characteristics of the magnetometer were also quantified for a range of air-speeds and flight maneuvers throughout the survey. Overall, this study validates that maintaining magnetometer yaw, pitch and roll variations within quantified limits (+/- 5 degrees yaw, +/- 10 degrees pitch, +/- 10 degrees roll) during flight can yield reliable and repeatable industry standard magnetic measurements at an increased spatial resolution over manned airborne surveys.

Aircraft body-axis rotation measurement system

NASA Technical Reports Server (NTRS)

Cowdin, K. T. (Inventor)

1983-01-01

A two gyro four gimbal attitude sensing system having gimbal lock avoidance is provided with continuous azimuth information, rather than roll information, relative to the magnetic cardinal headings while in near vertical attitudes to allow recovery from vertical on a desired heading. The system is comprised of a means for stabilizing an outer roll gimbal that is common to a vertical gyro and a directional gyro with respect to the aircraft platform which is being angularly displaced about an axis substantially parallel to the outer roll gyro axis. A means is also provided for producing a signal indicative of the magnitude of such displacement as an indication of aircraft heading. Additional means are provided to cause stabilization of the outer roll gimbal whenever the pitch angle of the aircraft passes through a threshold prior to entering vertical flight and destabilization of the outer roll gimbal upon passing through the threshold when departing vertical flight.

And the World Turned: Spin Testing the DG-1000S

DTIC Science & Technology

2015-10-01

were exceeded: 1) 30 degrees of pitch 2) 60 degrees of roll , or 3) 90 degrees of heading change. It is important to note that measurement of these post... roll or yaw angles were continuing to change at a steady or increasing rate when these criteria were exceeded. See Table 1 for adapted MIL-F-83691B...bulkhead immediately behind the rear cockpit. The pallet included a MEMSIC NAV-440 inertial measurement unit ( IMU ) which was capable of measuring

Structural Acoustic UXO Detection and Identification in Marine Environments - Interim Report for SERDP MR-2103 Follow-On

DTIC Science & Technology

2015-07-30

into the image processing algorithm the AUV position data available from the Doppler Velocity Log (DVL) and Inertial Measurement Unit ( IMU ) systems...uncertainty due to unknown sensor z coordinates. We considered both AUV altitude and roll but not pitch which we assumed to have a small effect on the...buried target. Taken together, the images suggest that the block is buried horizontally but rolled along its long axis ~80° such that the exposed large

Design and development of a biomimetic device for micro air vehicles

NASA Astrophysics Data System (ADS)

Bohorquez, Felipe; Pines, Darryll J.

2002-07-01

This paper presents the design and development of a pitching and plunging (flapping) mechanism for small-scale flight. In order to harness the unsteady lift mechanisms, used by most insects, a biologically inspired flapping/pitching device in conjunction with a rotary wing concept was developed and built. This mechanism attempts to replicate some of the aerodynamic phenomena that enhance the performance of small fliers, replacing the periodic translational motion with a unidirectional circular motion while actively flapping and pitching the rotor blades. In order to find the appropriate combination of phase, amplitude, frequency and rotational speed that leads to enhancement in lift, the device requires uncoupled independent pitch and flap actuation systems to permit the complete mapping of the parameter space. In the device under consideration the phase shift between the flapping and the pitching oscillations can be adjusted from 0 to 360 degrees over a wide range of rotational speeds. Maximum flapping and pitching amplitudes of +/- 23 degree(s) and +/- 20 degree(s) respectively can be attained. Linear displacements of two coaxial shafts are translated into the flapping and pitching motion of the rotor blades. The mechanism was designed to minimize the actuation stroke so that smart materials and conventional actuators such as motors and cams could be used. Kinematic analysis as well as experimental tests were performed. Using a customized test stand thrust and torque produced by the rotor were measured at different angles of attack, in steady-state and under periodical pitching actuation. The results showed that hover efficiency was considerably increased for a range of thrust coefficients. The device was developed based on the University of Maryland's rotary wing Micro Air vehicle (MAV) the MICOR (MIcro COaxial Rotorcraft), an electrically driven 100 g coaxial helicopter. It is anticipated that active flapping and/or pitching could be implemented in the prototype to improve its aerodynamic performance. The present paper will discuss the design and development process of a rotating/pitching/flapping mechanism for MAVs. Test results indicate that unsteady pitching motion can be used to include the aerodynamic effect of delayed stall. Performance measurements confirm that unsteady pitching motion improves efficiency in hover.

Radial Splines Would Prevent Rotation Of Bearing Race

NASA Technical Reports Server (NTRS)

Kaplan, Ronald M.; Chokshi, Jaisukhlal V.

1993-01-01

Interlocking fine-pitch ribs and grooves formed on otherwise flat mating end faces of housing and outer race of rolling-element bearing to be mounted in housing, according to proposal. Splines bear large torque loads and impose minimal distortion on raceway.

A Study of Wing Flutter

NASA Technical Reports Server (NTRS)

Zahm, A F; Bear, R M

1929-01-01

Part I describes vibration tests, in a wind tunnel, of simple airfoils and of the tail plane of an M0-1 airplane model; it also describes the air flow about this model. From these tests are drawn inferences as to the cause and cure of aerodynamic wing vibrations. Part II derives stability criteria for wing vibrations in pitch and roll, and gives design rules to obviate instability. Part III shows how to design spars to flex equally under a given wing loading and thereby economically minimize the twisting in pitch that permits cumulative flutter. Resonant flutter is not likely to ensue from turbulence of air flow along past wings and tail planes in usual flying conditions. To be flutterproof a wing must be void of reversible autorotation and not have its centroid far aft of its pitching axis, i. e., axis of pitching motion. Danger of flutter is minimized by so proportioning the wing's torsional resisting moment to the air pitching moment at high-speed angles that the torsional flexure is always small. (author)

Mach 6 experimental and theoretical stability and performance of a cruciform missile at angles of attack up to 65 degrees

NASA Technical Reports Server (NTRS)

Hartman, Edward R.; Johnston, Patrick J.

1987-01-01

An experimental and theoretical investigation of the longitudinal and lateral-directional stability and control of an axisymmetric cruciform-finned missile has been conducted at Mach 6. The angle-of-attack range extended from 20 to 65 deg to encompass maximum lift. Longitudinal stability, performance, and trim could be accurately predicted with the fins at a fin roll angle of 0 deg but not when the fins were at a fin roll angle of 45 deg. At this roll angle, windward fin choking occurred at angles of attack above 50 deg and reduced the effectiveness of the fins and caused pitch-up.

Concept Design Report for a Low draft Stabilized - High Speed Connector (LDS-HSC) Vessel for the ONR High Speed Sea Lift (HSSL) Program

DTIC Science & Technology

2007-04-30

control of cushion air flow and, hence, control of cushion pressure fore and aft of the divider that provides significant dynamic control of ship pitch...fore and aft of the divider that provides significant dynamic control of ship pitch and heave in a seaway. All these modes of operation were tested by...Installed Power, SHP 402,306 Integrated Power System (IPS) featuring: * (6) 50 MW Rolls-Royce MT50 based Gensets Power Plant * Associated Conversion and

14 CFR 135.159 - Equipment requirements: Carrying passengers under VFR at night or under VFR over-the-top conditions.

Code of Federal Regulations, 2010 CFR

2010-01-01

... a third attitude instrument system usable through flight attitudes of 360 degrees of pitch-and-roll... chapter. (2) Helicopters with a third attitude instrument system usable through flight attitudes of ±80...

Repeatability of a dynamic rollover test system.

PubMed

Seppi, Jeremy; Toczyski, Jacek; Crandall, Jeff R; Kerrigan, Jason

2016-08-17

The goal of this study was to characterize the rollover crash and to evaluate the repeatability of the Dynamic Rollover Test System (DRoTS) in terms of initial roof-to-ground contact conditions, vehicle kinematics, road reaction forces, and vehicle deformation. Four rollover crash tests were performed on 2 pairs of replicate vehicles (2 sedan tests and 2 compact multipurpose van [MPV] tests), instrumented with a custom inertial measurement unit to measure vehicle and global kinematics and string potentiometers to measure pillar deformation time histories. The road was instrumented with load cells to measure reaction loads and an optical encoder to measure road velocity. Laser scans of pre- and posttest vehicles were taken to provide detailed deformation maps. Initial conditions were found to be repeatable, with the largest difference seen in drop height of 20 mm; roll rate, roll angle, pitch angle, road velocity, drop velocity, mass, and moment of inertia were all 7% different or less. Vehicle kinematics (roll rate, road speed, roll and pitch angle, global Z' acceleration, and global Z' velocity) were similar throughout the impact; however, differences were seen in the sedan tests because of a vehicle fixation problem and differences were seen in the MPV tests due to an increase in reaction forces during leading side impact likely caused by disparities in roll angle (3° difference) and mass properties (2.2% in moment of inertia [MOI], 53.5 mm difference in center of gravity [CG] location). Despite those issues, kinetic and deformation measures showed a high degree of repeatability, which is necessary for assessing injury risk in rollover because roof strength positively correlates with injury risk (Brumbelow 2009). Improvements of the test equipment and matching mass properties will ensure highly repeatable initial conditions, vehicle kinematics, kinetics, and deformations.

Effects of dynamic head tilts on sensory organization test performance: a comparison between college-age athletes and nonathletes.

PubMed

Clark, Sean; Iltis, Peter W

2008-05-01

Controlled laboratory study. To compare postural performance measures of athletes with those of nonathletes when completing the standard Sensory Organization Test (SOT) and a modified SOT that included dynamic head tilts (DHT-SOT). Authors of recently published research have suggested that modifications to the SOT protocol (eg, introduction of pitch and roll head tilts) may enhance the test's sensitivity when assessing postural stability in individuals with higher balance capabilities or with well-compensated sensory deficits. Nineteen athletes and 19 nonathletes (group) completed both the SOT and DHT-SOT (protocol). During the SOT, participants stood upright as steadily as possible for 20 seconds during each of 6 different sensory conditions. As a variation of the SOT, the DHT-SOT incorporated active pitch and roll head tilts into the SOT protocol. Four 2-way mixed-model analyses of variance (with protocol as the repeated factor) were performed to determine if the composite equilibrium score or the visual, vestibular, or somatosensory ratio scores differed between the 2 groups across the 2 testing protocols. Significant group-by-protocol interaction effects were present for both the composite equilibrium score and visual ratio. Follow-up simple main-effects analyses indicated that these measures did not differ between groups for the SOT protocol but were significantly different on the DHT-SOT. The addition of dynamic head tilts to the SOT protocol resulted in subtle differences in balance function between athletes and nonathletes. Athletes demonstrated an increased ability to adapt to sensory disruptions during the DHT-SOT. Therapists should consider including active pitch and roll head tilts to the SOT when evaluating individuals with higher balance function or to detect subtle deficits in balance function. Diagnosis, level 3b.

A rodent model for artificial gravity: VOR adaptation and Fos expression.

PubMed

Kaufman, Galen; Weng, Tianxiang; Ruttley, Tara

2005-01-01

Vestibulo-ocular reflex (VOR) adaptation and brainstem Fos expression as a result of short radius cross-coupling stimuli were investigated to find neural correlates of the inherent Coriolis force asymmetry from an artificial gravity (AG) environment. Head-fixed gerbils (Meriones unguiculatus, N=79) were exposed, in the dark, to 60--90 minutes of cross-coupled rotations, combinations of pitch (or roll) and yaw rotation, while binocular horizontal, vertical, and torsional eye position were determined using infrared video-oculography. Centripetal acceleration in combination with angular cross-coupling was also studied. Simultaneous sinusoidal rotations in two planes (yaw with roll or pitch) provided a net symmetrical stimulus for the right and left labyrinths. In contrast, a constant velocity yaw rotation during sinusoidal roll or pitch provided the asymmetric stimulus model for AG. We found orthogonally oriented half-cycle VOR gain changes. The results depended on the direction of horizontal rotation during asymmetrical cross-coupling, and other aspects of the stimulus, including the phase relationship between the two rotational inputs, the symmetry of the stimulus, and training. Fos expression also revealed laterality differences in the prepositus and inferior olivary C subnucleus. In contrast the inferior olivary beta and ventrolateral outgrowth were labeled bilaterally. Additional cross-coupling dependent labeling was found in the flocculus, hippocampus, and several cortical regions, including the perirhinal and temporal association cortices. Analyses showed significant differences across the brain regions for several factors (symmetry, rotation velocity and direction, the presence of centripetal acceleration or a visual surround, and training). Finally, animals compensating from a unilateral surgical labyrinthectomy who received multiple cross-coupling training sessions had improved half-cycle VOR gain in the ipsilateral eye with head rotation toward the intact side. We hypothesize that cross-coupling vestibular training can benefit aspects of motor recovery or performance.

Cross-axis adaptation of torsional components in the yaw-axis vestibulo-ocular reflex

NASA Technical Reports Server (NTRS)

Trillenberg, P.; Shelhamer, M.; Roberts, D. C.; Zee, D. S.

2003-01-01

The three pairs of semicircular canals within the labyrinth are not perfectly aligned with the pulling directions of the six extraocular muscles. Therefore, for a given head movement, the vestibulo-ocular reflex (VOR) depends upon central neural mechanisms that couple the canals to the muscles with the appropriate functional gains in order to generate a response that rotates the eye the correct amount and around the correct axis. A consequence of these neural connections is a cross-axis adaptive capability, which can be stimulated experimentally when head rotation is around one axis and visual motion about another. From this visual-vestibular conflict the brain infers that the slow-phase eye movement is rotating around the wrong axis. We explored the capability of human cross-axis adaptation, using a short-term training paradigm, to determine if torsional eye movements could be elicited by yaw (horizontal) head rotation (where torsion is normally inappropriate). We applied yaw sinusoidal head rotation (+/-10 degrees, 0.33 Hz) and measured eye movement responses in the dark, and before and after adaptation. The adaptation paradigm lasted 45-60 min, and consisted of the identical head motion, coupled with a moving visual scene that required one of several types of eye movements: (1) torsion alone (-Roll); (2) horizontal/torsional, head right/CW torsion (Yaw-Roll); (3) horizontal/torsional, head right/CCW torsion (Yaw+Roll); (4) horizontal, vertical, torsional combined (Yaw+Pitch-Roll); and (5) horizontal and vertical together (Yaw+Pitch). The largest and most significant changes in torsional amplitude occurred in the Yaw-Roll and Yaw+Roll conditions. We conclude that short-term, cross-axis adaptation of torsion is possible but constrained by the complexity of the adaptation task: smaller torsional components are produced if more than one cross-coupling component is required. In contrast, vertical cross-axis components can be easily trained to occur with yaw head movements.

5-Beam ADCP Deployment Strategy Considerations

NASA Astrophysics Data System (ADS)

Moore, T.; Savidge, D. K.; Gargett, A.

2016-02-01

With the increasing availability of 5 beam ADCPs and expanding opportunities for their deployment within both observatory and dedicated process study settings, refinements in deployment strategies are needed.Measuring vertical velocities directly with a vertically oriented acoustic beam requires that the instrument be stably mounted and leveled within fractions of a degree. Leveled shallow water deployments to date have utilized divers to jet pipes into the sand for stability, manually mount the instruments on the pipes, and level them. Leveling has been guided by the deployed instrument's pitch and roll output, available in real-time because of the observatory settings in which the deployments occurred. To expand the range of feasible deployments to deeper, perhaps non-real-time capable settings, alternatives to diver deployment and leveling must be considered. To determine stability requirements, mooring motion (heading, pitch and roll) has been sampled at 1Hz by gimballed ADCPs at a range of instrument deployment depths, and in shrouded and unshrouded cages. Conditions under which ADCP cages resting on the bottom experience significant shifts in tilt, roll or heading are assessed using co-located wind and wave measurements. The accuracy of estimating vertical velocities using all five beams relative to a well leveled vertical single beam is assessed from archived high frequency five beam data, to explore whether easing the leveling requirement is feasible.

The Real-Time Wall Interference Correction System of the NASA Ames 12-Foot Pressure Wind Tunnel

NASA Technical Reports Server (NTRS)

Ulbrich, Norbert

1998-01-01

An improved version of the Wall Signature Method was developed to compute wall interference effects in three-dimensional subsonic wind tunnel testing of aircraft models in real-time. The method may be applied to a full-span or a semispan model. A simplified singularity representation of the aircraft model is used. Fuselage, support system, propulsion simulator, and separation wake volume blockage effects are represented by point sources and sinks. Lifting effects are represented by semi-infinite line doublets. The singularity representation of the test article is combined with the measurement of wind tunnel test reference conditions, wall pressure, lift force, thrust force, pitching moment, rolling moment, and pre-computed solutions of the subsonic potential equation to determine first order wall interference corrections. Second order wall interference corrections for pitching and rolling moment coefficient are also determined. A new procedure is presented that estimates a rolling moment coefficient correction for wings with non-symmetric lift distribution. Experimental data obtained during the calibration of the Ames Bipod model support system and during tests of two semispan models mounted on an image plane in the NASA Ames 12 ft. Pressure Wind Tunnel are used to demonstrate the application of the wall interference correction method.

Joint Task Force Two, Test 4.1; B 52 Aircraft Data Book

DOE Office of Scientific and Technical Information (OSTI.GOV)

Department 9210

1968-10-01

This volume contains plots of the aircraft position track in the target area. There are also plots of the aircraft altitude above the terrain, normal accelerations, roll angle, pitch angle & slant range from the navigation check points and the targets.

A flexible cruciform journal bearing mount

NASA Technical Reports Server (NTRS)

Frost, A. E.; Geiger, W. A.

1973-01-01

Flexible mount achieves low roll, pitch and yaw stiffnesses while maintaining high radial stiffness by holding bearing pad in fixed relationship to deep web cruciform member and holding this member in fixed relationship to bearing support. This mount has particular application in small, high performance gas turbines.

Synthesis of hover autopilots for rotary-wing VTOL aircraft

NASA Technical Reports Server (NTRS)

Hall, W. E.; Bryson, A. E., Jr.

1972-01-01

The practical situation is considered where imperfect information on only a few rotor and fuselage state variables is available. Filters are designed to estimate all the state variables from noisy measurements of fuselage pitch/roll angles and from noisy measurements of both fuselage and rotor pitch/roll angles. The mean square response of the vehicle to a very gusty, random wind is computed using various filter/controllers and is found to be quite satisfactory although, of course, not so good as when one has perfect information (idealized case). The second part of the report considers precision hover over a point on the ground. A vehicle model without rotor dynamics is used and feedback signals in position and integral of position error are added. The mean square response of the vehicle to a very gusty, random wind is computed, assuming perfect information feedback, and is found to be excellent. The integral error feedback gives zero position error for a steady wind, and smaller position error for a random wind.

Design, fabrication, and verification of a three-dimensional autocollimator.

PubMed

Yin, Yanhe; Cai, Sheng; Qiao, Yanfeng

2016-12-10

The autocollimator is an optical instrument for noncontact angle measurement with high resolution and a long detection range. It measures two-dimensional angles, i.e., pitch and yaw, but not roll. In this paper, we present a novelly structured autocollimator capable of measuring three-dimensional (3D) angles simultaneously. In this setup, two collimated beams of different wavelengths are projected onto a right-angle prism. One beam is reflected by the hypotenuse of the prism and received by an autocollimation unit for detecting pitch and yaw. The other is reflected by the two legs of the right-angle prism and received by a moiré fringe imaging unit for detecting roll. Furthermore, a prototype is designed and fabricated. Experiments are carried out to evaluate its basic performance. Calibration results show that this prototype has angular RMS errors of less than 5 arcsec in all 3Ds over a range of 1000 arcsec at a working distance of 2 m.

Analysis and design of second-order sliding-mode algorithms for quadrotor roll and pitch estimation.

PubMed

Chang, Jing; Cieslak, Jérôme; Dávila, Jorge; Zolghadri, Ali; Zhou, Jun

2017-11-01

The problem addressed in this paper is that of quadrotor roll and pitch estimation without any assumption about the knowledge of perturbation bounds when Inertial Measurement Units (IMU) data or position measurements are available. A Smooth Sliding Mode (SSM) algorithm is first designed to provide reliable estimation under a smooth disturbance assumption. This assumption is next relaxed with the second proposed Adaptive Sliding Mode (ASM) algorithm that deals with disturbances of unknown bounds. In addition, the analysis of the observers are extended to the case where measurements are corrupted by bias and noise. The gains of the proposed algorithms were deduced from the Lyapunov function. Furthermore, some useful guidelines are provided for the selection of the observer turning parameters. The performance of these two approaches is evaluated using a nonlinear simulation model and considering either accelerometer or position measurements. The simulation results demonstrate the benefits of the proposed solutions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Three dimensional eye movements of squirrel monkeys following postrotatory tilt

NASA Technical Reports Server (NTRS)

Merfeld, D. M.; Young, L. R.; Paige, G. D.; Tomko, D. L.

1993-01-01

Three-dimensional squirrel monkey eye movements were recorded during and immediately following rotation around an earth-vertical yaw axis (160 degrees/s steady state, 100 degrees/s2 acceleration and deceleration). To study interactions between the horizontal angular vestibulo-ocular reflex (VOR) and head orientation, postrotatory VOR alignment was changed relative to gravity by tilting the head out of the horizontal plane (pitch or roll tilt between 15 degrees and 90 degrees) immediately after cessation of motion. Results showed that in addition to post rotatory horizontal nystagmus, vertical nystagmus followed tilts to the left or right (roll), and torsional nystagmus followed forward or backward (pitch) tilts. When the time course and spatial orientation of eye velocity were considered in three dimensions, the axis of eye rotation always shifted toward alignment with gravity, and the postrotatory horizontal VOR decay was accelerated by the tilts. These phenomena may reflect a neural process that resolves the sensory conflict induced by this postrotatory tilt paradigm.

The influence of ship motion of manual control skills

NASA Technical Reports Server (NTRS)

Mcleod, P.; Poulton, C.; Duross, H.; Lewis, W.

1981-01-01

The effects of ship motion on a range of typical manual control skills were examined on the Warren Spring ship motion simulator driven in heave, pitch, and roll by signals taken from the frigate HMS Avenger at 13 m/s (25 knots) into a force 4 wind. The motion produced a vertical r.m.s. acceleration of 0.024g, mostly between 0.1 and 0.3 Hz, with comparatively little pitch or roll. A task involving unsupported arm movements was seriously affected by the motion; a pursuit tracking task showed a reliable decrement although it was still performed reasonably well (pressure and free moving tracking controls were affected equally by the motion); a digit keying task requiring ballistic hand movements was unaffected. There was no evidence that these effects were caused by sea sickness. The differing response to motion of the different tasks, from virtual destruction to no effect, suggests that a major benefit could come from an attempt to design the man/control interface onboard ship around motion resistant tasks.

Integration of Externally Carried Weapon Systems with Military Helicopters (L’Integration des Systemes d’Armes Transportes en Charge Externe sur les Helicopteres Militaires)

DTIC Science & Technology

1990-04-01

Np - Yaw to Roll Derivative (Yaw/Roll Coupling) Hr - Yaw to Yaw Rate Derivative (Yaw Damping) M - Pitch to Incidence Derivative (Incidence Stability) F...system is installed in the same configuration as used on the land based vehicle, simply by bolting-on to the limited number of available hard points...helicopters not originally designed to take external loads. The limited number of hard points on the fuselage structure leads to define supports of complex

Attitude maneuvers of a solar-powered electric orbital transfer vehicle

NASA Astrophysics Data System (ADS)

Jenkin, Alan B.

1992-08-01

Attitude maneuver requirements of a solar-powered electric orbital transfer vehicle have been studied in detail. This involved evaluation of the yaw, pitch, and roll profiles and associated angular accelerations needed to simultaneously steer the vehicle thrust vector and maintain the solar array pointed toward the sun. Maintaining the solar array pointed exactly at the sun leads to snap roll maneuvers which have very high (theoretically unbounded) accelerations, thereby imposing large torque requirements. The problem is exacerbated by the large solar arrays which are needed to generate the high levels of power needed by electric propulsion devices. A method of eliminating the snap roll maneuvers is presented. The method involves the determination of relaxed roll profiles which approximate a forced transition between alternate exact roll profiles and incur only small errors in solar array pointing. The method makes it feasible to perform the required maneuvers using currently available attitude control technology such as reaction wheels, hot gas jets, or gimballed main engines.

14 CFR 29.673 - Primary flight controls.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Primary flight controls. 29.673 Section 29.673 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... flight controls. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 29.673 - Primary flight controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Primary flight controls. 29.673 Section 29.673 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... flight controls. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 27.673 - Primary flight control.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Primary flight control. 27.673 Section 27.673 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... flight control. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 27.673 - Primary flight control.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Primary flight control. 27.673 Section 27.673 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... flight control. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 25.1583 - Operating limitations.

Code of Federal Regulations, 2013 CFR

2013-01-01

... any regime of flight (climb, cruise, or descent) unless a higher speed is authorized for flight test... applicable to the particular design, explaining that: (i) Full application of pitch, roll, or yaw controls should be confined to speeds below the maneuvering speed; and (ii) Rapid and large alternating control...

14 CFR 25.1583 - Operating limitations.

Code of Federal Regulations, 2014 CFR

2014-01-01

... any regime of flight (climb, cruise, or descent) unless a higher speed is authorized for flight test... applicable to the particular design, explaining that: (i) Full application of pitch, roll, or yaw controls should be confined to speeds below the maneuvering speed; and (ii) Rapid and large alternating control...

14 CFR 25.1583 - Operating limitations.

Code of Federal Regulations, 2011 CFR

2011-01-01

... any regime of flight (climb, cruise, or descent) unless a higher speed is authorized for flight test... applicable to the particular design, explaining that: (i) Full application of pitch, roll, or yaw controls should be confined to speeds below the maneuvering speed; and (ii) Rapid and large alternating control...

14 CFR 25.1583 - Operating limitations.

Code of Federal Regulations, 2012 CFR

2012-01-01

... any regime of flight (climb, cruise, or descent) unless a higher speed is authorized for flight test... applicable to the particular design, explaining that: (i) Full application of pitch, roll, or yaw controls should be confined to speeds below the maneuvering speed; and (ii) Rapid and large alternating control...

14 CFR 25.253 - High-speed characteristics.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false High-speed characteristics. 25.253 Section...-speed characteristics. (a) Speed increase and recovery characteristics. The following speed increase and... inadvertent speed increases (including upsets in pitch and roll) must be simulated with the airplane trimmed...

14 CFR 25.253 - High-speed characteristics.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false High-speed characteristics. 25.253 Section...-speed characteristics. (a) Speed increase and recovery characteristics. The following speed increase and... inadvertent speed increases (including upsets in pitch and roll) must be simulated with the airplane trimmed...

Effect of Variation of Chord and Span of Ailerons on Rolling and Yawing Moments in Level Flight

NASA Technical Reports Server (NTRS)

Heald, R H; Strother, D H

1929-01-01

This report presents the results of an investigation of the rolling and yawing moments due to ailerons of various chords and spans on two airfoils having the Clark Y and U. S. A. 27 wing sections. Some attention is devoted to a study of the effect of scale on rolling and yawing moments and to the effect of slightly rounding the wing tips. The results apply to level flight with the wing chord set at an angle of attack of +4 degrees and to conditions of zero pitch, zero yaw, and zero roll of the airplane. It is planned later to extend the investigation to other attitudes for monoplane and biplane combinations. The work was conducted in the 10 foot wind tunnel of the Bureau of Standards on models of 60-inch span and 10-inch chord. (author)

Objective measurement of head movement differences in children with and without autism spectrum disorder.

PubMed

Martin, Katherine B; Hammal, Zakia; Ren, Gang; Cohn, Jeffrey F; Cassell, Justine; Ogihara, Mitsunori; Britton, Jennifer C; Gutierrez, Anibal; Messinger, Daniel S

2018-01-01

Deficits in motor movement in children with autism spectrum disorder (ASD) have typically been characterized qualitatively by human observers. Although clinicians have noted the importance of atypical head positioning (e.g. social peering and repetitive head banging) when diagnosing children with ASD, a quantitative understanding of head movement in ASD is lacking. Here, we conduct a quantitative comparison of head movement dynamics in children with and without ASD using automated, person-independent computer-vision based head tracking (Zface). Because children with ASD often exhibit preferential attention to nonsocial versus social stimuli, we investigated whether children with and without ASD differed in their head movement dynamics depending on stimulus sociality. The current study examined differences in head movement dynamics in children with ( n  = 21) and without ASD ( n  = 21). Children were video-recorded while watching a 16-min video of social and nonsocial stimuli. Three dimensions of rigid head movement-pitch (head nods), yaw (head turns), and roll (lateral head inclinations)-were tracked using Zface. The root mean square of pitch, yaw, and roll was calculated to index the magnitude of head angular displacement (quantity of head movement) and angular velocity (speed). Compared with children without ASD, children with ASD exhibited greater yaw displacement, indicating greater head turning, and greater velocity of yaw and roll, indicating faster head turning and inclination. Follow-up analyses indicated that differences in head movement dynamics were specific to the social rather than the nonsocial stimulus condition. Head movement dynamics (displacement and velocity) were greater in children with ASD than in children without ASD, providing a quantitative foundation for previous clinical reports. Head movement differences were evident in lateral (yaw and roll) but not vertical (pitch) movement and were specific to a social rather than nonsocial condition. When presented with social stimuli, children with ASD had higher levels of head movement and moved their heads more quickly than children without ASD. Children with ASD may use head movement to modulate their perception of social scenes.

SU-F-J-40: Evaluation of Sensitivity of the Automatic Matching Between Cone-Beam CT Image and Simulation CT Image in TrueBeam 2.0 Imaging System 6DoF Considering Different Uncertainty Sources

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bonaque, J; Bautista-Ballesteros, J; Ibanez-Rosello, B

Purpose: To estimate the sensitivity of TrueBeam 2.0 Imaging System 6DoF automatic matching tool through the acquisition of cone-beam CT images in different phantoms applying submillimeter translations and rotations of tenths of a degree and registered with image simulation CT. Methods: To evaluate overall system-wide image, we consider two uncertainties source; First, the uncertainty of the manual phantom displacement (ε-m). This uncertainty is calculated by a digital caliper (0.01 mm) for vertical (Vrt), lateral (Lat) and longitudinal (Lng). A digital inclinometer (0.01°) for the pitch and roll and the own phantom scale to evaluate the coordinate rotation (Rtn). The secondmore » uncertainty is the displacement detected by the algorithm system of matching (σ-d) that we obtain from the standard deviations of the different measurements. We use three different phantoms. The BrainLab Radiosurgery system for supporting masks with an anthropomorphic dummy adapted to allow displacements of 0.1 mm in Vrt, Lat and Lng dimensions and rotations of 0.1° in Pitch dimension. For the analysis of the Rtn and Roll dimensions we use two homemade phantoms (RinoRot and RinoRoll, La Fe Hospital, Valencia, Spain) that allow rotations of 0.3°. Results: In the case of manual displacement of 0.10 ± 0.03 mm in the translations, the system detect 0.10 ± 0.07 mm, 0.12 ± 0.07 mm and 0.13 ± 0.07 mm (mean ± SD) in Lat, Vrt and Lng respectively. In the case of rotational dimension, manual displacement of 0.3 ± 0.1° was detected with 0.19 ± 0.06°, 0.29 ± 0.03° and 0.27 ± 0.06° in Pitch, Roll and Rtn. Conclusion: We conclude that the sensitivity of the automatic matching system is within 0.10 mm in translations and 0.3° in rotations. These values are under the own sensitivity of the software.« less

14 CFR 27.673 - Primary flight control.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Primary flight control. 27.673 Section 27... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Design and Construction Control Systems § 27.673 Primary flight control. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 29.673 - Primary flight controls.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Primary flight controls. 29.673 Section 29... AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Control Systems § 29.673 Primary flight controls. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

76 FR 79019 - Wright Brothers Day, 2011

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-20

... Brothers Day, 2011 Memorandum of December 15, 2011--Determinations Under Section 1106(a) of the Omnibus... Day, 2011 By the President of the United States of America A Proclamation On a blustery December... developing the basic controls for pitch, roll, and yaw that, to this day, guide our jetliners to every corner...

46 CFR 63.20-1 - Specific control system requirements.

Code of Federal Regulations, 2014 CFR

2014-10-01

... interlock must ensure low fire start when variable firing rates are used. (c) Water level controls and low water cutoff controls. Water level controls must be constructed and located to minimize the effects of vessel roll and pitch. Float chamber low water cutoff controls using stuffing boxes to transmit the...

46 CFR 63.20-1 - Specific control system requirements.

Code of Federal Regulations, 2013 CFR

2013-10-01

... interlock must ensure low fire start when variable firing rates are used. (c) Water level controls and low water cutoff controls. Water level controls must be constructed and located to minimize the effects of vessel roll and pitch. Float chamber low water cutoff controls using stuffing boxes to transmit the...

46 CFR 63.20-1 - Specific control system requirements.

Code of Federal Regulations, 2012 CFR

2012-10-01

... interlock must ensure low fire start when variable firing rates are used. (c) Water level controls and low water cutoff controls. Water level controls must be constructed and located to minimize the effects of vessel roll and pitch. Float chamber low water cutoff controls using stuffing boxes to transmit the...

14 CFR 29.673 - Primary flight controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Primary flight controls. 29.673 Section 29... AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Control Systems § 29.673 Primary flight controls. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 27.673 - Primary flight control.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Primary flight control. 27.673 Section 27... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Design and Construction Control Systems § 27.673 Primary flight control. Primary flight controls are those used by the pilot for immediate control of pitch, roll...

14 CFR 27.673 - Primary flight control.

Code of Federal Regulations, 2013 CFR

2013-01-01

... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Design and Construction Control Systems § 27.673 Primary flight control. Primary flight controls are those used by the pilot for immediate control of pitch, roll... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Primary flight control. 27.673 Section 27...

14 CFR 29.673 - Primary flight controls.

Code of Federal Regulations, 2013 CFR

2013-01-01

... AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Control Systems § 29.673 Primary flight controls. Primary flight controls are those used by the pilot for immediate control of pitch, roll... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Primary flight controls. 29.673 Section 29...

Development of a Low-Cost Attitude Sensor for Agricultural Vehicles

USDA-ARS?s Scientific Manuscript database

The objective of this research was to develop a low-cost attitude sensor for agricultural vehicles. The attitude sensor was composed of three vibratory gyroscopes and two inclinometers. A sensor fusion algorithm was developed to estimate tilt angles (roll and pitch) by least-squares method. In the a...

Wagon instability in long trains

NASA Astrophysics Data System (ADS)

Cole, Colin; McClanachan, Mitchell; Spiryagin, Maksym; Sun, Yan Quan

2012-01-01

Lateral force components and impacts from couplers can adversely affect wagon stability. These issues are significant in longer and heavier trains increasing the risk of wagon rollover, wheel climb, wagon body pitch, bogie pitch and wagon lift-off. Modelling of coupler angles has been added to normal longitudinal train simulation to allow comprehensive study of lateral components of coupler forces. Lateral coupler forces are then combined with centripetal inertia calculations to determine quasi-static lateral forces, quasi-static vertical forces and quasi-static bogie lateral to vertical ratio, allowing the study of stringlining, buckling and wagon rollover risks. The approach taken allows for different rolling stock lengths, overhang and coupling lengths, and allows the study of angles occurring in transitions. Wagon body and bogie pitch are also studied with enhancements added to previous modelling to allow the study of wagon lift-off.

Autonomous Underwater Munitions and Explosives of Concern Detection System

DTIC Science & Technology

2015-03-01

Field Magnetometer ......................................................................... 19 5.3.2 Fluxgate Compass...through the vehicle control system. Magnetic measurements are sampled at 10 Hz. 5.3.2 Fluxgate Compass Located in the magnetometer module pressure...pitch, and roll) from the fluxgate compass and the total field magnetometer measurements are required for processing into the MagComp compensation

Roller-transducer scanning of wooden pallet parts for defect detection

Treesearch

Mohammed F. Kabir; Daniel L. Schmoldt; Mark E. Schafer

2001-01-01

Ultrasonic scanning experiments were conducted on two species of pallet deckboards using rolling transducers in a pitch-catch arrangement. Sound and unsound knots, cross grain, bark pockets, holes, splits, decay, and wane were characterized using several ultrasound parameters. Almost all parameters displayed sensitivity to defects distinctly from clear wood regions—...

Ultrasonic scanning for pallet part grading

Treesearch

Mohammed F. Kabir; Daniel L. Schmoldt; Mark E. Schafer; Philip A. Araman

2000-01-01

Sorting and grading of wooden pallet parts are key factors for pallet manufacturing quality and pallet durability. The feasibility of ultrasonic scanning for defect detection in pallet manufacturing is examined in this report. Scanning was conducted by two pressure-contact rolling transducers in a pitch-catch arrangement. Pallet part deckboards were fed through the...

14 CFR 29.143 - Controllability and maneuverability.

Code of Federal Regulations, 2012 CFR

2012-01-01

...). (b) The margin of cyclic control must allow satisfactory roll and pitch control at VNE with— (1... operated without loss of control on or near the ground in any maneuver appropriate to the type (such as... control out-of-ground effect, with— (1) Weight selected by the applicant; (2) Critical center of gravity...

14 CFR 29.143 - Controllability and maneuverability.

Code of Federal Regulations, 2014 CFR

2014-01-01

...). (b) The margin of cyclic control must allow satisfactory roll and pitch control at VNE with— (1... operated without loss of control on or near the ground in any maneuver appropriate to the type (such as... control out-of-ground effect, with— (1) Weight selected by the applicant; (2) Critical center of gravity...

14 CFR 29.143 - Controllability and maneuverability.

Code of Federal Regulations, 2013 CFR

2013-01-01

...). (b) The margin of cyclic control must allow satisfactory roll and pitch control at VNE with— (1... operated without loss of control on or near the ground in any maneuver appropriate to the type (such as... control out-of-ground effect, with— (1) Weight selected by the applicant; (2) Critical center of gravity...

Physiological and behavioural responses of sheep to simulated sea transport motions

USDA-ARS?s Scientific Manuscript database

The motion of ships can cause discomfort and stress in humans, but little is known about the impact on sheep welfare, despite many sheep travelling long distances by ship during live export. We tested whether exposing sheep to roll (side to side movement), heave (up and down movement) and pitch (fro...

Digital avionics: A cornerstone of aviation

NASA Technical Reports Server (NTRS)

Spitzer, Cary R.

1990-01-01

Digital avionics is continually expanding its role in communication (HF and VHF, satellite, data links), navigation (ground-based systems, inertial and satellite-based systems), and flight-by-wire control. Examples of electronic flight control system architecture, pitch, roll, and yaw control are presented. Modeling of complex hardware systems, electromagnetic interference, and software are discussed.

Automated Driftmeter Fused with Inertial Navigation

DTIC Science & Technology

2014-03-27

6 IMU Inertial Measurement Unit . . . . . . . . . . . . . . . . . . . . . . . 7 SLAM Simultaneous...timing lines to remain horizontal at all times, regardless of turbulence and within 20 degrees of roll , pitch, and yaw of the aircraft. It had two...introduced in 1960 [2]. The Kalman filter algorithm has been used to merge inertial navigational data from Inertial Measurement Units ( IMU ) with

46 CFR 28.870 - Emergency source of electrical power.

Code of Federal Regulations, 2014 CFR

2014-10-01

... by storage battery must also meet the following requirements: (1) Each battery must be a lead-acid or alkaline type and be able to withstand vessel pitch, vibration, roll, and exposure to a salt water atmosphere; (2) A battery cell must not spill electrolyte when the battery is inclined at 30 degrees from the...

46 CFR 28.870 - Emergency source of electrical power.

Code of Federal Regulations, 2012 CFR

2012-10-01

... by storage battery must also meet the following requirements: (1) Each battery must be a lead-acid or alkaline type and be able to withstand vessel pitch, vibration, roll, and exposure to a salt water atmosphere; (2) A battery cell must not spill electrolyte when the battery is inclined at 30 degrees from the...

46 CFR 28.870 - Emergency source of electrical power.

Code of Federal Regulations, 2011 CFR

2011-10-01

... by storage battery must also meet the following requirements: (1) Each battery must be a lead-acid or alkaline type and be able to withstand vessel pitch, vibration, roll, and exposure to a salt water atmosphere; (2) A battery cell must not spill electrolyte when the battery is inclined at 30 degrees from the...

46 CFR 28.870 - Emergency source of electrical power.

Code of Federal Regulations, 2013 CFR

2013-10-01

... by storage battery must also meet the following requirements: (1) Each battery must be a lead-acid or alkaline type and be able to withstand vessel pitch, vibration, roll, and exposure to a salt water atmosphere; (2) A battery cell must not spill electrolyte when the battery is inclined at 30 degrees from the...

Longitudinal Aerodynamic Characteristics to Large Angles of Attack of a Cruciform Missile Configuration at a Mach Number of 2

NASA Technical Reports Server (NTRS)

Spahr, J. R.

1954-01-01

The lift, pitching-moment, and drag characteristics of a missile configuration having a body of fineness ratio 9.33 and a cruciform triangular wing and tail of aspect ratio 4 were measured at a Mach number of 1.99 and a Reynolds number of 6.0 million, based on the body length. The tests were performed through an angle-of-attack range of -5 deg to 28 deg to investigate the effects on the aerodynamic characteristics of roll angle, wing-tail interdigitation, wing deflection, and interference among the components (body, wing, and tail). Theoretical lift and moment characteristics of the configuration and its components were calculated by the use of existing theoretical methods which have been modified for application to high angles of attack, and these characteristics are compared with experiment. The lift and drag characteristics of all combinations of the body, wing, and tail were independent of roll angle throughout the angle-of-attack range. The pitching-moment characteristics of the body-wing and body-wing-tail combinations, however, were influenced significantly by the roll angle at large angles of attack (greater than 10 deg). A roll from 0 deg (one pair of wing panels horizontal) to 45 deg caused a forward shift in the center of pressure which was of the same magnitude for both of these combinations, indicating that this shift originated from body-wing interference effects. A favorable lift-interference effect (lift of the combination greater than the sum of the lifts of the components) and a rearward shift in the center of pressure from a position corresponding to that for the components occurred at small angles of attack when the body was combined with either the exposed wing or tail surfaces. These lift and center-of-pressure interference effects were gradually reduced to zero as the angle of attack was increased to large values. The effect of wing-tail interference, which influenced primarily the pitching-moment characteristics, is dependent on the distance between the wing trailing vortex wake and the tail surfaces and thus was a function of angle of attack, angle of roll, and wing-tail interdigitation. Although the configuration at zero roll with the wing and tail in line exhibited the least center-of-pressure travel, the configuration with the wing and tail interdigitated had the least change in wing-tail interference over the angle-of-attack range. The lift effectiveness of the variable-incidence wing was reduced by more than 70 percent as a result of an increase in the combined angle of attack and wing incidence from 0 deg to 40 deg. The wing-tail interference (effective downwash at the tail) due to wing deflection was nearly zero as a result of a region of negative vorticity shed from the inboard portion of the wing. The lift characteristics of the configuration and its components were satisfactorily predicted by the calculated results, but the pitching moments at large angles of attack were not because of the influence of factors for which no adequate theory is available, such as the variation of the crossflow drag coefficient along the body and the effect of the wing downwash field on the afterbody loading.

a New Efficient Control Method for Blended Wing Body

NASA Astrophysics Data System (ADS)

Wu, Wenhua; Chen, Dehua; Qin, Ning; Peng, Xin; Tang, Xinwu

The blended wing body (BWB) is the hottest one of the aerodynamic shapes of next generation airliner because of its' high lift-drag ratio, but there are still some flaws that cut down its aerodynamical performance. One of the most harmful flaws is the low efficiency of elevator and direction rudder, this makes the BWB hard to be controlled. In this paper, we proposed a new control method to solve this problem by morphing wing—that is, to control the BWB only by changing its wing shape but without any rudder. The pitching moments, rolling moments and yawing moments are plotted versus the parameters section and the wing shape in figures and are discussed in the paper. The result shows that the morphing wing can control the moments of BWB more precisely and in wider range. The pitching moments, rolling moments and yawing moments increases or decreases linearly or almost linearly, with the value of the selected parameters. These results show that using morphing wing is an excellent aerodynamic control way for a BWB craft.

A piloted simulation of helicopter air combat to investigate effects of variations in selected performance and control response characteristics

NASA Technical Reports Server (NTRS)

Lewis, Michael S.; Mansur, M. Hossein; Chen, Robert T. N.

1987-01-01

A piloted simulation study investigating handling qualities and flight characteristics required for helicopter air to air combat is presented. The Helicopter Air Combat system was used to investigate this role for Army rotorcraft. Experimental variables were the maneuver envelope size (load factor and sideslip), directional axis handling qualities, and pitch and roll control-response type. Over 450 simulated, low altitude, one-on-one engagements were conducted. Results from the experiment indicate that a well damped directional response, low sideforce caused by sideslip, and some effective dihedral are all desirable for weapon system performance, good handling qualities, and low pilot workload. An angular rate command system was favored over the attitude type pitch and roll response for most applications, and an enhanced maneuver envelope size over that of current generation aircraft was found to be advantageous. Pilot technique, background, and experience are additional factors which had a significant effect on performance in the air combat tasks investigated. The implication of these results on design requirements for future helicopters is presented.

Automatic Detection and Reproduction of Natural Head Position in Stereo-Photogrammetry.

PubMed

Hsung, Tai-Chiu; Lo, John; Li, Tik-Shun; Cheung, Lim-Kwong

2015-01-01

The aim of this study was to develop an automatic orientation calibration and reproduction method for recording the natural head position (NHP) in stereo-photogrammetry (SP). A board was used as the physical reference carrier for true verticals and NHP alignment mirror orientation. Orientation axes were detected and saved from the digital mesh model of the board. They were used for correcting the pitch, roll and yaw angles of the subsequent captures of patients' facial surfaces, which were obtained without any markings or sensors attached onto the patient. We tested the proposed method on two commercial active (3dMD) and passive (DI3D) SP devices. The reliability of the pitch, roll and yaw for the board placement were within ±0.039904°, ±0.081623°, and ±0.062320°; where standard deviations were 0.020234°, 0.045645° and 0.027211° respectively. Orientation-calibrated stereo-photogrammetry is the most accurate method (angulation deviation within ±0.1°) reported for complete NHP recording with insignificant clinical error.

Automatic Detection and Reproduction of Natural Head Position in Stereo-Photogrammetry

PubMed Central

Hsung, Tai-Chiu; Lo, John; Li, Tik-Shun; Cheung, Lim-Kwong

2015-01-01

The aim of this study was to develop an automatic orientation calibration and reproduction method for recording the natural head position (NHP) in stereo-photogrammetry (SP). A board was used as the physical reference carrier for true verticals and NHP alignment mirror orientation. Orientation axes were detected and saved from the digital mesh model of the board. They were used for correcting the pitch, roll and yaw angles of the subsequent captures of patients’ facial surfaces, which were obtained without any markings or sensors attached onto the patient. We tested the proposed method on two commercial active (3dMD) and passive (DI3D) SP devices. The reliability of the pitch, roll and yaw for the board placement were within ±0.039904°, ±0.081623°, and ±0.062320°; where standard deviations were 0.020234°, 0.045645° and 0.027211° respectively. Conclusion: Orientation-calibrated stereo-photogrammetry is the most accurate method (angulation deviation within ±0.1°) reported for complete NHP recording with insignificant clinical error. PMID:26125616

Disposable gold coated pyramidal SERS sensor on the plastic platform.

PubMed

Oo, S Z; Siitonen, S; Kontturi, V; Eustace, D A; Charlton, M D B

2016-01-11

In this paper we investigate suitability of arrays of gold coated pyramids for surface-enhanced Raman scattering (SERS) sensing applications. Pyramidarrays composed of 1000 nm pit size with 1250 nm pitch lengthwerereplicated on a plastic substrate by roll-to-roll (R2R) ultraviolet (UV) embossing. The level of SERS enhancement, and qualitative performance provided by the new substrate is investigated by comparing Raman spectrum of benzenethiol (BTh) test molecules to the benchmark Klarite SERS substrate which comprises inverted pyramid arrays(1500 nm pit size with 2000 nm pitch length) fabricated on a silicon substrate. The new substrate is found to provide upto 11 times increase in signal in comparison to the inverted pyramid (IV-pyramid) arrays fabricated on an identical plastic substrate. Numerical simulation and experimental evidence suggest that strongly confined electromagnetic fields close to the base of the pyramids, are mainly responsible for the Raman enhancement factor, instead of the fields localized around the tip. Unusually strong plasmon fields are projected upto 200nm from the sidewalls at the base of the pyramid increasing the cross sectional sensing volume.

Control Laws for a Dual-Spin Stabilized Platform

NASA Technical Reports Server (NTRS)

Lim, K. B.; Moerder, D. D.

2008-01-01

This paper describes two attitude control laws suitable for atmospheric flight vehicles with a steady angular momentum bias in the vehicle yaw axis. This bias is assumed to be provided by an internal flywheel, and is introduced to enhance roll and pitch stiffness. The first control law is based on Lyapunov stability theory, and stability proofs are given. The second control law, which assumes that the angular momentum bias is large, is based on a classical PID control. It is shown that the large yaw-axis bias requires that the PI feedback component on the roll and pitch angle errors be cross-fed. Both control laws are applied to a vehicle simulation in the presence of disturbances for several values of yaw-axis angular momentum bias. It is seen that both control laws provide a significant improvement in attitude performance when the bias is sufficiently large, but the nonlinear control law is also able to provide improved performance for a small value of bias. This is important because the smaller bias corresponds to a smaller requirement for mass to be dedicated to the flywheel.

Wind-Tunnel Investigation of the Static Longitudinal Stability Characteristics of a 0.15-Scale Model of the Hermes A-1E2 Missile at High Subsonic Mach Numbers

NASA Technical Reports Server (NTRS)

Alford, William J., Jr.

1952-01-01

The static longitudinal stability characteristics of a 0.15-scale model of the Hermes A-lE2 missile have been determined in the Langley high-speed 7- by 10-foot tunnel over a Mach number range of 0.50 to 0.98, corresponding to Reynolds numbers, based on body length, of 12.3 x 10(exp 6) to 17.1 x 10(exp 6). This paper presents results obtained with body alone and body-fins combinations at 0 degrees (one set of fins vertical and the other set horizontal) and 45 degree angle of roll. The results indicate that the addition of the fins to the body insures static longitudinal stability and provides essentially linear variations of the lift and pitching moment at small angles of attack throughout the Mach number range. The slopes of the lift and pitching-moment curves vary slightly with Mach number and show only small effects due to the angle of roll.

Stability and Control CFD Investigations of a Generic 53 Degree Swept UCAV Configuration

NASA Technical Reports Server (NTRS)

Frink, Neal T.

2014-01-01

NATO STO Task Group AVT-201 on "Extended Assessment of Reliable Stability & Control Prediction Methods for NATO Air Vehicles" is studying various computational approaches to predict stability and control parameters for aircraft undergoing non-linear flight conditions. This paper contributes an assessment through correlations with wind tunnel data for the state of aerodynamic predictive capability of time-accurate RANS methodology on the group's focus configuration, a 53deg swept and twisted lambda wing UCAV, undergoing a variety of roll, pitch, and yaw motions. The vehicle aerodynamics is dominated by the complex non-linear physics of round leading-edge vortex flow separation. Correlations with experimental data are made for static longitudinal/lateral sweeps, and at varying frequencies of prescribed roll/pitch/yaw sinusoidal motion for the vehicle operating with and without control surfaces. The data and the derived understanding should prove useful to the AVT-201 team and other researchers who are developing techniques for augmenting flight simulation models from low-speed CFD predictions of aircraft traversing non-linear regions of a flight envelope.

Influence of virtual reality on postural stability during movements of quiet stance.

PubMed

Horlings, Corinne G C; Carpenter, Mark G; Küng, Ursula M; Honegger, Flurin; Wiederhold, Brenda; Allum, John H J

2009-02-27

Balance problems during virtual reality (VR) have been mentioned in the literature but seldom investigated despite the increased use of VR systems as a training or rehabilitation tool. We examined the influence of VR on body sway under different stance conditions. Seventeen young subjects performed four tasks (standing with feet close together or tandem stance on firm and foam surfaces for 60s) under three visual conditions: eyes open without VR, eyes closed, or while viewing a virtual reality scene which moved with body movements. Angular velocity transducers mounted on the shoulder provided measures of body sway in the roll and pitch plane. VR caused increased pitch and roll angles and angular velocities compared to EO. The effects of VR were, for the most part, indistinguishable from eyes closed conditions. Use of a foam surface increased sway compared to a firm surface under eyes closed and VR conditions. During the movements of quiet stance, VR causes an increase in postural sway in amplitude similar to that caused by closing the eyes. This increased sway was present irrespective of stance surface, but was greatest on foam.

An Empirical Correction Method for Improving off-Axes Response Prediction in Component Type Flight Mechanics Helicopter Models

NASA Technical Reports Server (NTRS)

Mansur, M. Hossein; Tischler, Mark B.

1997-01-01

Historically, component-type flight mechanics simulation models of helicopters have been unable to satisfactorily predict the roll response to pitch stick input and the pitch response to roll stick input off-axes responses. In the study presented here, simple first-order low-pass filtering of the elemental lift and drag forces was considered as a means of improving the correlation. The method was applied to a blade-element model of the AH-64 APache, and responses of the modified model were compared with flight data in hover and forward flight. Results indicate that significant improvement in the off-axes responses can be achieved in hover. In forward flight, however, the best correlation in the longitudinal and lateral off-axes responses required different values of the filter time constant for each axis. A compromise value was selected and was shown to result in good overall improvement in the off-axes responses. The paper describes both the method and the model used for its implementation, and presents results obtained at hover and in forward flight.

Flight Test Results from the NF-15B Intelligent Flight Control System (IFCS) Project with Adaptation to a Simulated Stabilator Failure

NASA Technical Reports Server (NTRS)

Bosworth, John T.; Williams-Hayes, Peggy S.

2007-01-01

Adaptive flight control systems have the potential to be more resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane and subjected to an inflight simulation of a failed (frozen) (unmovable) stabilator. Formation flight handling qualities evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to decouple the roll and pitch response and reestablish good onboard model tracking. Flight evaluation with the simulated stabilator failure and adaptation engaged showed that there was generally improvement in the pitch response; however, a tendency for roll pilot-induced oscillation was experienced. A detailed discussion of the cause of the mixed results is presented.

Flight Test Results from the NF-15B Intelligent Flight Control System (IFCS) Project with Adaptation to a Simulated Stabilator Failure

NASA Technical Reports Server (NTRS)

Bosworth, John T.; Williams-Hayes, Peggy S.

2010-01-01

Adaptive flight control systems have the potential to be more resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane and subjected to an inflight simulation of a failed (frozen) (unmovable) stabilator. Formation flight handling qualities evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to decouple the roll and pitch response and reestablish good onboard model tracking. Flight evaluation with the simulated stabilator failure and adaptation engaged showed that there was generally improvement in the pitch response; however, a tendency for roll pilot-induced oscillation was experienced. A detailed discussion of the cause of the mixed results is presented.

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.

Polarization Rotation and the Third Stokes Parameter: The Effects of Spacecraft Attitude and Faraday Rotation

NASA Technical Reports Server (NTRS)

Meissner, Thomas; Wentz, Frank J.

2006-01-01

The third Stokes parameter of ocean surface brightness temperatures measured by the WindSat instrument is sensitive to the rotation angle between the polarization vectors at the ocean surface and the instrument. This rotation angle depends on the spacecraft attitude (roll, pitch, yaw) as well as the Faraday rotation of the electromagnetic radiation passing through the Earth's ionosphere. Analyzing the WindSat antenna temperatures, we find biases in the third Stokes parameter as function of the along-scan position of up to 1.5 K in all feedhorns. This points to a misspecification of the reported spacecraft attitude. A single attitude correction of -0.16deg roll and 0.18deg pitch for the whole instrument eliminates all the biases. We also study the effect of Faraday rotation at 10.7 GHz on the accuracy of the third Stokes parameter and the sea surface wind direction retrieval and demonstrate how this error can be corrected using values from the International Reference Ionosphere for the total electron content when computing Faraday rotation.

Transonic static and dynamic stability characteristics of a finned projectile configuration

NASA Technical Reports Server (NTRS)

Boyden, R. P.; Brooks, C. W., Jr.; Davenport, E. E.

1978-01-01

Static and dynamic stability tests were made of a finned projectile configuration with the aft-mounted fins arranged in a cruciform pattern. The tests were made at free stream Mach numbers of 0.7, 0.9, 1.1, and 1.2 in the Langley 8-foot transonic pressure tunnel. Some of the parameters measured during the tests were lift, drag, pitching moment, pitch damping, and roll damping. Configurations tested included the body with undeflected fins, the body with various fin deflections for control, and the body with fins removed. Theoretical estimates of the stability derivatives were made for the fins on configuration.

Predictive momentum management for the Space Station

NASA Technical Reports Server (NTRS)

Hatis, P. D.

1986-01-01

Space station control moment gyro momentum management is addressed by posing a deterministic optimization problem with a performance index that includes station external torque loading, gyro control torque demand, and excursions from desired reference attitudes. It is shown that a simple analytic desired attitude solution exists for all axes with pitch prescription decoupled, but roll and yaw coupled. Continuous gyro desaturation is shown to fit neatly into the scheme. Example results for pitch axis control of the NASA power tower Space Station are shown based on predictive attitude prescription. Control effector loading is shown to be reduced by this method when compared to more conventional momentum management techniques.

Long Duration Exposure Facility (LDEF) attitude measurements of the Interplanetary Dust Experiment

NASA Technical Reports Server (NTRS)

Kassel, Philip C., Jr.; Motley, William R., III; Singer, S. Fred; Mulholland, J. Derral; Oliver, John P.; Weinberg, Jerry L.; Cooke, William J.; Wortman, Jim J.

1993-01-01

Analysis of the data from the Long Duration Exposure Facility (LDEF) Interplanetary Dust Experiment (IDE) sun sensors has allowed a confirmation of the attitude of LDEF during its first year in orbit. Eight observations of the yaw angle at specific times were made and are tabulated in this paper. These values range from 4.3 to 12.4 deg with maximum uncertainty of plus or minus 2.0 deg and an average of 7.9 deg. No specific measurements of pitch or roll were made but the data indicates that LDEF had an average pitch down attitude of less than 0.7 deg.

Hierarchical control of ride height system for electronically controlled air suspension based on variable structure and fuzzy control theory

NASA Astrophysics Data System (ADS)

Xu, Xing; Zhou, Kongkang; Zou, Nannan; Jiang, Hong; Cui, Xiaoli

2015-09-01

The current research of air suspension mainly focuses on the characteristics and design of the air spring. In fact, electronically controlled air suspension (ECAS) has excellent performance in flexible height adjustment during different driving conditions. However, the nonlinearity of the ride height adjusting system and the uneven distribution of payload affect the control accuracy of ride height and the body attitude. Firstly, the three-point measurement system of three height sensors is used to establish the mathematical model of the ride height adjusting system. The decentralized control of ride height and the centralized control of body attitude are presented to design the ride height control system for ECAS. The exact feedback linearization method is adopted for the nonlinear mathematical model of the ride height system. Secondly, according to the hierarchical control theory, the variable structure control (VSC) technique is used to design a controller that is able to adjust the ride height for the quarter-vehicle anywhere, and each quarter-vehicle height control system is independent. Meanwhile, the three-point height signals obtained by three height sensors are tracked to calculate the body pitch and roll attitude over time, and then by calculating the deviation of pitch and roll and its rates, the height control correction is reassigned based on the fuzzy algorithm. Finally, to verify the effectiveness and performance of the proposed combined control strategy, a validating test of ride height control system with and without road disturbance is carried out. Testing results show that the height adjusting time of both lifting and lowering is over 5 s, and the pitch angle and the roll angle of body attitude are less than 0.15°. This research proposes a hierarchical control method that can guarantee the attitude stability, as well as satisfy the ride height tracking system.

SU-E-T-333: Dosimetric Impact of Rotational Error On the Target Coverage in IMPT Lung Cancer Plans

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rana, S; Zheng, Y

2015-06-15

Purpose: The main purpose of this study was to investigate the impact of rotational (yaw, roll, and pitch) error on the planning target volume (PTV) coverage in lung cancer plans generated by intensity modulated proton therapy (IMPT). Methods: In this retrospective study, computed tomography (CT) dataset of previously treated lung case was used. IMPT plan were generated on the original CT dataset using left-lateral (LL) and posterior-anterior (PA) beams for a total dose of 74 Gy[RBE] with 2 Gy[RBE] per fraction. In order to investigate the dosimetric impact of rotational error, 12 new CT datasets were generated by re-sampling themore » original CT dataset for rotational (roll, yaw, and pitch) angles ranged from −5° to +5°, with an increment of 2.5°. A total of 12 new IMPT plans were generated based on the re-sampled CT datasets using beam parameters identical to the ones in the original IMPT plan. All treatment plans were generated in XiO treatment planning system. The PTV coverage (i.e., dose received by 95% of the PTV volume, D95) in new IMPT plans were then compared with the PTV coverage in the original IMPT plan. Results: Rotational errors caused the reduction in the PTV coverage in all 12 new IMPT plans when compared to the original IMPT lung plan. Specifically, the PTV coverage was reduced by 4.94% to 50.51% for yaw, by 4.04% to 23.74% for roll, and by 5.21% to 46.88% for pitch errors. Conclusion: Unacceptable dosimetric results were observed in new IMPT plans as the PTV coverage was reduced by up to 26.87% and 50.51% for rotational error of 2.5° and 5°, respectively. Further investigation is underway in evaluating the PTV coverage loss in the IMPT lung cancer plans for smaller rotational angle change.« less

Sensor On-orbit Calibration and Characterization Using Spacecraft Maneuvers

NASA Technical Reports Server (NTRS)

Xiong, X.; Butler, Jim; Barnes, W. L.; Guenther, B.

2007-01-01

Spacecraft flight operations often require activities that involve different kinds of maneuvers for orbital adjustments (pitch, yaw, and roll). Different maneuvers, when properly planned and scheduled, can also be applied to support and/or to perform on-board sensor calibration and characterization. This paper uses MODIS (Moderate Resolution Imaging Spectroradiometer) as an example to illustrate applications of spacecraft maneuvers for Earth-observing sensors on-orbit calibration and characterization. MODIS is one of the key instruments for NASA's Earth Observing System (EOS) currently operated on-board the EOS Terra and Aqua spacecraft launched in December 1999 and May 2002, respectively. Since their launch, both Terra and Aqua spacecraft have made a number of maneuvers, specially the yaw and roll maneuvers, to support the MODIS on-orbit calibration and characterization. For both Terra and Aqua MODIS, near-monthly spacecraft roll maneuvers are executed for lunar observations. These maneuvers are carefully scheduled so that the lunar phase angles are nearly identical for each sensor's lunar observations. The lunar observations are used to track MODIS reflective solar bands (RSB) calibration stability and to inter-compare Terra and Aqua MODIS RSB calibration consistency. To date, two sets of yaw maneuvers (each consists of two series of 8 consecutive yaws) by the Terra spacecraft and one set by the Aqua spacecraft have been performed to validate MODIS solar diffuser (SD) bi-directional reflectance factor (BRF) and to derive SD screen transmission. Terra spacecraft pitch maneuvers, first made on March 26, 2003 and the second on April 14, 2003 (with the Moon in the spacecraft nadir view), have been applied to characterize MODIS thermal emissive bands (TEB) response versus scan angle (RVS). This is particularly important since the pre-launch TEB RSV measurements made by the sensor vendor were not successful. Terra MODIS TEB RVS obtained from pitch maneuvers have been used in the current LIB calibration algorithm. Lunq observations from pitch maneuvers also provided information to cross-calibrate MODIS with other sensors (MISR and ASTER) on the same platform. We will provide a summary of MODIS maneuver activities and their applications for MODIS calibration and characterization. The results and lessons learned discussed in this paper from MODIS maneuver activities will provide useful insights into future spacecraft and sensor operation.

Filament wound data base development, revision 1, appendix A

NASA Technical Reports Server (NTRS)

Sharp, R. Scott; Braddock, William F.

1985-01-01

Data are presented in tabular form for the High Performance Nozzle Increments, Filament Wound Case (FWC) Systems Tunnel Increments, Steel Case Systems Tunnel Increments, FWC Stiffener Rings Increments, Steel Case Stiffener Rings Increments, FWC External Tank (ET) Attach Ring Increments, Steel Case ET Attach Ring Increments, and Data Tape 8. The High Performance Nozzle are also presented in graphical form. The tabular data consist of six-component force and moment coefficients as they vary with angle of attack at a specific Mach number and roll angle. The six coefficients are normal force, pitching moment, side force, yawing moment, axial force, and rolling moment. The graphical data for the High Performance Nozzle Increments consist of a plot of a coefficient increment as a function of angle of attack at a specific Mach number and at a roll angle of 0 deg.

Influence of vestibular activation on respiration in humans

NASA Technical Reports Server (NTRS)

Monahan, Kevin D.; Sharpe, Melissa K.; Drury, Daniel; Ertl, Andrew C.; Ray, Chester A.

2002-01-01

The purpose of this study was to determine the effects of the semicircular canals and otolith organs on respiration in humans. On the basis of animal studies, we hypothesized that vestibular activation would elicit a vestibulorespiratory reflex. To test this hypothesis, respiratory measures, arterial blood pressure, and heart rate were measured during engagement of semicircular canals and/or otolith organs. Dynamic upright pitch and roll (15 cycles/min), which activate the otolith organs and semicircular canals, increased respiratory rate (Delta2 +/- 1 and Delta3 +/- 1 breaths/min, respectively; P < 0.05). Dynamic yaw and lateral pitch (15 cycles/min), which activate the semicircular canals, increased respiration similarly (Delta3 +/- 1 and Delta2 +/- 1, respectively; P < 0.05). Dynamic chair rotation (15 cycles/min), which mimics dynamic yaw but eliminates neck muscle afferent, increased respiration (Delta3 +/- 1; P < 0.05) comparable to dynamic yaw (15 cycles/min). Increases in respiratory rate were graded as greater responses occurred during upright (Delta5 +/- 2 breaths/min) and lateral pitch (Delta4 +/- 1) and roll (Delta5 +/- 1) performed at 30 cycles/min. Increases in breathing frequency resulted in increases in minute ventilation during most interventions. Static head-down rotation, which activates otolith organs, did not alter respiratory rate (Delta1 +/- 1 breaths/min). Collectively, these data indicate that semicircular canals, but not otolith organs or neck muscle afferents, mediate increased ventilation in humans and support the concept that vestibular activation alters respiration in humans.

KSC-05pd2466

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, a crane lifts the remote manipulator system boom out of Atlantis’ payload bay. The boom will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2467

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, the remote manipulator system boom is lifted away from Atlantis’ payload bay and will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

Development of Gentle Slope Light Guide Structure in a 3.4 μm Pixel Pitch Global Shutter CMOS Image Sensor with Multiple Accumulation Shutter Technology.

PubMed

Sekine, Hiroshi; Kobayashi, Masahiro; Onuki, Yusuke; Kawabata, Kazunari; Tsuboi, Toshiki; Matsuno, Yasushi; Takahashi, Hidekazu; Inoue, Shunsuke; Ichikawa, Takeshi

2017-12-09

CMOS image sensors (CISs) with global shutter (GS) function are strongly required in order to avoid image degradation. However, CISs with GS function have generally been inferior to the rolling shutter (RS) CIS in performance, because they have more components. This problem is remarkable in small pixel pitch. The newly developed 3.4 µm pitch GS CIS solves this problem by using multiple accumulation shutter technology and the gentle slope light guide structure. As a result, the developed GS pixel achieves 1.8 e - temporal noise and 16,200 e - full well capacity with charge domain memory in 120 fps operation. The sensitivity and parasitic light sensitivity are 28,000 e - /lx·s and -89 dB, respectively. Moreover, the incident light angle dependence of sensitivity and parasitic light sensitivity are improved by the gentle slope light guide structure.

Landing impact studies of a 0.3-scale model air cushion landing system for a Navy fighter airplane

NASA Technical Reports Server (NTRS)

Leland, T. J. W.; Thompson, W. C.

1975-01-01

An experimental study was conducted in order to determine the landing-impact behavior of a 0.3-scale, dynamically (but not physically) similar model of a high-density Navy fighter equipped with an air cushion landing system. The model was tested over a range of landing contact attitudes at high forward speeds and sink rates on a specialized test fixture at the Langley aircraft landing loads and traction facility. The investigation indicated that vertical acceleration at landing impact was highly dependent on the pitch angle at ground contact, the higher acceleration of approximately 5g occurring near zero body-pitch attitude. A limited number of low-speed taxi tests were made in order to determine model stability characteristics. The model was found to have good pitch-damping characteristics but stability in roll was marginal.

An Aerodynamic Analysis of a Spinning Missile with Dithering Canards

NASA Technical Reports Server (NTRS)

Meakin, Robert L.; Nygaard, Tor A.

2003-01-01

A generic spinning missile with dithering canards is used to demonstrate the utility of an overset structured grid approach for simulating the aerodynamics of rolling airframe missile systems. The approach is used to generate a modest aerodynamic database for the generic missile. The database is populated with solutions to the Euler and Navier-Stokes equations. It is used to evaluate grid resolution requirements for accurate prediction of instantaneous missile loads and the relative aerodynamic significance of angle-of-attack, canard pitching sequence, viscous effects, and roll-rate effects. A novel analytical method for inter- and extrapolation of database results is also given.

Ultrasonic detection of knots, cross grain and bark pockets in wooden pallet parts

Treesearch

Mohammed F. Kabir; Daniel L. Schmoldt; Mark E. Schafer

2000-01-01

This study investigates defect detection in wooden pallet parts using ultrasonic scanning. Yellow-poplar (Liriodendron tulipifera, L.) deckboards were scanned using two rolling transducers in a pitch-catch arrangement to detect unsound and sound knots, bark pockets and cross grain. Data were collected, stored, and processed using LabView? software. Six ultrasonic...

78 FR 76736 - Special Conditions: Bombardier Inc., Models BD-500-1A10 and BD-500-1A11 Series Airplanes; Side...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-12-19

... operating conditions and configurations, whether normal or non-normal. 2. Pilot control authority: The... Series Airplanes; Side Stick Controllers: Pilot Strength, Pilot Control Authority, and Pilot Control... side stick controllers for pitch and roll control instead of conventional wheels and columns. The...

Rolling up Their Sleeves: Venture Philanthropists Pitch in for Chicago's Schools

ERIC Educational Resources Information Center

Aarons, Dakarai I.

2009-01-01

Chicago has become a hotbed of "venture philanthropy" in education, as two local foundations contribute not only money, but also the hands-on work of some of the city's wealthiest and most influential residents, to help improve the schools in the nation's third-largest district. These two venture-philanthropy funds consist of the…

Aeromechanical stability of helicopters with a bearingless main rotor. Part 1: Equations of motion

NASA Technical Reports Server (NTRS)

Hodges, D. H.

1978-01-01

Equations of motion for a coupled rotor-body system were derived for the purpose of studying air and ground resonance characteristics of helicopters that have bearingless main rotors. For the fuselage, only four rigid body degrees of freedom are considered; longitudinal and lateral translations, pitch, and roll. The rotor is assumed to consist of three or more rigid blades. Each blade is joined to the hub by means of a flexible beam segment (flexbeam or strap). Pitch change is accomplished by twisting the flexbeam with the pitch-control system, the characteristics of which are variable. Thus, the analysis is capable of implicitly treating aeroelastic couplings generated by the flexbeam elastic deflections, the pitch-control system, and the angular offsets of the blade and flexbeam. The linearized equations are written in the nonrotating system retaining only the cyclic rotor modes; thus, they comprise a system of homogeneous ordinary differential equations with constant coefficients. All contributions to the linearized perturbation equations from inertia, gravity, quasi-steady aerodynamics, and the flexbeam equilibrium deflections are retained exactly.

Effects of rotor parameter variations on handling qualities of unaugmented helicopters in simulated terrain flight

NASA Technical Reports Server (NTRS)

Talbot, P. D.; Dugan, D. D.; Chen, R. T. N.; Gerdes, R. M.

1980-01-01

A coordinated analysis and ground simulator experiment was performed to investigate the effects on single rotor helicopter handling qualities of systematic variations in the main rotor hinge restraint, hub hinge offset, pitch-flap coupling, and blade lock number. Teetering rotor, articulated rotor, and hingeless rotor helicopters were evaluated by research pilots in special low level flying tasks involving obstacle avoidance at 60 to 100 knots airspeed. The results of the experiment are in the form of pilot ratings, pilot commentary, and some objective performance measures. Criteria for damping and sensitivity are reexamined when combined with the additional factors of cross coupling due to pitch and roll rates, pitch coupling with collective pitch, and longitudinal static stability. Ratings obtained with and without motion are compared. Acceptable flying qualities were obtained within each rotor type by suitable adjustment of the hub parameters, however, pure teetering rotors were found to lack control power for the tasks. A limit for the coupling parameter L sub q/L sub p of 0.35 is suggested.

Head position affects the direction of occlusal force during tapping movement.

PubMed

Nakamura, K; Minami, I; Wada, J; Ikawa, Y; Wakabayashi, N

2018-05-01

Despite numerous reports describing the relationship between head position and mandibular movement in human subjects, the direction and magnitude of force at the occlusal contacts have not been investigated in relation to head position. The objective was to investigate the effect of head position on the direction of occlusal force while subjects performed a tapping movement. Twenty-three healthy adult subjects were asked to sit on a chair with their back upright and to perform 15 tapping movements in five different head positions: natural head position (control); forward; backward; and right and left rolled. The direction and magnitude of force were measured using a small triaxial force sensor. The Wilcoxon signed-rank test and Bonferroni test were used to compare head positions in each angle of the anteroposterior axis direction and the lateral axis direction with respect to the superior axis. The force element in the anteroposterior axis shifted to the forward direction in the head position pitched backward, compared with control, pitched forward and rolled left positions (P = .02, <.01 and <.01, respectively). The force direction in the lateral axis with the head position rolled to the right or left shifted to the left and right directions, respectively, compared with those in the other positions (P < .05). Results of this study suggest that the head should be maintained in a position in which a stable tapping movement can be performed in a relaxed position without anteroposterior and lateral loading. © 2018 John Wiley & Sons Ltd.

Dynamic perception of dynamic affordances: walking on a ship at sea.

PubMed

Walter, Hannah; Wagman, Jeffrey B; Stergiou, Nick; Erkmen, Nurtekin; Stoffregen, Thomas A

2017-02-01

Motion of the surface of the sea (waves, and swell) causes oscillatory motion of ships at sea. Generally, ships are longer than they are wide. One consequence of this structural difference is that oscillatory ship motion typically will be greater in roll (i.e., the ship rolling from side to side) than in pitch (i.e., the bow and stern rising and falling). For persons on ships at sea, affordances for walking on the open deck should be differentially influenced by ship motion in roll and pitch. Specifically, the minimum width of a walkable path should be greater when walking along the ship's short, or athwart axis than when walking along its long, or fore-aft axis. On a ship at sea, we evaluated the effects of walking in different directions (fore-aft vs. athwart) on actual walking performance. We did this by laying out narrow paths on the deck and asking participants (experienced maritime crewmembers) to walk as far as they could while remaining within the lateral path boundaries. As predicted, participants walked farther along the athwart path than along the fore-aft path. Before actual walking, we evaluated participants' judgments of their walking ability in the fore-aft and athwart directions. These judgments mirrored the observed differences in walking performance, and the accuracy of judgments did not differ between the two directions. We conclude that experienced maritime crewmembers were sensitive to affordances for walking in which the relevant properties of the environment were exclusively dynamic.

Dynamic perception of dynamic affordances: walking on a ship at sea

PubMed Central

Walter, Hannah; Wagman, Jeffrey B.; Stergiou, Nick; Erkmen, Nurtekin

2017-01-01

Motion of the surface of the sea (waves, and swell) causes oscillatory motion of ships at sea. Generally, ships are longer than they are wide. One consequence of this structural difference is that oscillatory ship motion typically will be greater in roll (i.e., the ship rolling from side to side) than in pitch (i.e., the bow and stern rising and falling). For persons on ships at sea, affordances for walking on the open deck should be differentially influenced by ship motion in roll and pitch. Specifically, the minimum width of a walkable path should be greater when walking along the ship’s short, or athwart axis than when walking along its long, or fore-aft axis. On a ship at sea, we evaluated the effects of walking in different directions (fore-aft vs. athwart) on actual walking performance. We did this by laying out narrow paths on the deck and asking participants (experienced maritime crewmembers) to walk as far as they could while remaining within the lateral path boundaries. As predicted, participants walked farther along the athwart path than along the fore-aft path. Before actual walking, we evaluated participants’ judgments of their walking ability in the fore-aft and athwart directions. These judgments mirrored the observed differences in walking performance, and the accuracy of judgments did not differ between the two directions. We conclude that experienced maritime crewmembers were sensitive to affordances for walking in which the relevant properties of the environment were exclusively dynamic. PMID:27787584

Unsteady Aerodynamic Testing Using the Dynamic Plunge Pitch and Roll Model Mount

NASA Technical Reports Server (NTRS)

Lutze, Frederick H.; Fan, Yigang

1999-01-01

A final report on the DyPPiR tests that were run are presented. Essentially it consists of two parts, a description of the data reduction techniques and the results. The data reduction techniques include three methods that were considered: 1) signal processing of wind on - wind off data; 2) using wind on data in conjunction with accelerometer measurements; and 3) using a dynamic model of the sting to predict the sting oscillations and determining the aerodynamic inputs using an optimization process. After trying all three, we ended up using method 1, mainly because of its simplicity and our confidence in its accuracy. The results section consists of time history plots of the input variables (angle of attack, roll angle, and/or plunge position) and the corresponding time histories of the output variables, C(sub L), C(sub D), C(sub m), C(sub l), C(sub m), C(sub n). Also included are some phase plots of one or more of the output variable vs. an input variable. Typically of interest are pitch moment coefficient vs. angle of attack for an oscillatory motion where the hysteresis loops can be observed. These plots are useful to determine the "more interesting" cases. Samples of the data as it appears on the disk are presented at the end of the report. The last maneuver, a rolling pull up, is indicative of the unique capabilities of the DyPPiR, allowing combinations of motions to be exercised at the same time.

Control law system for X-Wing aircraft

NASA Technical Reports Server (NTRS)

Lawrence, Thomas H. (Inventor); Gold, Phillip J. (Inventor)

1990-01-01

Control law system for the collective axis, as well as pitch and roll axes, of an X-Wing aircraft and for the pneumatic valving controlling circulation control blowing for the rotor. As to the collective axis, the system gives the pilot single-lever direct lift control and insures that maximum cyclic blowing control power is available in transition. Angle-of-attach de-coupling is provided in rotary wing flight, and mechanical collective is used to augment pneumatic roll control when appropriate. Automatic gain variations with airspeed and rotor speed are provided, so a unitary set of control laws works in all three X-Wing flight modes. As to pitch and roll axes, the system produces essentially the same aircraft response regardless of flight mode or condition. Undesirable cross-couplings are compensated for in a manner unnoticeable to the pilot without requiring pilot action, as flight mode or condition is changed. A hub moment feedback scheme is implemented, utilizing a P+I controller, significantly improving bandwidth. Limits protect aircraft structure from inadvertent damage. As to pneumatic valving, the system automatically provides the pressure required at each valve azimuth location, as dictated by collective, cyclic and higher harmonic blowing commands. Variations in the required control phase angle are automatically introduced, and variations in plenum pressure are compensated for. The required switching for leading, trailing and dual edge blowing is automated, using a simple table look-up procedure. Non-linearities due to valve characteristics of circulation control lift are linearized by map look-ups.

Oblique-wing research airplane motion simulation with decoupling control laws

NASA Technical Reports Server (NTRS)

Kempel, Robert W.; Mc Neill, Walter E.; Maine, Trindel A.

1988-01-01

A large piloted vertical motion simulator was used to assess the performance of a preliminary decoupling control law for an early version of the F-8 oblique wing research demonstrator airplane. Evaluations were performed for five discrete flight conditions, ranging from low-altitude subsonic Mach numbers to moderate-altitude supersonic Mach numbers. Asymmetric sideforce as a function of angle of attack was found to be the primary cause of both the lateral acceleration noted in pitch and the tendency to roll into left turns and out of right turns. The flight control system was shown to be effective in generally decoupling the airplane and reducing the lateral acceleration in pitch maneuvers.

Effect of geometry and operating conditions on spur gear system power loss

NASA Technical Reports Server (NTRS)

Anderson, N. E.; Loewenthal, S. H.

1980-01-01

The results of an analysis of the effects of spur gear size, pitch, width, and ratio on total mesh power loss for a wide range of speeds, torques, and oil viscosities are presented. The analysis uses simple algebraic expressions to determine gear sliding, rolling, and windage losses and also incorporates an approximate ball bearing power loss expression. The analysis shows good agreement with published data. Large diameter and fine pitched gears had higher peak efficiencies but low part load efficiency. Gear efficiencies were generally greater than 98 percent except at very low torque levels. Tare (no-load) losses are generally a significant percentage of the full load loss except at low speeds.

Effect of geometry and operating conditions on spur gear system power loss

NASA Technical Reports Server (NTRS)

Anderson, N. E.; Loewenthal, S. H.

1980-01-01

The results of an analysis of the effects of spur gear size, pitch, width and ratio on total mesh power loss for a wide range of speeds, torques and oil viscosities are presented. The analysis uses simple algebraic expressions to determine gear sliding, rolling and windage losses and also incorporates an approximate ball bearing power loss expression. The analysis shows good agreement with published data. Large diameter and fine-pitched gears had higher peak efficiencies but lower part-load efficiency. Gear efficiencies were generally greater than 98 percent except at very low torque levels. Tare (no-load) losses are generally a significant percentage of the full-load loss except at low speeds.

Method for spinning up a three-axis controlled spacecraft

NASA Technical Reports Server (NTRS)

Vorlicek, Preston L. (Inventor)

1988-01-01

A three-axis controlled spacecraft (1), typically a satellite, is spun up about its roll axis (20) prior to firing a motor (2), i.e., a perigee kick motor, to achieve the requisite degree of angular momentum stiffness. Thrusters (21) for imparting rotation about the roll axis (20) are activated in open-loop fashion, typically at less than full duty cycle. Cross-axis torques induced by this rotational motion are compensated for by means of closed control loops for each of the pitch and yaw axes (30, 40, respectively). Each closed control loop combines a prebias torque (72) with torques (75, 74) representative of position and rate feedback information, respectively. A deadband (52) within each closed control loop can be widened during the spinup, to conserve fuel. Position feedback information (75) in each of the control loops is disabled upon saturation of the gyroscope associated with the roll axis (20).

Entry trajectory, entry environment, and analysis of spacecraft motion for the RAM C-3 flight experiment

NASA Technical Reports Server (NTRS)

Weaver, W. L.; Bowen, J. T.

1972-01-01

The RAM C-3 flight experiment was launched to study the problem of radiofrequency blackout at an entry velocity of 24,300 ft/sec. The flight is described, and data for the entry trajectory and environment, which include the effects of actual temperature measured the day of launch, are presented. An analysis of entry spacecraft motions was performed. This analysis included the determination of wind angles from measured accelerations and estimates of wind angles at high altitudes from gyro-measured rotation rates. The maximum wind angles were found to be less than 5 deg to the point of pitch-roll resonance where the total wind angle increased to 8.5 deg and the roll rate started decreasing. A plausible cause for the decrease in roll rate was shown to be a combination of trim angle and an offset center of gravity.

Evaluation of a linear washout for simulator motion cue presentation during landing approach

NASA Technical Reports Server (NTRS)

Parrish, R. V.; Martin, D. J., Jr.

1975-01-01

The comparison of a fixed-base versus a five-degree-of-freedom motion base simulation of a 737 conventional take-off and landing (CTOL) aircraft performing instrument landing system (ILS) landing approaches was used to evaluate a linear motion washout technique. The fact that the pilots felt that the addition of motion increased the pilot workload and this increase was not reflected in the objective data results, indicates that motion cues, as presented, are not a contributing factor to root-mean-square (rms) performance during the landing approach task. Subjective results from standard maneuvering about straight-and-level flight for specific motion cue evaluation revealed that the longitudinal channels (pitch and surge) possibly the yaw channel produce acceptable motions. The roll cue representation, involving both roll and sway channels, was found to be inadequate for large roll inputs, as used for example, in turn entries.

Multiaxis control power from thrust vectoring for a supersonic fighter aircraft model at Mach 0.20 to 2.47

NASA Technical Reports Server (NTRS)

Capone, Francis J.; Bare, E. Ann

1987-01-01

The aeropropulsive characteristics of an advanced twin-engine fighter aircraft designed for supersonic cruise have been studied in the Langley 16-Foot Tansonic Tunnel and the Lewis 10- by 10-Foot Supersonic Tunnel. The objective was to determine multiaxis control-power characteristics from thrust vectoring. A two-dimensional convergent-divergent nozzle was designed to provide yaw vector angles of 0, -10, and -20 deg combined with geometric pitch vector angles of 0 and 15 deg. Yaw thrust vectoring was provided by yaw flaps located in the nozzle sidewalls. Roll control was obtained from differential pitch vectoring. This investigation was conducted at Mach numbers from 0.20 to 2.47. Angle of attack was varied from 0 to about 19 deg, and nozzle pressure ratio was varied from about 1 (jet off) to 28, depending on Mach number. Increments in force or moment coefficient that result from pitch or yaw thrust vectoring remain essentially constant over the entire angle-of-attack range of all Mach numbers tested. There was no effect of pitch vectoring on the lateral aerodynamic forces and moments and only very small effects of yaw vectoring on the longitudinal aerodynamic forces and moments. This result indicates little cross-coupling of control forces and moments for combined pitch-yaw vectoring.

Detection of defects in red oak deckboards by ultrasonic scanning

Treesearch

Mohammed F. Kabir; Daniel L. Schmoldt; Mark E. Schafer

2000-01-01

Experiments were conducted to detect defects in red oak (Quercus rubra, L.) deckboards by ultrasonic scanning. Scanning of the deckboards was carried out with two rolling transducers in a pitch-catch arrangement with pallet parts moving between the transducers at 70 ft/m and 220 ft/m. Data were collected, stored and processed using LabViewTM software. The defects...

Field Tests of a Tractor Rollover Detection and Emergency Notification System.

PubMed

Liu, B; Koc, A B

2015-04-01

The objective of this research was to assess the feasibility of a rollover detection and emergency notification system for farm tractors using field tests. The emergency notification system was developed based on a tractor stability model and implemented on a mobile electronic device with the iOS operating system. A complementary filter was implemented to combine the data from the accelerometer and gyroscope sensors to improve their accuracies in calculating the roll and pitch angles and the roll and pitch rates. The system estimates a stability index value during tractor operation, displays feedback messages when the stability index is lower than a preset threshold value, and transmits emergency notification messages when an overturn happens. Ten tractor rollover tests were conducted on a field track. The developed system successfully monitored the stability of the tractor during all of the tests. The iOS application was able to detect rollover accidents and transmit emergency notifications in the form of a phone call and email when an accident was detected. The system can be a useful tool for training and education in safe tractor operation. The system also has potential for stability monitoring and emergency notification of other on-road and off-road motorized vehicles.

Small Aircraft Data Distribution System

NASA Technical Reports Server (NTRS)

Chazanoff, Seth L.; Dinardo, Steven J.

2012-01-01

The CARVE Small Aircraft Data Distribution System acquires the aircraft location and attitude data that is required by the various programs running on a distributed network. This system distributes the data it acquires to the data acquisition programs for inclusion in their data files. It uses UDP (User Datagram Protocol) to broadcast data over a LAN (Local Area Network) to any programs that might have a use for the data. The program is easily adaptable to acquire additional data and log that data to disk. The current version also drives displays using precision pitch and roll information to aid the pilot in maintaining a level-level attitude for radar/radiometer mapping beyond the degree available by flying visually or using a standard gyro-driven attitude indicator. The software is designed to acquire an array of data to help the mission manager make real-time decisions as to the effectiveness of the flight. This data is displayed for the mission manager and broadcast to the other experiments on the aircraft for inclusion in their data files. The program also drives real-time precision pitch and roll displays for the pilot and copilot to aid them in maintaining the desired attitude, when required, during data acquisition on mapping lines.

Applicability of a panel method, which includes nonlinear effects, to a forward-swept-wing aircraft

NASA Technical Reports Server (NTRS)

Ross, J. C.

1984-01-01

The ability of a lower order panel method VSAERO, to accurately predict the lift and pitching moment of a complete forward-swept-wing/canard configuration was investigated. The program can simulate nonlinear effects including boundary-layer displacement thickness, wake roll up, and to a limited extent, separated wakes. The predictions were compared with experimental data obtained using a small-scale model in the 7- by 10- Foot Wind Tunnel at NASA Ames Research Center. For the particular configuration under investigation, wake roll up had only a small effect on the force and moment predictions. The effect of the displacement thickness modeling was to reduce the lift curve slope slightly, thus bringing the predicted lift into good agreement with the measured value. Pitching moment predictions were also improved by the boundary-layer simulation. The separation modeling was found to be sensitive to user inputs, but appears to give a reasonable representation of a separated wake. In general, the nonlinear capabilities of the code were found to improve the agreement with experimental data. The usefullness of the code would be enhanced by improving the reliability of the separated wake modeling and by the addition of a leading edge separation model.

In-flight simulation investigation of rotorcraft pitch-roll cross coupling

NASA Technical Reports Server (NTRS)

Watson, Douglas C.; Hindson, William S.

1988-01-01

An in-flight simulation experiment investigating the handling qualities effects of the pitch-roll cross-coupling characteristic of single-main-rotor helicopters is described. The experiment was conducted using the NASA/Army CH-47B variable stability helicopter with an explicit-model-following control system. The research is an extension of an earlier ground-based investigation conducted on the NASA Ames Research Center's Vertical Motion Simulator. The model developed for the experiment is for an unaugmented helicopter with cross-coupling implemented using physical rotor parameters. The details of converting the model from the simulation to use in flight are described. A frequency-domain comparison of the model and actual aircraft responses showing the fidelity of the in-flight simulation is described. The evaluation task was representative of nap-of-the-Earth maneuvering flight. The results indicate that task demands are important in determining allowable levels of coupling. In addition, on-axis damping characteristics influence the frequency-dependent characteristics of coupling and affect the handling qualities. Pilot technique, in terms of learned control crossfeeds, can improve performance and lower workload for particular types of coupling. The results obtained in flight corroborated the simulation results.

TTI (Texas Transportation Institute) track/dynamometer study. Final report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Reineman, M.; Thompson, G.

1983-01-01

Seven passenger cars and one light truck were operated over the EPA urban and highway driving cycles to compare fuel economy measurements obtained on a test track with the fuel economy results obtained on a chassis dynamometer. The test program was designed to duplicate, as closely as possible, the track force loading (as determined by standard EPA road coastdown procedures) on the dynamometer. Experimental parameters which were investigated included loading differences between front- and rear-wheel drive vehicles, volumetric versus carbon balance fuel measurement techniques, coupled versus uncoupled roll dynamometer tests, and curved track versus straight track coastdowns.

Preliminary Kalman Filter Design to Improve Air Combat Maneuvering Target Estimation for the F-4E/G Fire Control System.

DTIC Science & Technology

1985-12-01

ADDED TN~*************************** COMMON/AIR/RATE,PHI ,PHIDIT,PP-HI ,PITCH,PITCHD,PPITCHTRATE, 1 TURN,TURND,FPTURNTR1 ,TR2,TR3,TR4, TF1 ,TF2...READ(2,*)ALPHAE’ETA *C READ(2,*)TR1, TF1 !FORWARD ROLL START,STOP TIMES READ(2,*)TR1 , TF1 C READ(2,*)TR2,TF2 !REVERSE ROLL START,STOP TIMES READ(2... TF1 ,TR2, 1 TF2,TR3,TF3,TR4,TF4,HORT1 ,1ORT2,HORTGEIELTA C C INITIALIZE AIRCRAFT MODEL C IA IR=0 CALL AIR C C INITIALIZE RADAR MODEL -- C I RADAR=O CALL

Intelligent Robotic Systems Study (IRSS), phase 2

NASA Technical Reports Server (NTRS)

1990-01-01

Under the Intelligent Robotics System Study (IRSS) contract, a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). The controller built for the PFMA provides localized position based force control, teleoperation and advanced path recording and playback capabilities. Various hand controllers can be used with the system in conjunction with a synthetic time delay capability to provide a realistic test bed for typical satellite servicing tasks. The configuration of the IRSS system is illustrated and discussed. The PFMA has six computer controllable degrees of freedom (DOF) plus a seventh manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Because the PFMA was not developed to operate in a gravity field, but rather in space, it is counter balanced at the shoulder, elbow and wrist and a spring counterbalance has been added near the wrist to provide additional support. Built with long slender intra-joint linkages, the PFMA has a workspace nearly 2 meters deep and possesses sufficient dexterity to perform numerous satellite servicing tasks. The manipulator is arranged in a shoulder-yaw, pitch, elbow-pitch, and wrist-pitch, yaw, roll configuration, with an indexable shoulder roll joint. Digital control of the PFMA is implemented using a variety of single board computers developed by Heurikon Corporation and other manufacturers. The IRSS controller is designed to be a multi-rate, multi-tasking system. Independent joint servos run at a 134 Hz rate and position based impedance control functions at 67 Hz. Autonomous path generation and hand controller inputs are processed at a 33 Hz.

Flight mechanics and control of escape manoeuvres in hummingbirds. II. Aerodynamic force production, flight control and performance limitations.

PubMed

Cheng, Bo; Tobalske, Bret W; Powers, Donald R; Hedrick, Tyson L; Wang, Yi; Wethington, Susan M; Chiu, George T-C; Deng, Xinyan

2016-11-15

The superior manoeuvrability of hummingbirds emerges from complex interactions of specialized neural and physiological processes with the unique flight dynamics of flapping wings. Escape manoeuvring is an ecologically relevant, natural behaviour of hummingbirds, from which we can gain understanding into the functional limits of vertebrate locomotor capacity. Here, we extend our kinematic analysis of escape manoeuvres from a companion paper to assess two potential limiting factors of the manoeuvring performance of hummingbirds: (1) muscle mechanical power output and (2) delays in the neural sensing and control system. We focused on the magnificent hummingbird (Eugenes fulgens, 7.8 g) and the black-chinned hummingbird (Archilochus alexandri, 3.1 g), which represent large and small species, respectively. We first estimated the aerodynamic forces, moments and the mechanical power of escape manoeuvres using measured wing kinematics. Comparing active-manoeuvring and passive-damping aerodynamic moments, we found that pitch dynamics were lightly damped and dominated by the effect of inertia, while roll dynamics were highly damped. To achieve observed closed-loop performance, pitch manoeuvres required faster sensorimotor transduction, as hummingbirds can only tolerate half the delay allowed in roll manoeuvres. Accordingly, our results suggested that pitch control may require a more sophisticated control strategy, such as those based on prediction. For the magnificent hummingbird, we estimated that escape manoeuvres required muscle mass-specific power 4.5 times that during hovering. Therefore, in addition to the limitation imposed by sensorimotor delays, muscle power could also limit the performance of escape manoeuvres. © 2016. Published by The Company of Biologists Ltd.

Combined pitch and roll and cybersickness in a virtual environment.

PubMed

Bonato, Frederick; Bubka, Andrea; Palmisano, Stephen

2009-11-01

Stationary subjects who perceive visually induced illusions of self-motion, or vection, in virtual reality (VR) often experience cybersickness, the symptoms of which are similar to those experienced during motion sickness. An experiment was conducted to test the effects of single and dual-axis rotation of a virtual environment on cybersickness. It was predicted that VR displays which induced illusory dual-axis (as opposed to single-axis) self-rotations in stationary subjects would generate more sensory conflict and subsequently more cybersickness. There were 19 individuals (5 men, 14 women, mean age = 19.8 yr) who viewed the interior of a virtual cube that steadily rotated (at 60 degrees x s(-1)) about either the pitch axis or both the pitch and roll axes simultaneously. Subjects completed the Simulator Sickness Questionnaire (SSQ) before a trial and after 5 min of stimulus viewing. Post-treatment total SSQ scores and subscores for nausea, oculomotor, and disorientation were significantly higher in the dual-axis condition. These results support the hypothesis that a vection-inducing VR stimulus that rotates about two axes generates more cybersickness compared to aVR stimulus that rotates about only one. In the single-axis condition, sensory conflict and pseudo-Coriolis effects may have led to symptoms. However, in the dual-axis condition, not only was perceived self-motion more complex (two axes compared to one), the inducing stimulus was consistent with twice as much self-motion. Hence, the increased likelihood/magnitude of sensory conflict and pseudo-Coriolis effects may have subsequently resulted in a higher degree of cybersickness in the dual-axis condition.

Body-surface pressure data on two monoplane-wing missile configurations with elliptical cross sections at Mach 2.50

NASA Technical Reports Server (NTRS)

Allen, J. M.; Hernandez, G.; Lamb, M.

1983-01-01

Tabulated body surface pressure data for two monoplane-wing missile configurations are presented and analyzed. Body pressure data are presented for body-alone, body-tail, and body-wing-tail combinations. For the lost combination, data are presented for tail-fin deflection angles of 0 deg and 30 deg to simulate pitch, yaw, and roll control for both configurations. The data cover angles of attack from -5 deg to 25 deg and angles of roll from 0 deg to 90 deg at a Mach number of 2.50 and a Reynolds number of 6.56 x 1,000,000 per meter. Very consistent, systematic trends with angle of attack and angle of roll were observed in the data, and very good symmetry was found at a roll angle of 0 deg. Body pressures depended strongly on the local body cross-section shape, with very little dependence on the upstream shape. Undeflected fins had only a small influence on the pressures on the aft end of the body; however, tail-fin deflections caused large changes in the pressures.

Flight mechanics and control of escape manoeuvres in hummingbirds. I. Flight kinematics.

PubMed

Cheng, Bo; Tobalske, Bret W; Powers, Donald R; Hedrick, Tyson L; Wethington, Susan M; Chiu, George T C; Deng, Xinyan

2016-11-15

Hummingbirds are nature's masters of aerobatic manoeuvres. Previous research shows that hummingbirds and insects converged evolutionarily upon similar aerodynamic mechanisms and kinematics in hovering. Herein, we use three-dimensional kinematic data to begin to test for similar convergence of kinematics used for escape flight and to explore the effects of body size upon manoeuvring. We studied four hummingbird species in North America including two large species (magnificent hummingbird, Eugenes fulgens, 7.8 g, and blue-throated hummingbird, Lampornis clemenciae, 8.0 g) and two smaller species (broad-billed hummingbird, Cynanthus latirostris, 3.4 g, and black-chinned hummingbirds Archilochus alexandri, 3.1 g). Starting from a steady hover, hummingbirds consistently manoeuvred away from perceived threats using a drastic escape response that featured body pitch and roll rotations coupled with a large linear acceleration. Hummingbirds changed their flapping frequency and wing trajectory in all three degrees of freedom on a stroke-by-stroke basis, likely causing rapid and significant alteration of the magnitude and direction of aerodynamic forces. Thus it appears that the flight control of hummingbirds does not obey the 'helicopter model' that is valid for similar escape manoeuvres in fruit flies. Except for broad-billed hummingbirds, the hummingbirds had faster reaction times than those reported for visual feedback control in insects. The two larger hummingbird species performed pitch rotations and global-yaw turns with considerably larger magnitude than the smaller species, but roll rates and cumulative roll angles were similar among the four species. © 2016. Published by The Company of Biologists Ltd.

Modeling human perception of orientation in altered gravity

PubMed Central

Clark, Torin K.; Newman, Michael C.; Oman, Charles M.; Merfeld, Daniel M.; Young, Laurence R.

2015-01-01

Altered gravity environments, such as those experienced by astronauts, impact spatial orientation perception, and can lead to spatial disorientation and sensorimotor impairment. To more fully understand and quantify the impact of altered gravity on orientation perception, several mathematical models have been proposed. The utricular shear, tangent, and the idiotropic vector models aim to predict static perception of tilt in hyper-gravity. Predictions from these prior models are compared to the available data, but are found to systematically err from the perceptions experimentally observed. Alternatively, we propose a modified utricular shear model for static tilt perception in hyper-gravity. Previous dynamic models of vestibular function and orientation perception are limited to 1 G. Specifically, they fail to predict the characteristic overestimation of roll tilt observed in hyper-gravity environments. To address this, we have proposed a modification to a previous observer-type canal-otolith interaction model based upon the hypothesis that the central nervous system (CNS) treats otolith stimulation in the utricular plane differently than stimulation out of the utricular plane. Here we evaluate our modified utricular shear and modified observer models in four altered gravity motion paradigms: (a) static roll tilt in hyper-gravity, (b) static pitch tilt in hyper-gravity, (c) static roll tilt in hypo-gravity, and (d) static pitch tilt in hypo-gravity. The modified models match available data in each of the conditions considered. Our static modified utricular shear model and dynamic modified observer model may be used to help quantitatively predict astronaut perception of orientation in altered gravity environments. PMID:25999822

The Subjective Postural Vertical Determined in Patients with Pusher Behavior During Standing.

PubMed

Bergmann, Jeannine; Krewer, Carmen; Selge, Charlotte; Müller, Friedemann; Jahn, Klaus

2016-06-01

The subjective postural vertical (SPV), i.e., the perceived upright orientation of the body in relation to gravity, is disturbed in patients with pusher behavior. So far, the SPV has been measured only when these patients were sitting, and the results were contradictory as regards the side of the SPV deviation. The objective was to investigate the SPV in patients with different degrees of severity of pusher behavior while standing. Eight stroke patients with pusher behavior, ten age-matched stroke patients without pusher behavior, and ten age-matched healthy control subjects were included. The SPV (SPV error, SPV range) was assessed in the pitch and the roll planes. Pusher behavior was classified with the Burke Lateropulsion Scale (BLS). In the pitch plane, the SPV range was significantly larger in pusher patients than in patients without pusher behavior or healthy controls. The SPV error was similar for groups. In the roll plane, the SPV error and the SPV range were significantly larger and more ipsilesionally tilted in the pusher group than in the other two groups. There was a significant correlation between the SPV error in the roll plane and the BLS score. The study revealed that patients with pusher behavior had an ipsilesional SPV tilt that decreased with decreasing severity of the behavior. The large uncertainty in verticality estimation in both planes indicates that their sensitivity for the perception of verticality in space is generally disturbed. These findings emphasize the importance of specific rehabilitation approaches to recalibrate the impaired inner model of verticality.

Small Business Innovations (Robotic Wrist)

NASA Technical Reports Server (NTRS)

1991-01-01

Under a Langley Research Center Small Business Innovation Research (SBIR) contract, Ross-Hime Designs, Inc. Minneapolis, MN, developed the Omni-Wrist actuator, which has a 25-pound capacity, 180 degrees of pitch/yaw, and 360 degrees of roll. Company literature calls it "the first successful singularity-free high-precision (robotic) wrist." Applications include spray painting, sealing, ultrasonic testing, welding and a variety of nuclear industry, aerospace and military uses.

Report on the Second ARM Mobile Facility (AMF2) Roll, Pitch, and Heave (RPH) Stabilization Platform: Design and Evaluation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Coulter, Richard L.; Martin, Timothy J.

One of the primary objectives of the U.S. Department of Energy’s Atmospheric Radiation Measurement (ARM) Climate Research Facility’s second Mobile Facility (AMF2) is to obtain reliable measurements of solar, surface, and atmospheric radiation, as well as cloud and atmospheric properties, from ocean-going vessels. To ensure that these climatic measurements are representative and accurate, many AMF2 instrument systems are designed to collect data in a zenith orientation. A pillar of the AMF2 strategy in this effort is the use of a stable platform. The purpose of the platform is to 1) mitigate vessel motion for instruments that require a truly verticalmore » orientation and keep them pointed in the zenith direction, and 2) allow for accurate positioning for viewing or shading of the sensors from direct sunlight. Numerous ARM instruments fall into these categories, but perhaps the most important are the vertically pointing cloud radars, for which vertical motions are a critical parameter. During the design and construction phase of AMF2, an inexpensive stable platform was purchased to perform the stabilization tasks for some of these instruments. The first table compensated for roll, pitch, and yaw (RPY) and was reported upon in a previous technical report (Kafle and Coulter, 2012). Subsequently, a second table was purchased specifically for operation with the Marine W-band cloud radar (MWACR). Computer programs originally developed for RPY were modified to communicate with the new platform controller and with an inertial measurements platform that measures true ship motion components (roll, pitch, yaw, surge, sway, and heave). This platform could not be tested dynamically for RPY because of time constraints requiring its deployment aboard the container ship Horizon Spirit in September 2013. Hence the initial motion tests were conducted on the initial cruise. Subsequent cruises provided additional test results. The platform, as tested, meets all the design and performance criteria established for its use. This is a report of the results of those efforts and the critical points in moving forward« less

SU-F-J-24: Setup Uncertainty and Margin of the ExacTrac 6D Image Guide System for Patients with Brain Tumors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kim, S; Oh, S; Yea, J

Purpose: This study evaluated the setup uncertainties for brain sites when using BrainLAB’s ExacTrac X-ray 6D system for daily pretreatment to determine the optimal planning target volume (PTV) margin. Methods: Between August 2012 and April 2015, 28 patients with brain tumors were treated by daily image-guided radiotherapy using the BrainLAB ExacTrac 6D image guidance system of the Novalis-Tx linear accelerator. DUONTM (Orfit Industries, Wijnegem, Belgium) masks were used to fix the head. The radiotherapy was fractionated into 27–33 treatments. In total, 844 image verifications were performed for 28 patients and used for the analysis. The setup corrections along with themore » systematic and random errors were analyzed for six degrees of freedom in the translational (lateral, longitudinal, and vertical) and rotational (pitch, roll, and yaw) dimensions. Results: Optimal PTV margins were calculated based on van Herk et al.’s [margin recipe = 2.5∑ + 0.7σ − 3 mm] and Stroom et al.’s [margin recipe = 2∑ + 0.7σ] formulas. The systematic errors (∑) were 0.72, 1.57, and 0.97 mm in the lateral, longitudinal, and vertical translational dimensions, respectively, and 0.72°, 0.87°, and 0.83° in the pitch, roll, and yaw rotational dimensions, respectively. The random errors (σ) were 0.31, 0.46, and 0.54 mm in the lateral, longitudinal, and vertical rotational dimensions, respectively, and 0.28°, 0.24°, and 0.31° in the pitch, roll, and yaw rotational dimensions, respectively. According to van Herk et al.’s and Stroom et al.’s recipes, the recommended lateral PTV margins were 0.97 and 1.66 mm, respectively; the longitudinal margins were 1.26 and 3.47 mm, respectively; and the vertical margins were 0.21 and 2.31 mm, respectively. Conclusion: Therefore, daily setup verifications using the BrainLAB ExacTrac 6D image guide system are very useful for evaluating the setup uncertainties and determining the setup margin.∑σ.« less

Flight Characteristics of a 1/4-Scale Model of the XFV-1 Airplane (TED No. NACA DE-378)

NASA Technical Reports Server (NTRS)

Kelly, Mark W.; Smaus, Louis H.

1952-01-01

A l/4-scale dynamically similar model of the XFV-1 airplane has been flown in the Ames 40- by 80-foot wind tunnel, using the trailing flight-cable technique. This investigation was devoted to establishing the flight characteristics of the model in forward flight from hovering to wing stall, and in yawed flight (wing span alined with the relative wind) from hovering to the maximum speed at which controlled flight could be maintained. Landings, take-offs, and hovering characteristics in flights close to the ground were also investigated.. Since the remote control system for the model was rather complicated and provided artificial damping about the pitch, roll, and yaw axes, sufficient data from the control-system calibration tests are included in this report to specify the performance of the control system in relation to both the model flight tests and the design of an automatic control system for the full-scale airplane. The model in hovering flight appeared to be neutrally stable. The response of the model to the controls was very rapid, and it was always necessary to provide some amount of artificial damping to maintain control. The model could be landed with little difficulty by hovering approximately a foot above the floor and then cutting the power. Take-offs were more difficult to perform, primarily because the rate of change in power to the model motors was limited by the characteristics of the available power source. The model was,capable of controlled yawed flight at translational velocities up to and including 20 feet per second. The effectiveness of the controls decreased with increasing speed, however, and at 25 fps control in pitch, and probably roll, was lost completely. The model was flown in controlled forward flight from hovering up to 70 fps. During these flights the model appeared to be more difficult to control in yaw than it was in pitch or roll. The flights of the model were recorded by motion picture cameras. These motion pictures are available on loan from NACA Headquarters as a film supplement to this report.

The Magsat three axis arc second precision attitude transfer system

NASA Technical Reports Server (NTRS)

Schenkel, F. W.; Heins, R. J.

1981-01-01

The Magsat Attitude Transfer System (ATS), which provides attitude alteration in pitch, yaw, and roll is described. A remote vector magnetometer extends from Magsat on a 20 ft boom, requiring vector orientation by reference to coordinate axes determined by a set of star mapping cameras. The ATS was designed to perform in a solar illuminated environment by using an optically narrow bandwidth with synchronous demodulation at 9300 A. The pitch/yaw optical design, the electrooptics, and signal and switching diagrams are provided. Simple mirrors with no moving parts are placed on the magnetometer to reflect a collimated beam from the ATS for attitude indication, which is accurate to one part in 96. Alignment was completed within 24 hr after launch.

A simplified rotor system mathematical model for piloted flight dynamics simulation

NASA Technical Reports Server (NTRS)

Chen, R. T. N.

1979-01-01

The model was developed for real-time pilot-in-the-loop investigation of helicopter flying qualities. The mathematical model included the tip-path plane dynamics and several primary rotor design parameters, such as flapping hinge restraint, flapping hinge offset, blade Lock number, and pitch-flap coupling. The model was used in several exploratory studies of the flying qualities of helicopters with a variety of rotor systems. The basic assumptions used and the major steps involved in the development of the set of equations listed are described. The equations consisted of the tip-path plane dynamic equation, the equations for the main rotor forces and moments, and the equation for control phasing required to achieve decoupling in pitch and roll due to cyclic inputs.

Shock Acceleration of Solar Energetic Protons: The First 10 Minutes

NASA Technical Reports Server (NTRS)

Ng, Chee K.; Reames, Donald V.

2008-01-01

Proton acceleration at a parallel coronal shock is modeled with self-consistent Alfven wave excitation and shock transmission. 18 - 50 keV seed protons at 0.1% of plasma proton density are accelerated in 10 minutes to a power-law intensity spectrum rolling over at 300 MeV by a 2500km s-1 shock traveling outward from 3.5 solar radius, for typical coronal conditions and low ambient wave intensities. Interaction of high-energy protons of large pitch-angles with Alfven waves amplified by low-energy protons of small pitch angles is key to rapid acceleration. Shock acceleration is not significantly retarded by sunward streaming protons interacting with downstream waves. There is no significant second-order Fermi acceleration.

Computational Methods for Dynamic Stability and Control Derivatives

NASA Technical Reports Server (NTRS)

Green, Lawrence L.; Spence, Angela M.; Murphy, Patrick C.

2003-01-01

Force and moment measurements from an F-16XL during forced pitch oscillation tests result in dynamic stability derivatives, which are measured in combinations. Initial computational simulations of the motions and combined derivatives are attempted via a low-order, time-dependent panel method computational fluid dynamics code. The code dynamics are shown to be highly questionable for this application and the chosen configuration. However, three methods to computationally separate such combined dynamic stability derivatives are proposed. One of the separation techniques is demonstrated on the measured forced pitch oscillation data. Extensions of the separation techniques to yawing and rolling motions are discussed. In addition, the possibility of considering the angles of attack and sideslip state vector elements as distributed quantities, rather than point quantities, is introduced.

Computational Methods for Dynamic Stability and Control Derivatives

NASA Technical Reports Server (NTRS)

Green, Lawrence L.; Spence, Angela M.; Murphy, Patrick C.

2004-01-01

Force and moment measurements from an F-16XL during forced pitch oscillation tests result in dynamic stability derivatives, which are measured in combinations. Initial computational simulations of the motions and combined derivatives are attempted via a low-order, time-dependent panel method computational fluid dynamics code. The code dynamics are shown to be highly questionable for this application and the chosen configuration. However, three methods to computationally separate such combined dynamic stability derivatives are proposed. One of the separation techniques is demonstrated on the measured forced pitch oscillation data. Extensions of the separation techniques to yawing and rolling motions are discussed. In addition, the possibility of considering the angles of attack and sideslip state vector elements as distributed quantities, rather than point quantities, is introduced.

KSC-05pd2463

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, a crane is lowered toward the remote manipulator system boom in Atlantis’ payload bay. The boom is being removed from Atlantis and will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2465

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, workers secure a crane to the remote manipulator system boom in Atlantis’ payload bay. The boom is being removed from Atlantis and will be temporarily stored.. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2468

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. - In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, the remote manipulator system boom that was removed from Atlantis’ payload bay is lifted out of the way. The boom will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

KSC-05pd2464

NASA Image and Video Library

2005-11-07

KENNEDY SPACE CENTER, FLA. -In the Orbiter Processing Facility Bay 1 at NASA Kennedy Space Center, a crane is attached to the remote manipulator system boom in Atlantis’ payload bay. The boom is being removed from Atlantis and will be temporarily stored. The RMS includes the electromechanical arm that maneuvers a payload from the payload bay of the orbiter to its deployment position and then releases it. It can also grapple a free-flying payload, maneuver it to the payload bay of the orbiter and berth it in the orbiter. The RMS arm is 50 feet 3 inches long and 15 inches in diameter. It weighs 905 pounds, and the total system weighs 994 pounds. The RMS has six joints that correspond roughly to the joints of the human arm, with shoulder yaw and pitch joints; an elbow pitch joint; and wrist pitch, yaw and roll joints. The end effector is the unit at the end of the wrist that actually grabs, or grapples, the payload.

Body shape helps legged robots climb and turn in complex 3-D terrains

NASA Astrophysics Data System (ADS)

Han, Yuanfeng; Wang, Zheliang; Li, Chen

Analogous to streamlined shapes that reduce drag in fluids, insects' ellipsoid-like rounded body shapes were recently discovered to be ``terradynamically streamlined'' and enhance locomotion in cluttered terrain by facilitating body rolling. Here, we hypothesize that there exist more terradynamic shapes that facilitate other modes of locomotion like climbing and turning in complex 3-D terrains by facilitating body pitching and yawing. To test our hypothesis, we modified the body shape of a legged robot by adding an elliptical and a rectangular shell and tested how it negotiated with circular and square vertical pillars. With a rectangular shell the robot always pitched against square pillars in an attempt to climb, whereas with an elliptical shell it always yawed and turned away from circular pillars given a small initial lateral displacement. Square / circular pillars facilitated pitching / yawing, respectively. To begin to reveal the contact physics, we developed a locomotion energy landscape model. Our model revealed that potential energy barriers to transition from pitching to yawing are high for angular locomotor and obstacle shapes (rectangular / square) but vanish for rounded shapes (elliptical / circular). Our study supports the plausibility of locomotion energy landscapes for understanding the rich locomotor transitions in complex 3-D terrains.

Wing-pitch modulation in maneuvering fruit flies is explained by an interplay between aerodynamics and a torsional spring.

PubMed

Beatus, Tsevi; Cohen, Itai

2015-08-01

While the wing kinematics of many flapping insects have been well characterized, understanding the underlying sensory, neural, and physiological mechanisms that determine these kinematics is still a challenge. Two main difficulties in understanding the physiological mechanisms arise from the complexity of the interaction between a flapping wing and its own unsteady flow, as well as the intricate mechanics of the insect wing hinge, which is among the most complicated joints in the animal kingdom. These difficulties call for the application of reduced-order approaches. Here this strategy is used to model the torques exerted by the wing hinge along the wing-pitch axis of maneuvering fruit flies as a damped torsional spring with elastic and damping coefficients as well as a rest angle. Furthermore, we model the air flows using simplified quasistatic aerodynamics. Our findings suggest that flies take advantage of the passive coupling between aerodynamics and the damped torsional spring to indirectly control their wing-pitch kinematics by modulating the spring parameters. The damped torsional-spring model explains the changes measured in wing-pitch kinematics during roll correction maneuvers through modulation of the spring damping and elastic coefficients. These results, in conjunction with the previous literature, indicate that flies can accurately control their wing-pitch kinematics on a sub-wing-beat time scale by modulating all three effective spring parameters on longer time scales.

Wing-pitch modulation in maneuvering fruit flies is explained by an interplay between aerodynamics and a torsional spring

NASA Astrophysics Data System (ADS)

Beatus, Tsevi; Cohen, Itai

2015-08-01

While the wing kinematics of many flapping insects have been well characterized, understanding the underlying sensory, neural, and physiological mechanisms that determine these kinematics is still a challenge. Two main difficulties in understanding the physiological mechanisms arise from the complexity of the interaction between a flapping wing and its own unsteady flow, as well as the intricate mechanics of the insect wing hinge, which is among the most complicated joints in the animal kingdom. These difficulties call for the application of reduced-order approaches. Here this strategy is used to model the torques exerted by the wing hinge along the wing-pitch axis of maneuvering fruit flies as a damped torsional spring with elastic and damping coefficients as well as a rest angle. Furthermore, we model the air flows using simplified quasistatic aerodynamics. Our findings suggest that flies take advantage of the passive coupling between aerodynamics and the damped torsional spring to indirectly control their wing-pitch kinematics by modulating the spring parameters. The damped torsional-spring model explains the changes measured in wing-pitch kinematics during roll correction maneuvers through modulation of the spring damping and elastic coefficients. These results, in conjunction with the previous literature, indicate that flies can accurately control their wing-pitch kinematics on a sub-wing-beat time scale by modulating all three effective spring parameters on longer time scales.

Pose measurement method and experiments for high-speed rolling targets in a wind tunnel.

PubMed

Jia, Zhenyuan; Ma, Xin; Liu, Wei; Lu, Wenbo; Li, Xiao; Chen, Ling; Wang, Zhengqu; Cui, Xiaochun

2014-12-12

High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°.

Pose Measurement Method and Experiments for High-Speed Rolling Targets in a Wind Tunnel

PubMed Central

Jia, Zhenyuan; Ma, Xin; Liu, Wei; Lu, Wenbo; Li, Xiao; Chen, Ling; Wang, Zhengqu; Cui, Xiaochun

2014-01-01

High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°. PMID:25615732

Situational Awareness in Aerospace Operations (La Perception de la Situation au cours des Operations Aeriennes)

DTIC Science & Technology

1990-04-01

addition to a detailed description of the Situation Awareness Global Assessment Technique (SAGAT). SAGAT was developed as an objective measure of a... developed aircraft designs and training programs hinges on en objective evaluation program that considers the global SA reqluirements of the pilot. Bsy...roll-attitudae recovery [323, and that thickened negative pitch lines (simulating lirm grad-ents) are particularly effective in improving

Design charts for arbitrarily pivoted, liquid-lubricated flat-sector-pad thrust bearing

NASA Technical Reports Server (NTRS)

Etsion, I.

1977-01-01

A flat, sector-shaped geometry for a liquid-lubricated thrust bearing is analyzed considering both the pitch and roll of the pad. Results are presented in design charts that enable a direct approach to the design of point- and line-pivoted, tilting pad bearings. A comparison is made with the Mitchell bearing approximation and it is found that this approximation always overestimates load capacity.

KSC-05pd2537

NASA Image and Video Library

2005-11-30

KENNEDY SPACE CENTER, FLA. - The Forward Reaction Control System (FRCS) of space shuttle Atlantis sits in the transfer aisle of Orbiter Processing Facility Bay 1 in anticipation of being installed. The FRCS provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

KSC-05pd2536

NASA Image and Video Library

2005-11-30

KENNEDY SPACE CENTER, FLA. - The Forward Reaction Control System (FRCS) of space shuttle Atlantis sits in the transfer aisle of Orbiter Processing Facility Bay 1 in anticipation of being installed. The FRCS provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

The Measurement of Pilot Workload.

DTIC Science & Technology

1983-01-01

measures produced two clusters for the easiest and inter - mediate flights (inflight and postflight) and four for the most difficult flight. Zn the...technique is intended for use ’n evaluating the potential impact associated with changes in cockpit procedures and instru- mentation. The technique would...for pitch, roll, and, to a certain extent, elevation changes . The cockpit is equipped with (1) Collins FD 109 Flight Director, (2) AP 106 Auto Pilot

SIELETERS: A Static Fourier Transform Infrared Imaging Spectrometer for Airborne Hyperspectral Measurements

DTIC Science & Technology

2009-10-01

cryostat and cooled at a temperature under 77K by a Stirling cryocooler , as represented on the following Figure 5 : Cryostat...Figure 5. Detector cryostat and cryocooler The read-out frequency of the detectors is adapted to the ground speed of the plane above...Cold shield Detector plane Cryocoole r Cryocoole r compresso r Fixed frame Roll frame Pitch frame Yaw frame SIELETERS: a Static Fourier

Kennedy Educate to Innovate (KETI) Aeronautics PowerPoint Presentation

NASA Technical Reports Server (NTRS)

Davila, Dina

2010-01-01

This slide presentation reviews some fundamental features of aeronautics. It is designed to introduce students to aeronautics and to engage them in Science Technology Education and Mathematics (STEM). It reviews the history of airflight, the aircraft components and their interaction with the forces that make flight possible (i.e. lift, weight drag and thrust), and the interaction of the components that create aircraft movements (roll, pitch and yaw)

New Integrated Testing System for the Validation of Vehicle-Snow Interaction Models

DTIC Science & Technology

2010-08-06

are individual wheel speeds, accelerator pedal position, vehicle speed, yaw rate, lateral acceleration, steering wheel angle and brake ...forces and moments at each wheel center, vehicle body slip angle , speed, acceleration, yaw rate, roll, and pitch. The profilometer has a 3-D scanning...Stability Program. The test vehicle provides measurements that include three forces and moments at each wheel center, vehicle body slip angle , speed

Gravity orientation tuning in macaque anterior thalamus.

PubMed

Laurens, Jean; Kim, Byounghoon; Dickman, J David; Angelaki, Dora E

2016-12-01

Gravity may provide a ubiquitous allocentric reference to the brain's spatial orientation circuits. Here we describe neurons in the macaque anterior thalamus tuned to pitch and roll orientation relative to gravity, independently of visual landmarks. We show that individual cells exhibit two-dimensional tuning curves, with peak firing rates at a preferred vertical orientation. These results identify a thalamic pathway for gravity cues to influence perception, action and spatial cognition.

Development of helicopter attitude axes controlled hover flight without pilot assistance and vehicle crashes

NASA Astrophysics Data System (ADS)

Simon, Miguel

In this work, we show how to computerize a helicopter to fly attitude axes controlled hover flight without the assistance of a pilot and without ever crashing. We start by developing a helicopter research test bed system including all hardware, software, and means for testing and training the helicopter to fly by computer. We select a Remote Controlled helicopter with a 5 ft. diameter rotor and 2.2 hp engine. We equip the helicopter with a payload of sensors, computers, navigation and telemetry equipment, and batteries. We develop a differential GPS system with cm accuracy and a ground computerized navigation system for six degrees of freedom (6-DoF) free flight while tracking navigation commands. We design feedback control loops with yet-to-be-determined gains for the five control "knobs" available to a flying radio-controlled (RC) miniature helicopter: engine throttle, main rotor collective pitch, longitudinal cyclic pitch, lateral cyclic pitch, and tail rotor collective pitch. We develop helicopter flight equations using fundamental dynamics, helicopter momentum theory and blade element theory. The helicopter flight equations include helicopter rotor equations of motions, helicopter rotor forces and moments, helicopter trim equations, helicopter stability derivatives, and a coupled fuselage-rotor helicopter 6-DoF model. The helicopter simulation also includes helicopter engine control equations, a helicopter aerodynamic model, and finally helicopter stability and control equations. The derivation of a set of non-linear equations of motion for the main rotor is a contribution of this thesis work. We design and build two special test stands for training and testing the helicopter to fly attitude axes controlled hover flight, starting with one axis at a time and progressing to multiple axes. The first test stand is built for teaching and testing controlled flight of elevation and yaw (i.e., directional control). The second test stand is built for teaching and testing any one or combination of the following attitude axes controlled flight: (1) pitch, (2) roll and (3) yaw. The subsequent development of a novel method to decouple, stabilize and teach the helicopter hover flight is a primary contribution of this thesis. The novel method included the development of a non-linear modeling technique for linearizing the RPM state equation dynamics so that a simple but accurate transfer function is derivable between the "available torque of the engine" and RPM. Specifically, the main rotor and tail rotor torques are modeled accurately with a bias term plus a nonlinear term involving the product of RPM squared times the main rotor blade pitch angle raised to the three-halves power. Application of this non-linear modeling technique resulted in a simple, representative and accurate transfer function model of the open-loop plant for the entire helicopter system so that all the feedback control laws for autonomous flight purposes could be derived easily using classical control theory. This is one of the contributions of this dissertation work. After discussing the integration of hardware and software elements of our helicopter research test bed system, we perform a number of experiments and tests using the two specially built test stands. Feedback gains are derived for controlling the following: (1) engine throttle to maintain prescribed main rotor angular speed, (2) main rotor collective pitch to maintain constant elevation, (3) longitudinal cyclic pitch to maintain prescribed pitch angle, (4) lateral cyclic pitch to maintain prescribed roll angle, and (5) yaw axis to maintain prescribed compass direction. (Abstract shortened by UMI.)

Flight Performance of the HEROES Solar Aspect System

NASA Astrophysics Data System (ADS)

Shih, Albert Y.; Christe, Steven; Rodriguez, Marcello; Gregory, Kyle; Cramer, Alexander; Edgerton, Melissa; Gaskin, Jessica; O'Connor, Brian; Sobey, Alexander

2014-06-01

Hard X-ray (HXR) observations of solar flares reveal the signatures of energetic electrons, and HXR images with high dynamic range and high sensitivity can distinguish between where electrons are accelerated and where they stop. Furthermore, high-sensitivity HXR measurements may be able to detect the presence of electron acceleration in the non-flaring corona. The High Energy Replicated Optics to Explore the Sun (HEROES) balloon mission added the capability of solar observations to an existing astrophysics balloon payload, HERO, which used grazing-incidence optics for direct HXR imaging. The HEROES Solar Aspect System (SAS) was developed and built to provide pointing knowledge during solar observations to better than the ~20 arcsec FWHM angular resolution of the HXR instrument. The SAS consists of two separate systems: the Pitch-Yaw aspect System (PYAS) and the Roll Aspect System (RAS). The PYAS compares the position of an optical image of the Sun relative to precise fiducials to determine the pitch and yaw pointing offsets from the desired solar target. The RAS images the Earth's horizon in opposite directions simultaneously to determine the roll of the gondola. HEROES launched in September 2013 from Fort Sumner, New Mexico, and had a successful one-day flight. We present the detailed analysis of the performance of the SAS for that flight.

In-flight measurement of the National Oceanic and Atmospheric Administration (NOAA)-10 static Earth sensor error

NASA Technical Reports Server (NTRS)

Harvie, E.; Filla, O.; Baker, D.

1993-01-01

Analysis performed in the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) measures error in the static Earth sensor onboard the National Oceanic and Atmospheric Administration (NOAA)-10 spacecraft using flight data. Errors are computed as the difference between Earth sensor pitch and roll angle telemetry and reference pitch and roll attitude histories propagated by gyros. The flight data error determination illustrates the effect on horizon sensing of systemic variation in the Earth infrared (IR) horizon radiance with latitude and season, as well as the effect of anomalies in the global IR radiance. Results of the analysis provide a comparison between static Earth sensor flight performance and that of scanning Earth sensors studied previously in the GSFC/FDD. The results also provide a baseline for evaluating various models of the static Earth sensor. Representative days from the NOAA-10 mission indicate the extent of uniformity and consistency over time of the global IR horizon. A unique aspect of the NOAA-10 analysis is the correlation of flight data errors with independent radiometric measurements of stratospheric temperature. The determination of the NOAA-10 static Earth sensor error contributes to realistic performance expectations for missions to be equipped with similar sensors.

A Solar Aspect System for the HEROES Mission

NASA Technical Reports Server (NTRS)

Christe, Steven; Shih, Albert; Rodriguez, Marcello; Gregory, Kyle; Cramer, Alexander; Edgerton, Melissa; Gaskin, Jessica; O'Connor, Brian; Sobey, Alexander

2014-01-01

A new Solar Aspect System (SAS) has been developed to provide the ability to observe the Sun on an existing balloon payload HERO (short for High Energy Replicated Optics). Developed under the HEROES program (High Energy Replicated Optics to Explore the Sun), the SAS aspect system provides solar pointing knowledge in pitch, yaw, and roll. The required precision of these measurements must be better than the HEROES X-ray resolution of approximately 20 arcsec Full Width at Half Maximum (FWHM) so as to not degrade the image resolution. The SAS consists of two separate systems: the Pitch-Yaw Aspect System (PYAS) and the Roll Aspect System (RAS). The PYAS functions by projecting an image of the Sun onto a screen with precision fiducials. A CCD camera takes an image of these fiducials, and an automated algorithm determines the location of the Sun as well as the location of the fiducials. The spacing between fiducials is unique and allows each to be identified so that the location of the Sun on the screen can be precisely determined. The RAS functions by imaging the Earth's horizon in opposite directions using a silvered prism imaged by a CCD camera. The design and first results of the performance of these systems during the HEROES flight which occurred in September 2013 are presented here.

Simulations of neuromuscular control in lamprey swimming.

PubMed Central

Ekeberg, O; Grillner, S

1999-01-01

The neuronal generation of vertebrate locomotion has been extensively studied in the lamprey. Models at different levels of abstraction are being used to describe this system, from abstract nonlinear oscillators to interconnected model neurons comprising multiple compartments and a Hodgkin-Huxley representation of the most relevant ion channels. To study the role of sensory feedback by simulation, it eventually also becomes necessary to incorporate the mechanical movements in the models. By using simplifying models of muscle activation, body mechanics, counteracting water forces, and sensory feedback through stretch receptors and vestibular organs, we have been able to close the feedback loop to enable studies of the interaction between the neuronal and the mechanical systems. The neuromechanical simulations reveal that the currently known network is sufficient for generating a whole repertoire of swimming patterns. Swimming at different speeds and with different wavelengths, together with the performance of lateral turns can all be achieved by simply varying the brainstem input. The neuronal mechanisms behind pitch and roll manoeuvres are less clear. We have put forward a 'crossed-oscillators' hypothesis where partly separate dorsal and ventral circuits are postulated. Neuromechanical simulations of this system show that it is also capable of generating realistic pitch turns and rolls, and that vestibular signals can stabilize the posture during swimming. PMID:10382223

Rattleback dynamics and its reversal time of rotation.

PubMed

Kondo, Yoichiro; Nakanishi, Hiizu

2017-06-01

A rattleback is a rigid, semielliptic toy which exhibits unintuitive behavior; when it is spun in one direction, it soon begins pitching and stops spinning, then it starts to spin in the opposite direction, but in the other direction, it seems to spin just steadily. This puzzling behavior results from the slight misalignment between the principal axes for the inertia and those for the curvature; the misalignment couples the spinning with the pitching and the rolling oscillations. It has been shown that under the no-slip condition and without dissipation the spin can reverse in both directions, and Garcia and Hubbard obtained the formula for the time required for the spin reversal t_{r} [Proc. R. Soc. Lond. A 418, 165 (1988)1364-502110.1098/rspa.1988.0078]. In this work, we reformulate the rattleback dynamics in a physically transparent way and reduce it to a three-variable dynamics for spinning, pitching, and rolling. We obtain an expression of the Garcia-Hubbard formula for t_{r} by a simple product of four factors: (1) the misalignment angle, (2) the difference in the inverses of inertia moment for the two oscillations, (3) that in the radii for the two principal curvatures, and (4) the squared frequency of the oscillation. We perform extensive numerical simulations to examine validity and limitation of the formula, and find that (1) the Garcia-Hubbard formula is good for both spinning directions in the small spin and small oscillation regime, but (2) in the fast spin regime especially for the steady direction, the rattleback may not reverse and shows a rich variety of dynamics including steady spinning, spin wobbling, and chaotic behavior reminiscent of chaos in a dissipative system.

Resolution of the COBE Earth sensor anomaly

NASA Technical Reports Server (NTRS)

Sedler, J.

1993-01-01

Since its launch on November 18, 1989, the Earth sensors on the Cosmic Background Explorer (COBE) have shown much greater noise than expected. The problem was traced to an error in Earth horizon acquisition-of-signal (AOS) times. Due to this error, the AOS timing correction was ignored, causing Earth sensor split-to-index (SI) angles to be incorrectly time-tagged to minor frame synchronization times. Resulting Earth sensor residuals, based on gyro-propagated fine attitude solutions, were as large as plus or minus 0.45 deg (much greater than plus or minus 0.10 deg from scanner specifications (Reference 1)). Also, discontinuities in single-frame coarse attitude pitch and roll angles (as large as 0.80 and 0.30 deg, respectively) were noted several times during each orbit. However, over the course of the mission, each Earth sensor was observed to independently and unexpectedly reset and then reactivate into a new configuration. Although the telemetered AOS timing corrections are still in error, a procedure has been developed to approximate and apply these corrections. This paper describes the approach, analysis, and results of approximating and applying AOS timing adjustments to correct Earth scanner data. Furthermore, due to the continuing degradation of COBE's gyroscopes, gyro-propagated fine attitude solutions may soon become unavailable, requiring an alternative method for attitude determination. By correcting Earth scanner AOS telemetry, as described in this paper, more accurate single-frame attitude solutions are obtained. All aforementioned pitch and roll discontinuities are removed. When proper AOS corrections are applied, the standard deviation of pitch residuals between coarse attitude and gyro-propagated fine attitude solutions decrease by a factor of 3. Also, the overall standard deviation of SI residuals from fine attitude solutions decrease by a factor of 4 (meeting sensor specifications) when AOS corrections are applied.

Rattleback dynamics and its reversal time of rotation

NASA Astrophysics Data System (ADS)

Kondo, Yoichiro; Nakanishi, Hiizu

2017-06-01

A rattleback is a rigid, semielliptic toy which exhibits unintuitive behavior; when it is spun in one direction, it soon begins pitching and stops spinning, then it starts to spin in the opposite direction, but in the other direction, it seems to spin just steadily. This puzzling behavior results from the slight misalignment between the principal axes for the inertia and those for the curvature; the misalignment couples the spinning with the pitching and the rolling oscillations. It has been shown that under the no-slip condition and without dissipation the spin can reverse in both directions, and Garcia and Hubbard obtained the formula for the time required for the spin reversal tr [Proc. R. Soc. Lond. A 418, 165 (1988), 10.1098/rspa.1988.0078]. In this work, we reformulate the rattleback dynamics in a physically transparent way and reduce it to a three-variable dynamics for spinning, pitching, and rolling. We obtain an expression of the Garcia-Hubbard formula for tr by a simple product of four factors: (1) the misalignment angle, (2) the difference in the inverses of inertia moment for the two oscillations, (3) that in the radii for the two principal curvatures, and (4) the squared frequency of the oscillation. We perform extensive numerical simulations to examine validity and limitation of the formula, and find that (1) the Garcia-Hubbard formula is good for both spinning directions in the small spin and small oscillation regime, but (2) in the fast spin regime especially for the steady direction, the rattleback may not reverse and shows a rich variety of dynamics including steady spinning, spin wobbling, and chaotic behavior reminiscent of chaos in a dissipative system.

Study to eliminate ground resonance using active controls

NASA Technical Reports Server (NTRS)

Straub, F. K.

1984-01-01

The effectiveness of active control blade feathering in increasing rotor body damping and the possibility to eliminate ground resonance instabilities were investigated. An analytical model representing rotor flapping and lead-lag degrees of freedom and body pitch, roll, longitudinal and lateral motion is developed. Active control blade feathering is implemented as state variable feedback through a conventional swashplate. The influence of various feedback states, feedback gain, and weighting between the cyclic controls is studied through stability and response analyses. It is shown that blade cyclic inplane motion, roll rate and roll acceleration feedback can add considerable damping to the system and eliminate ground resonance instabilities, which the feedback phase is also a powerful parameter, if chosen properly, it maximizes augmentation of the inherent regressing lag mode damping. It is shown that rotor configuration parameters, like blade root hinge offset, flapping stiffness, and precone considerably influence the control effectiveness. It is found that active control is particularly powerful for hingeless and bearingless rotor systems.

Perception of tilt and ocular torsion of vestibular patients during eccentric rotation.

PubMed

Clément, Gilles; Deguine, Olivier

2010-01-04

Four patients following unilateral vestibular loss and four patients complaining of otolith-dependent vertigo were tested during eccentric yaw rotation generating 1 x g centripetal acceleration directed along the interaural axis. Perception of body tilt in roll and in pitch was recorded in darkness using a somatosensory plate that the subjects maintained parallel to the perceived horizon. Ocular torsion was recorded by a video camera. Unilateral vestibular-defective patients underestimated the magnitude of the roll tilt and had a smaller torsion when the centrifugal force was towards the operated ear compared to the intact ear and healthy subjects. Patients with otolithic-dependent vertigo overestimated the magnitude of roll tilt in both directions of eccentric rotation relative to healthy subjects, and their ocular torsion was smaller than in healthy subjects. Eccentric rotation is a promising tool for the evaluation of vestibular dysfunction in patients. Eye torsion and perception of tilt during this stimulation are objective and subjective measurements, which could be used to determine alterations in spatial processing in the CNS.

Wind-Tunnel Investigation at Low Speed of the Rolling Stability Derivatives of a 1/10-Scale Model of the Grumman F9F-9 Airplane, TED No. NACA AD 3109

NASA Technical Reports Server (NTRS)

Wolhart, Walter D.; Thomas, David F., Jr.

1955-01-01

An experimental investigation has been made in the Langley stability tunnel to determine the low-speed yawing, pitching, and static stability characteristics of a 1/10-scale model of the Grumman F9F-9 airplane. Tests were made to determine the effects of duct-entrance-fairing plugs on the static lateral and longitudinal stability characteristics of the complete model in the clean condition. The remaining tests were concerned with determining tail contributions as well as the effect of duct-entrance-fairing plugs, slats, flaps, and landing gear on the yawing and pitching stability derivatives. These data are presented without analysis in order to expedite distribution.

Coordinate Transformation Assembly

NASA Astrophysics Data System (ADS)

Huang, C.-C.; Barney, J.

1983-08-01

The coordinate transformation assembly (CTA) is a non-contact electro-optical device designed to link the angular coordinates between two remote platforms to a high degree of accuracy. Each assembly, which is compact and without moving parts, consists of two units: the transmitter and the receiver. The transmitter consists of one polarizing beamsplitter and two laser diodes with polarized output. The receiver consists of a polarizing beam-splitter, two lenses, a dual-axis photodetector and a regular photodetector. The angular roll is measured about the line-of-sight between two assemblies using a polarizing sensing method. Accuracy is calculated to be better than 0.01 degrees with a signal-to-noise ratio of 35 db. Pitch and yaw are measured relative to the line-of-sight at each assembly by locating a laser spot in the field-of-view of a dual-axis photodetector located in the focal plane of a small lens. The coordinate transformation parameter most difficult to obtain is the roll coordinate because high resolution involves observing a small variation in the difference of two strong signals. Under such an arrangement, any variation in source strength or detector sensitivity will cause an error. In the scheme devised for the CTA, this source of error has been eliminated through a paring and signal processing arrangement wherein the detector sensitivity and the source intensity are made common to the paired measurements and thus eliminated. The ±0.01 degree accuracy of the angular roll as well as the pitch and yaw measurements over ±2 degrees angular range has been demonstrated. An attractive feature of the CTA is that paired assemblies can be deployed to relay coordinates around corners and over extended distances.

High volume nanoscale roll-based imprinting using jet and flash imprint lithography

NASA Astrophysics Data System (ADS)

Ahn, Se Hyun; Miller, Mike; Yang, Shuqiang; Ganapathisubramanian, Maha; Menezes, Marlon; Singh, Vik; Choi, Jin; Xu, Frank; LaBrake, Dwayne; Resnick, Douglas J.; Sreenivasan, S. V.

2013-09-01

Extremely large-area roll-to-roll (R2R) manufacturing on flexible substrates is ubiquitous for applications such as paper and plastic processing. It combines the benefits of high speed and inexpensive substrates to deliver a commodity product at low cost. The challenge is to extend this approach to the realm of nanopatterning and realize similar benefits. In order to achieve low-cost nanopatterning, it is imperative to move toward high-speed imprinting, less complex tools, near zero waste of consumables, and low-cost substrates. We have developed a roll-based J-FIL process and applied it to a technology demonstrator tool, the LithoFlex 100, to fabricate large-area flexible bilayer wire-grid polarizers (WGPs) and high-performance WGPs on rigid glass substrates. Extinction ratios of better than 10,000 are obtained for the glass-based WGPs. Two simulation packages are also employed to understand the effects of pitch, aluminum thickness, and pattern defectivity on the optical performance of the WGP devices. It is determined that the WGPs can be influenced by both clear and opaque defects in the gratings; however, the defect densities are relaxed relative to the requirements of a high-density semiconductor device.

Dynamic stability test results on an 0.024 scale B-1 air vehicle

NASA Technical Reports Server (NTRS)

Beeman, R. R.

1972-01-01

Dynamic longitudinal and lateral-directional stability characteristics of the B-1 air vehicle were investigated in three wind tunnels at the Langley Research Center. The main rotary derivatives were obtained for an angle of attack range of -3 degrees to +16 degrees for a Mach number range of 0.2 to 2.16. Damping in roll data could not be obtained at the supersonic Mach numbers. The Langley 7 x 10 foot high speed tunnel, the 8 foot transonic pressure tunnel, and the 4 foot Unitary Plan wind tunnel were the test sites. An 0.024 scale light-weight model was used on a forced oscillation type balance. Test Reynolds number varied from 474,000/ft to 1,550,000/ft. through the Mach number range tested. The results showed that the dynamic stability characteristics of the model in pitch and roll were generally satisfactory up to an angle attack of about +6 degrees. In the wing sweep range from 15 to 25 degrees the positive damping levels in roll deteriorated rapidly above +2 degrees angle of attack. This reduction in roll damping is believed to be due to the onset of separation over the wing as stall is approached.

Integrated Experimental and Numerical Research on the Aerodynamics of Unsteady Moving Aircraft

DTIC Science & Technology

2007-06-01

blended wing body configuration were tested in different modes of oscillatory motions roll, pitch and yaw as well as delta wing geometries like X-31...airplane configurations (e.g. wide body, green aircraft, blended wing body) the approach up to now using semi-empirical methods as standard...cross section wing. In order to evaluate the influence of individual components of the tested airplane configuration, such as winglets , vertical or

KSC-2009-4794

NASA Image and Video Library

2009-08-19

CAPE CANAVERAL, Fla. – In NASA Kennedy Space Center's Orbiter Processing Facility 2, workers begin removing the forward reaction control system, or FRCS, from space shuttle Endeavour's forward fuselage nose area. The FRCS provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Endeavour is designated as the shuttle for the STS-130 mission, targeted for launch in February 2010. Photo credit: NASA/Jack Pfaller

KSC-2009-4795

NASA Image and Video Library

2009-08-19

CAPE CANAVERAL, Fla. – In NASA Kennedy Space Center's Orbiter Processing Facility 2, a worker removes the forward reaction control system, or FRCS, from space shuttle Endeavour's forward fuselage nose area. The FRCS provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Endeavour is designated as the shuttle for the STS-130 mission, targeted for launch in February 2010. Photo credit: NASA/Jack Pfaller

KSC-05pd2574

NASA Image and Video Library

2005-12-07

KENNEDY SPACE CENTER, FLA. -- In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, installation of the forward reaction control system on Atlantis is complete. The control system fits just behind the nose cone and provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

KSC-05pd2571

NASA Image and Video Library

2005-12-07

KENNEDY SPACE CENTER, FLA. -- In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, workers are installing the forward reaction control system on Atlantis. The control system fits just behind the nose cone and provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

KSC-05pd2569

NASA Image and Video Library

2005-12-06

KENNEDY SPACE CENTER, FLA. -- Inside NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, workers get ready to lift the sling placed round the forward reaction control system that will be installed on Atlantis. The forward reaction control system is located in the forward fuselage nose area. During ascent of the space shuttle, it provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers).

KSC-05pd2570

NASA Image and Video Library

2005-12-07

KENNEDY SPACE CENTER, FLA. -- In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, workers are installing the forward reaction control system on Atlantis. The control system fits just behind the nose cone and provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

KSC-2009-4792

NASA Image and Video Library

2009-08-19

CAPE CANAVERAL, Fla. – The forward reaction control system, or FRCS, will be removed from space shuttle Endeavour's forward fuselage nose area in NASA Kennedy Space Center's Orbiter Processing Facility 2. The FRCS provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Endeavour is designated as the shuttle for the STS-130 mission, targeted for launch in February 2010. Photo credit: NASA/Jack Pfaller

Evaluation of the Malcolm horizon in a moving-base flight simulator

NASA Technical Reports Server (NTRS)

Gillingham, K. K.

1984-01-01

The efficacy of the Malcolm Horizon (MH) in a controlled, simulated, instrument flight environment was examined. Eight flight parameters were used to compare performance under experimental and control conditions. The parameters studied were pitch attitude, roll attitude, turn rate, airspeed, vertical velocity, heading, altitude, and course deviation. Testing of a commercial realization of the MH concept in a flight simulator revealed strengths and weaknesses of the currently available MH hardware.

Visual Perception of Elevation

DTIC Science & Technology

1992-01-20

by bloe num r ) FIELD oOUP suB.O. ’Spatial localization, Pitch, Roll, Eve level, Visual Localizatiyn1 VPR, VPV, Perception,Focentri(i spatia ca...TIlEIPHONE NUMBER 22c. OFFICE SYMIO. Dr. John Tangney (202) 767-5021 AFOSR/N DO FORM 1473, 83 APR EDITION OF I JAN 73 I OBSOLETE. 19 SECURITY... Schermerhorn Hall New York, NY 10027 20 January 1992 Interim Report for Period 1 January 1991 - 31 December 1991 Unclassified Prepared for :i

Wide Area Assessment (WAA) for Marine Munitions and Explosives of Concern

DTIC Science & Technology

2011-08-01

from an integrated inertial system ( Applanix POS MV 320). This high performance system measured vessel pitch, roll, and heave, which was used by...measurement unit (IMU) of the Applanix POS MV 320 (Table 5-1). These offsets are used by the HYPACK®/HYSWEEP® acquisition software to combine and...calibration test (the “patch test” [refer to Section 5.5.3]), and whenever necessary as automatically determined by the Applanix software (POSView), an

Generating an Aerodynamic Model for Projectile Flight Simulation Using Unsteady, Time Accurate Computational Fluid Dynamic Results

DTIC Science & Technology

2006-09-01

Figure 17. Station line center of Magnus force vs. Mach number for spin-stabilized projectile...forces and moments on the projectile. It is also relatively easy to change the wind tunnel model to allow detailed parametric effects to be...such as pitch and roll damping, as well as, Magnus force and moment coefficients, are difficult to obtain in a wind tunnel and require a complex

Detection and Discrimination in One-Pass Using the OPTEMA Towed-Array

DTIC Science & Technology

2014-11-01

pitch, roll , and yaw measurements for the OPTEMA sensor head. The IMU is co-located with the GPS receiver. OPTEMA sensor electronics include the...subtracted from subsequent data sets to isolate the anomaly response. In addition to a background subtraction, a transmitter current normalization is...the survey area. EM3DAcquire provides line following based on the sensor head GPS and IMU data. Using the line following display, the OPTEMA is

Vertical drop test of a transport fuselage center section including the wheel wells

NASA Technical Reports Server (NTRS)

Williams, M. S.; Hayduk, R. J.

1983-01-01

A Boeing 707 fuselage section was drop tested to measure structural, seat, and anthropomorphic dummy response to vertical crash loads. The specimen had nominally zero pitch, roll and yaw at impact with a sink speed of 20 ft/sec. Results from this drop test and other drop tests of different transport sections will be used to prepare for a full-scale crash test of a B-720.

Effects of translational and rotational motions and display polarity on visual performance.

PubMed

Feng, Wen-Yang; Tseng, Feng-Yi; Chao, Chin-Jung; Lin, Chiuhsiang Joe

2008-10-01

This study investigated effects of both translational and rotational motion and display polarity on a visual identification task. Three different motion types--heave, roll, and pitch--were compared with the static (no motion) condition. The visual task was presented on two display polarities, black-on-white and white-on-black. The experiment was a 4 (motion conditions) x 2 (display polarities) within-subjects design with eight subjects (six men and two women; M age = 25.6 yr., SD = 3.2). The dependent variables used to assess the performance on the visual task were accuracy and reaction time. Motion environments, especially the roll condition, had statistically significant effects on the decrement of accuracy and reaction time. The display polarity was significant only in the static condition.

Low-Speed Flight Dynamic Tests and Analysis of the Orion Crew Module Drogue Parachute System

NASA Technical Reports Server (NTRS)

Hahne, David E.; Fremaux, C. Michael

2008-01-01

A test of a dynamically scaled model of the NASA Orion Crew Module (CM) with drogue parachutes was conducted in the NASA-Langley 20-Foot Vertical Spin Tunnel. The primary test objective was to assess the ability of the Orion Crew Module drogue parachute system to adequately stabilize the CM and reduce angular rates at low subsonic Mach numbers. Two attachment locations were tested: the current design nominal and an alternate. Experimental results indicated that the alternate attachment location showed a somewhat greater tendency to attenuate initial roll rate and reduce roll rate oscillations than the nominal location. Comparison of the experimental data to a Program To Optimize Simulated Trajectories (POST II) simulation of the experiment yielded results for the nominal attachment point that indicate differences between the low-speed pitch and yaw damping derivatives in the aerodynamic database and the physical model. Comparisons for the alternate attachment location indicate that riser twist plays a significant role in determining roll rate attenuation characteristics. Reevaluating the impact of the alternate attachment points using a simulation modified to account for these results showed significantly reduced roll rate attenuation tendencies when compared to the original simulation. Based on this modified simulation the alternate attachment point does not appear to offer a significant increase in allowable roll rate over the nominal configuration.

Experimental designs for a Benign Paroxysmal Positional Vertigo model

PubMed Central

2013-01-01

Background The pathology of the Benign Paroxysmal Positional Vertigo (BPPV) is detected by a clinician through maneuvers consisting of a series of consecutive head turns that trigger the symptoms of vertigo in patient. A statistical model based on a new maneuver has been developed in order to calculate the volume of endolymph displaced after the maneuver. Methods A simplification of the Navier‐Stokes problem from the fluids theory has been used to construct the model. In addition, the same cubic splines that are commonly used in kinematic control of robots were used to obtain an appropriate description of the different maneuvers. Then experimental designs were computed to obtain an optimal estimate of the model. Results D‐optimal and c‐optimal designs of experiments have been calculated. These experiments consist of a series of specific head turns of duration Δt and angle α that should be performed by the clinician on the patient. The experimental designs obtained indicate the duration and angle of the maneuver to be performed as well as the corresponding proportion of replicates. Thus, in the D‐optimal design for 100 experiments, the maneuver consisting of a positive 30° pitch from the upright position, followed by a positive 30° roll, both with a duration of one and a half seconds is repeated 47 times. Then the maneuver with 60° /6° pitch/roll during half a second is repeated 16 times and the maneuver 90° /90° pitch/roll during half a second is repeated 37 times. Other designs with significant differences are computed and compared. Conclusions A biomechanical model was derived to provide a quantitative basis for the detection of BPPV. The robustness study for the D‐optimal design, with respect to the choice of the nominal values of the parameters, shows high efficiencies for small variations and provides a guide to the researcher. Furthermore, c‐optimal designs give valuable assistance to check how efficient the D‐optimal design is for the estimation of each of the parameters. The experimental designs provided in this paper allow the physician to validate the model. The authors of the paper have held consultations with an ENT consultant in order to align the outline more closely to practical scenarios. PMID:23509996

A combined Earth scanner and momentum wheel for attitude determination and control of small spacecraft

NASA Astrophysics Data System (ADS)

Bialke, Bill

1992-05-01

In order to satisfy the stringent cost and power requirements of small satellites, an advanced SCANWHEEL was designed, built, and qualified by ITHACO, Inc. The T-SCANWHEEL is a modular momentum/reaction wheel with an integral conical Earth scanner. The momentum wheel provides momentum bias and control torques about the pitch axis of a spacecraft. An angled scan mirror coupled to the rotating shaft of the momentum wheel provides a conical scan of the field-of-view of an infrared sensor to provide pitch-and-roll attitude information. By using the same motor and bearings for the momentum wheel and Earth scanner, the overall power consumption is reduced and the system reliability is enhanced. The evolution of the T-SCANWHEEL is presented, including design ground rules, tradeoff analyses, and performance results.

The aerodynamic analysis of the gyroplane rotating-wing system

NASA Technical Reports Server (NTRS)

Wheatley, John B

1934-01-01

An aerodynamic analysis of the gyroplane rotating-wing system is presented herein. This system consists of a freely rotating rotor in which opposite blades are rigidly connected and allowed to rotate or feather freely about their span axis. Equations have been derived for the lift, the lift-drag ratio, the angle of attack, the feathering angles, and the rolling and pitching moments of a gyroplane rotor in terms of its basic parameters. Curves of lift-drag ratio against lift coefficient have been calculated for a typical case, showing the effect of varying the pitch angle, the solidarity, and the average blade-section drag coefficient. The analysis expresses satisfactorily the qualitative relations between the rotor characteristics and the rotor parameters. As disclosed by this investigation, the aerodynamic principles of the gyroplane are sound, and further research on this wing system is justified.

KSC-05pd2572

NASA Image and Video Library

2005-12-07

KENNEDY SPACE CENTER, FLA. -- In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, technicians check details for the installation of the forward reaction control system on Atlantis (behind them). The control system fits just behind the nose cone and provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

KSC-05pd2573

NASA Image and Video Library

2005-12-07

KENNEDY SPACE CENTER, FLA. -- In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, a technician inspects a point of installation of the forward reaction control system on Atlantis. The control system fits just behind the nose cone and provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers). Processing of Atlantis is under way for mission STS-115, the 19th flight to the International Space Station.

Research developing closed loop roll control for magnetic balance systems

NASA Technical Reports Server (NTRS)

Covert, E. E.; Haldeman, C. W.

1981-01-01

Computer inputs were interfaced to the magnetic balance outputs to provide computer position control and data acquisition. The use of parameter identification of a means of determining dynamic characteristics was investigated. The thyraton and motor generator power supplies for the pitch and yaw degrees of freedom were repaired. Topics covered include: choice of a method for handling dynamic system data; applications to the magnetic balance; the computer interface; and wind tunnel tests, results, and error analysis.

Image stretching on a curved surface to improve satellite gridding

NASA Technical Reports Server (NTRS)

Ormsby, J. P.

1975-01-01

A method for substantially reducing gridding errors due to satellite roll, pitch and yaw is given. A gimbal-mounted curved screen, scaled to 1:7,500,000, is used to stretch the satellite image whereby visible landmarks coincide with a projected map outline. The resulting rms position errors averaged 10.7 km as compared with 25.6 and 34.9 km for two samples of satellite imagery upon which image stretching was not performed.

MetalMapper: A Multi-Sensor TEM System for UXO Detection and Classification

DTIC Science & Technology

2011-02-01

accelerometer  to  measure  pitch  and  roll  angles  and  a  3-­axis   fluxgate   magnetometer  that  provides   reference  heading  to  magnetic...investigations  included  a   magnetometer  transect  survey   and   an   EMI   survey   over   a   larger   area   to   assist   in   selecting   a

Using the HARV simulation aerodynamic model to determine forebody strake aerodynamic coefficients from flight data

NASA Technical Reports Server (NTRS)

Messina, Michael D.

1995-01-01

The method described in this report is intended to present an overview of a process developed to extract the forebody aerodynamic increments from flight tests. The process to determine the aerodynamic increments (rolling pitching, and yawing moments, Cl, Cm, Cn, respectively) for the forebody strake controllers added to the F/A - 18 High Alpha Research Vehicle (HARV) aircraft was developed to validate the forebody strake aerodynamic model used in simulation.

An Approach to Prognostic Decision Making in the Aerospace Domain

DTIC Science & Technology

2012-09-01

jumps to other promising locations of the search space. The probability of continuing with the local search vs . performing a jump is influenced by an...and right, respectively. Altitude h is determined using λ, φ and a terrain map M...ωFR, ωBL, ωBR attitude (yaw, pitch, roll) α, β, γ battery temperature Tb1, Tb2, Tb3, Tb4 battery voltage Vb1, Vb2, Vb3, Vb4 motor temperature TmFL

Active Control of Forebody Vortices on a schematic Aircraft Model

DTIC Science & Technology

2001-06-01

coeffi- The system comprised two miniature soleniod on/off cient (C, = 0.0013) was sufficient to reliably switch pneumatic valves to control the flow to...method and time-average rolling moment, pitching moment, and normal force. Nomenclature T duration a valve is open during the alternating blow- b wing...reasonably high reduced frequency of the valves , and the tubes that delivered the air to the (* =0.16). Having established that the forebody vor- nozzles

Novel, Post-Stall, Thrust-Vectored F-15 RPVs: Laboratory and Flight Tests

DTIC Science & Technology

1990-04-24

Flight Tests Program Manager : Douglas Bowers 1ST-Year Report Principal Investigator: Benjamin 6al-Or April 24, 1990 DTIC.LECTE AUG201990 i/ E...constructed. The geometry, dimensions and preliminary wind-tunnel test data for such a design are provided In Appendix A. If funded, such a 3rd...Preliminary Calibration Flight Test Data Obtained from the Onboard Computer ........ 33 Talless, PST-RaNPAS, Roll-Yaw-Pitch, Thrust-Vectored, PST F-15 (Cf. ADp

SeaVipers- Computer Vision and Inertial Position/Reference Sensor System (CVIPRSS)

DTIC Science & Technology

2015-08-01

uses an Inertial Measurement Unit (IMU) to detect changes in roll , pitch, and yaw (x-, y-, and z-axis movement). We use a 9DOF Razor IMU from SparkFun... inertial measurement unit (IMU) and cameras that are hardware synchronized to provide close coupling. Several fast food companies, Internet giants like...light cameras [32]. 4.1.4 Inertial Measurement Unit To assist the PTU in video stabilization for the camera and aiming the rangefinder, Sea- Vipers

Micro Autonomous Systems Research: A Methodology for Quantitative Technology Assessment and Prototyping of Unmanned Vehicles

DTIC Science & Technology

2014-06-06

Structure Flex Joints 6828 68% Power Primary: Lithium-Ion 7530 75% Secondary: Fuel Cells (miniature) 8843 88% Sensors IMU /LIDAR 7713 77...mission requirements taken into account; the payload included a LIDAR, sonar, and an IMU . Moreover, the focus moved to the integration of the entire...negligible for any pitch or roll angle less than 15 degrees. The small deflection assumption utilized instead seeks to minimize momentum generation. To

Non-uniqueness of the point of application of the buoyancy force

NASA Astrophysics Data System (ADS)

Kliava, Janis; Mégel, Jacques

2010-07-01

Even though the buoyancy force (also known as the Archimedes force) has always been an important topic of academic studies in physics, its point of application has not been explicitly identified yet. We present a quantitative approach to this problem based on the concept of the hydrostatic energy, considered here for a general shape of the cross-section of a floating body and for an arbitrary angle of heel. We show that the location of the point of application of the buoyancy force essentially depends (i) on the type of motion experienced by the floating body and (ii) on the definition of this point. In a rolling/pitching motion, considerations involving the rotational moment lead to a particular dynamical point of application of the buoyancy force, and for some simple shapes of the floating body this point coincides with the well-known metacentre. On the other hand, from the work-energy relation it follows that in the rolling/pitching motion the energetical point of application of this force is rigidly connected to the centre of buoyancy; in contrast, in a vertical translation this point is rigidly connected to the centre of gravity of the body. Finally, we consider the location of the characteristic points of the floating bodies for some particular shapes of immersed cross-sections. The paper is intended for higher education level physics teachers and students.

Using music[al] knowledge to represent expressions of emotions.

PubMed

Alexander, Stewart C; Garner, David Kirkland; Somoroff, Matthew; Gramling, David J; Norton, Sally A; Gramling, Robert

2015-11-01

Being able to identify expressions of emotion is crucial to effective clinical communication research. However, traditional linguistic coding systems often cannot represent emotions that are expressed nonlexically or phonologically (i.e., not through words themselves but through vocal pitch, speed/rhythm/tempo, and volume). Using audio recording of a palliative care consultation in the natural hospital setting, two experienced music scholars employed Western musical notation, as well as the graphic realization of a digital audio program (Piano roll visualization), to visually represent the sonic features of conversation where a patient has an emotional "choke" moment. Western musical notation showed the ways that changes in pitch and rate correspond to the patient's emotion: rising sharply in intensity before slowly fading away. Piano roll visualization is a helpful supplement. Using musical notation to illustrate palliative care conversations in the hospital setting can render visible for analysis several aspects of emotional expression that researchers otherwise experience as intuitive or subjective. Various forms and formats of musical notation techniques and sonic visualization technologies should be considered as fruitful and complementary alternatives to traditional coding tools in clinical communications research. Musical notation offers opportunity for both researchers and learners to "see" how communication evolves in clinical encounters, particularly where the lexical and phonological features of interpersonal communication are concordant and discordant with one another. Copyright © 2015. Published by Elsevier Ireland Ltd.

The Effect of Blunt-Trailing-Edge Modifications on the High-Speed Stability and Control Characteristics of a Swept-Wing Fighter Airplane

NASA Technical Reports Server (NTRS)

Sadoff, Melvin; Matteson, Frederick H.; Van Dyke, Rudolph D., Jr.

1954-01-01

An investigation was conducted on a 35 deg swept-wing fighter airplane to determine the effects of several blunt-trailing-edge modifications to the wing and tail on the high-speed stability and control characteristics and tracking performance. The results indicated significant improvement in the pitch-up characteristics for the blunt-aileron configuration at Mach numbers around 0.90. As a result of increased effectiveness of the blunt-trailing-edge aileron, the roll-off, customarily experienced with the unmodified airplane in wings-level flight between Mach numbers of about 0.9 and 1.0 was eliminated, The results also indicated that the increased effectiveness of the blunt aileron more than offset the large associated aileron hinge moment, resulting in significant improvement in the rolling performance at Mach numbers between 0.85 and 1.0. It appeared from these results that the tracking performance with the blunt-aileron configuration in the pitch-up and buffeting flight region at high Mach numbers was considerably improved over that of the unmodified airplane; however, the tracking errors of 8 to 15 mils were definitely unsatisfactory. A drag increment of about O.OOl5 due to the blunt ailerons was noted at Mach numbers to about 0.85. The drag increment was 0 at Mach numbers above 0.90.

DARPA/AFRL/NASA Smart Wing Second Wind Tunnel Test Results

NASA Technical Reports Server (NTRS)

Scherer, L. B.; Martin, C. A.; West, M.; Florance, J. P.; Wieseman, C. D.; Burner, A. W.; Fleming, G. A.

2001-01-01

To quantify the benefits of smart materials and structures adaptive wing technology, Northrop Grumman Corp. (NGC) built and tested two 16% scale wind tunnel models (a conventional and a "smart" model) of a fighter/attack aircraft under the DARPA/AFRL/NASA Smart Materials and Structures Development - Smart Wing Phase 1. Performance gains quantified included increased pitching moment (C(sub M)), increased rolling moment (C(subl)) and improved pressure distribution. The benefits were obtained for hingeless, contoured trailing edge control surfaces with embedded shape memory alloy (SMA) wires and spanwise wing twist effected by SMA torque tube mechanisms, compared to conventional hinged control surfaces. This paper presents an overview of the results from the second wind tunnel test performed at the NASA Langley Research Center s (LaRC) 16ft Transonic Dynamic Tunnel (TDT) in June 1998. Successful results obtained were: 1) 5 degrees of spanwise twist and 8-12% increase in rolling moment utilizing a single SMA torque tube, 2) 12 degrees of deflection, and 10% increase in rolling moment due to hingeless, contoured aileron, and 3) demonstration of optical techniques for measuring spanwise twist and deflected shape.

Smart wing wind tunnel test results

NASA Astrophysics Data System (ADS)

Scherer, Lewis B.; Martin, Christopher A.; Appa, Kari; Kudva, Jayanth N.; West, Mark N.

1997-05-01

The use of smart materials technologies can provide unique capabilities in improving aircraft aerodynamic performance. Northrop Grumman built and tested a 16% scale semi-span wind tunnel model of the F/A-18 E/F for the on-going DARPA/WL Smart Materials and Structures-Smart Wing Program. Aerodynamic performance gains to be validated included increase in the lift to drag ratio, increased pitching moment (Cm), increased rolling moment (Cl) and improved pressure distribution. These performance gains were obtained using hingeless, contoured trailing edge control surfaces with embedded shape memory alloy (SMA) wires and spanwise wing twist via a SMA torque tube and are compared to a conventional wind tunnel model with hinged control surfaces. This paper presents an overview of the results from the first wind tunnel test performed at the NASA Langley's 16 ft Transonic Dynamic Tunnel. Among the benefits demonstrated are 8 - 12% increase in rolling moment due to wing twist, a 10 - 15% increase in rolling moment due to contoured aileron, and approximately 8% increase in lift due to contoured flap, and improved pressure distribution due to trailing edge control surface contouring.

DARPA/ARFL/NASA Smart Wing second wind tunnel test results

NASA Astrophysics Data System (ADS)

Scherer, Lewis B.; Martin, Christopher A.; West, Mark N.; Florance, Jennifer P.; Wieseman, Carol D.; Burner, Alpheus W.; Fleming, Gary A.

1999-07-01

To quantify the benefits of smart materials and structures adaptive wing technology. Northrop Grumman Corp. built and tested two 16 percent scale wind tunnel models of a fighter/attach aircraft under the DARPA/AFRL/NASA Smart Materials and Structures Development - Smart Wing Phase 1. Performance gains quantified included increased pitching moment, increased rolling moment and improved pressure distribution. The benefits were obtained for hingeless, contoured trailing edge control surfaces with embedded shape memory alloy wires and spanwise wing twist effected by SMA torque tube mechanism, compared to convention hinged control surfaces. This paper presents an overview of the results from the second wind tunnel test performed at the NASA Langley Research Center's 16 ft Transonic Dynamic Tunnel in June 1998. Successful results obtained were: 1) 5 degrees of spanwise twist and 8-12 percent increase in rolling moment utilizing a single SMA torque tube, 2) 12 degrees of deflection, and 10 percent increase in rolling moment due to hingeless, contoured aileron, and 3) demonstration of optical techniques for measuring spanwise twist and deflected shape.

Measurement of the Energy-Dependent Angular Response of the ARES Detector System and Application to Aerial Imaging

NASA Astrophysics Data System (ADS)

Joshi, Tenzing H. Y.; Quiter, Brian J.; Maltz, Jonathan S.; Bandstra, Mark S.; Haefner, Andrew; Eikmeier, Nicole; Wagner, Eric; Luke, Tanushree; Malchow, Russell; McCall, Karen

2017-07-01

The Airborne Radiological Enhanced-sensor System (ARES) includes a prototype helicopter-borne CsI(Na) detector array that has been developed as part of the DHS Domestic Nuclear Detection Office Advanced Technology Demonstration. The detector system geometry comprises two pairs of 23-detector arrays designed to function as active masks, providing additional angular resolution of measured gamma rays in the roll dimension. Experimental measurements, using five radioisotopes (137Cs, 60Co, 241Am, 131I, and 99mTc), were performed to map the detector response in both roll and pitch dimensions. This paper describes the acquisition and analysis of these characterization measurements, calculation of the angular response of the ARES system, and how this response function is used to improve aerial detection and localization of radiological and nuclear threat sources.

A Statistical Study of Electron Butterfly Pitch Angle Distributions Using POLAR

NASA Astrophysics Data System (ADS)

Duguay, R. T.; Fritz, T. A.

2002-05-01

indent 15pt As the line of apsides of the orbit of the POLAR spacecraft has precessed, the radial distance at which the orbit of the spacecraft intersects the equatorial plane has steadily increased. Beginning in 1999, the crossing exceeded distances of six Earth radii and a particle distribution exhibiting a deficiency in particles with pitch angles nearly perpendicular to magnetic field lines was frequently observed in the energetic electron measurements made by the POALR CEPPAD HIST and IES sensors. (Blake, et al, 1995) Such particle distributions, known as "butterfly" distributions, represent a region in pitch angle space that is shadowed by the magnetopause and can provide information about its stand off distance. The occurrence of "butterfly" distributions also reflects the configuration and combined influence of the Earth's magnetosphere and the dawn to dusk electric field. In particular, the study observed sector versus time roll plots for data recorded between the years 1999 and 2001. Information corresponding to the spacecraft entering such regions of particle pitch angle distribution was collected and analyzed. Polar plots of magnetic local time versus radial distance have been generated and are compared to equatorial contours of constant magnetic field, as well as to the theoretical motion of such particles constrained under the 1st adiabatic invariant within realistic magnetic and electric fields. Blake, et al, Space Science Reviews 71: 531-562, 1995. 1995 Kluwer academic Publishers. Printed in Belgium.

Optimal redesign study of the harm wing

NASA Technical Reports Server (NTRS)

Mcintosh, S. C., Jr.; Weynand, M. E.

1984-01-01

The purpose of this project was to investigate the use of optimization techniques to improve the flutter margins of the HARM AGM-88A wing. The missile has four cruciform wings, located near mid-fuselage, that are actuated in pairs symmetrically and antisymmetrically to provide pitch, yaw, and roll control. The wings have a solid stainless steel forward section and a stainless steel crushed-honeycomb aft section. The wing restraint stiffness is dependent upon wing pitch amplitude and varies from a low value near neutral pitch attitude to a much higher value at off-neutral pitch attitudes, where aerodynamic loads lock out any free play in the control system. The most critical condition for flutter is the low-stiffness condition in which the wings are moved symmetrically. Although a tendency toward limit-cycle flutter is controlled in the current design by controller logic, wing redesign to improve this situation is attractive because it can be accomplished as a retrofit. In view of the exploratory nature of the study, it was decided to apply the optimization to a wing-only model, validated by comparison with results obtained by Texas Instruments (TI). Any wing designs that looked promising were to be evaluated at TI with more complicated models, including body modes. The optimization work was performed by McIntosh Structural Dynamics, Inc. (MSD) under a contract from TI.

Attitude symbology for helmet-mounted displays: lessons learned

NASA Astrophysics Data System (ADS)

Drewery, Chris C.; Davy, Eleanor C.; Dudfield, Helen J.

1997-06-01

This paper will review recent research on attitude symbology on helmet-mounted displays (HMDs) for the air-to-ground mission. General issues concerned with HMDs will be discussed and the lessons learned during the research will be outlined. It is suggested that a sound development approach to HMD symbology is critical since such symbology will constantly follow the pilot's line of sight (LOS). Further, the HMD field-of-view (FOV) is likely to be limited. Hence, if HMDs are to be used operationally for more than weapon aiming a number of human factors issues need to be investigated, such as the optimal method of presenting attitude information. The pitch ladder was designed to be presented along the boresight, directly in the pilot's LOS, at a fixed frame of reference. As pilots are used to and have been trained upon attitude information presented in consistency with the forward LOS, information representative of the pitch ladder may be beneficial on HMDs. None the less, since the pitch ladder was not designed for the HMD, novel formats may be more appropriate. As with all novel attitude symbology, enhanced operational performance must always be demonstrated and substantiated against the conventional existing symbology. Several experiments will be described which compared the pitch ladder to novel symbology, namely: the cylinder display; the arc segmented attitude reference display; and the modified roll-pitch display. These experiments were conducted using a variety of operationally relevant mission tasks and scenarios. The results will be summarized and the lessons learned for prototyping attitude symbology on HMDs will be discussed.

KSC-05pd2567

NASA Image and Video Library

2005-12-06

KENNEDY SPACE CENTER, FLA. -- Inside NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, workers make adjustments to the sling being placed round the forward reaction control system that will be installed on Atlantis. When ready, the shuttle equipment will be lifted for installation. The forward reaction control system is located in the forward fuselage nose area. During ascent of the space shuttle, it provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers).

KSC-05pd2566

NASA Image and Video Library

2005-12-06

KENNEDY SPACE CENTER, FLA. -- Inside NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, workers move the sling into place around the forward reaction control system that will be installed on Atlantis. When ready, the shuttle equipment will be lifted for installation. The forward reaction control system is located in the forward fuselage nose area. During ascent of the space shuttle, it provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers).

KSC-05pd2568

NASA Image and Video Library

2005-12-06

KENNEDY SPACE CENTER, FLA. -- Inside NASA Kennedy Space Center’s Orbiter Processing Facility Bay 1, workers secure the overhead crane to the sling placed round the forward reaction control system that will be installed on Atlantis. When ready, the shuttle equipment will be lifted for installation. The forward reaction control system is located in the forward fuselage nose area. During ascent of the space shuttle, it provides the thrust for attitude (rotational) maneuvers (pitch, yaw and roll) and for small velocity changes along the orbiter axis (translation maneuvers).

Workout Machine

NASA Technical Reports Server (NTRS)

1995-01-01

The Orbotron is a tri-axle exercise machine patterned after a NASA training simulator for astronaut orientation in the microgravity of space. It has three orbiting rings corresponding to roll, pitch and yaw. The user is in the middle of the inner ring with the stomach remaining in the center of all axes, eliminating dizziness. Human power starts the rings spinning, unlike the NASA air-powered system. Marketed by Fantasy Factory (formerly Orbotron, Inc.), the machine can improve aerobic capacity, strength and endurance in five to seven minute workouts.

Preliminary investigation of motion requirements for the simulation of helicopter hover tasks

NASA Technical Reports Server (NTRS)

Parrish, R. V.

1980-01-01

Data from a preliminary experiment are presented which attempted to define a helicopter hover task that would allow the detection of objectively-measured differences in fixed base/moving base simulator performance. The addition of heave, pitch, and roll movement of a ship at sea to the hover task, by means of an adaption of a simulator g-seat, potentially fulfills the desired definition. The feasibility of g-seat substitution for platform motion can be investigated utilizing this task.

A Photogrammetric System for Model Attitude Measurement in Hypersonic Wind Tunnels

NASA Technical Reports Server (NTRS)

Jones, Thomas W.; Lunsford, Charles B.

2007-01-01

A series of wind tunnel tests have been conducted to evaluate a multi-camera videogrammetric system designed to measure model attitude in hypersonic facilities. The technique utilizes processed video data and photogrammetric principles for point tracking to compute model position including pitch, roll and yaw. A discussion of the constraints encountered during the design, and a review of the measurement results obtained from the NASA Langley Research Center (LaRC) 31-Inch Mach 10 tunnel are presented.

An integral equation formulation for predicting radiation patterns of a space shuttle annular slot antenna

NASA Technical Reports Server (NTRS)

Jones, J. E.; Richmond, J. H.

1974-01-01

An integral equation formulation is applied to predict pitch- and roll-plane radiation patterns of a thin VHF/UHF (very high frequency/ultra high frequency) annular slot communications antenna operating at several locations in the nose region of the space shuttle orbiter. Digital computer programs used to compute radiation patterns are given and the use of the programs is illustrated. Experimental verification of computed patterns is given from measurements made on 1/35-scale models of the orbiter.

Vectors and Rotations in 3-Dimensions: Vector Algebra for the C++ Programmer

DTIC Science & Technology

2016-12-01

Proving Ground, MD 21005-5068 This report describes 2 C++ classes: a Vector class for performing vector algebra in 3-dimensional space ( 3D ) and a Rotation...class for performing rotations of vectors in 3D . Each class is self-contained in a single header file (Vector.h and Rotation.h) so that a C...vector, rotation, 3D , quaternion, C++ tools, rotation sequence, Euler angles, yaw, pitch, roll, orientation 98 Richard Saucier 410-278-6721Unclassified

User’s Manual for the Ride Motion Simulator

DTIC Science & Technology

1989-08-01

1800 psi). Step 16. Pressurize the system by moving the main pressure switch to "ON." Wait for the roll, pitch, and yaw error signals to go to "Zero...Carefully, help the test subject dismount. Step 41. Flip the main pressure switch on the hydraulic control panel to "OFF." This will block hydraulic...1.13, thus lowering the seat. Release the "Low Limit Override" switch. Step 5. Dismount the test subject. Step 6. Move the main pressure switch to the

Safety Assessment of TACOM’s Ride Motion Simulator

DTIC Science & Technology

1990-01-24

level (1300 to 1800 psi). 24 Step 16. Pressurize the system by moving the main pressure switch to "ON." Wait for the roll, pitch, and yaw error signals...the appropriate seat/shoulder/safety belts and harnesses. Carefully, help the test subject dismount. Step 41. Flip the main pressure switch on the...Dismount the test subject. Step 6. Move the main pressure switch to the "OFF" position. This will block any hydraulic flow to the system. Step 7. Move the

Experimental study of tail-span effects on a generic canard-controlled missile

NASA Technical Reports Server (NTRS)

Blair, A. B., Jr.; Dillon, James L.; Watson, Carolyn B.

1992-01-01

An experimental investigation was conducted on a cruciform canard controlled missile configuration to determine the effects of tail span/canard span ratio on controllability. The investigation was conducted over the Mach number range of 1.75 to 3.50. Reductions of tail span/canard span ratio produced lower static margins and higher trim angle of attack. The results show that canard controls can provide pitch- and yaw-control as well as roll-control by proper selection of the tail span/canard span ratio.

Communication and Distributed Control in Multi-Agent Systems

DTIC Science & Technology

2011-08-01

centre of mass of the simulated aircraft and moving with them, we can identify three class of rotations allowed to the MAVs: yaw, pitch, and roll. In...a customised version of the swinglet1 (see Figure 1), a 420g light 80cm wing-span mono/fixed-wing MAV produced by senseFlyTM2, generally used for...replicate its work in a faithful way. 2.3.2 Customised (Parker’s-based) implementation of Reynolds’ algo- rithm As aforementioned there are some degrees of

An introduction to the physical aspects of helicopter stability

NASA Technical Reports Server (NTRS)

Gessow, Alfred; Amer, Kenneth B

1950-01-01

In order to provide engineers interested in rotating-wing aircraft, but with no specialized training in stability theory, some understanding of the factors that influence the flying qualities of the helicopter, an explanation is made of both the static stability and the stick-fixed oscillation in hovering and forward flight in terms of fundamental physical quantities. Three significant stability factors -- static stability with angle of attack, static stability with speed, and damping due to a pitching or rolling velocity -- are explained in detail.

Demonstration of a Wire Suspension for Virtual Flight Testing in a Wind Tunnel

DTIC Science & Technology

2009-02-01

They were connected by the roll shaft, which rotates in a pair of bearings. These bearings supported both radial and axial loads . Loads were...an axial load , and a radial ball bearing to support the radial loads . To determine whether the anticipated bearing friction is acceptable, we modeled... axial load due to cable pre-tension. Analysis showed that the best choice of pitch bearings is a combin- ation of a ball thrust bearing, which will carry

Deep Mapping of Teuthivorous Whales and Their Prey Fields

DTIC Science & Technology

2016-01-01

0.05 m), heading (±0.1⁰), pitch (±0.3⁰) and roll (±0.3⁰). Level flight is especially important for these acoustic sensors making measurements 600 m...5d. PROJECT NUMBER RC-2112 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Oregon...active acoustic measurements now allow us to use this powerful remote sensing tool to assess squid behavior and distribution in water depths up to

Demonstration of Advanced Geophysics and Classification Methods on Munitions Response Sites: Closed Castner Range Fort Bliss, TX

DTIC Science & Technology

2016-04-01

Program ft foot/feet GPS Global Positioning System HE High Explosive ID Identification IDA Institute for Defense Analysis IMU Inertial Measurement Unit ISO...were replaced with two ski-shaped runners, and a new mount above the array was used to hold the Inertial Measurement Unit (IMU) and Trimble R8 Real...to collect a cued data measurement (Figure 9). The instrument’s pitch, roll , and yaw angles automatically were measured by the IMU. These angles and

Crosswind stability of FSAE race car considering the location of the pressure center

NASA Astrophysics Data System (ADS)

Zhao, Lijun; He, Huimin; Wang, Jianfeng; Li, Yaou; Yang, Na; Liu, Yiqun

2017-09-01

An 8-DOF vehicle dynamic model of FSAE race car was established, including the lateral motion, pitch motion, roll motion, yaw motion and four tires rotation. The model of aerodynamic lateral force and pressure center model were set up based on the vehicle speed and crosswind parameters. The simulation model was built by Simulink, to analyse the crosswind stability for straight-line condition. Results showed that crosswind influences the yawing velocity and sideslip angle seriously.

The response of an airplane to random atmospheric disturbances

NASA Technical Reports Server (NTRS)

Diederich, Franklin W

1957-01-01

The statistical approach to the gust-load problem which consists in considering flight through turbulent air to be a stationary random process is extended by including the effect of lateral variation of the instantaneous gust intensity on the aerodynamic forces. The forces obtained in this manner are used in dynamic analyses of rigid and flexible airplanes free to move vertically, in pitch, and in roll. The effect of the interaction of longitudinal, vertical, and lateral gusts on the wing stresses is also considered.

Interaction between Brash Ice and Boat Propulsion Systems

DTIC Science & Technology

2014-02-01

1 15 Data Acquisition/Instrumentation Data Acquisition An Astro -Med Inc. TMX portable Data recorder was used to capture all the data during the...Technology Inc. (AMTI) underwater MC37 transducer. The range for loads in Fx , Fy, and Fz was 1,112 N; the range for moment in My and Mz was 85 N-M and...mounting bracket. Positive force ( Fx ) is recorded as a load pushing on the bow of the boat towards the stern. Pitch and roll of the boat was measured

Large-scale wind-tunnel investigation of a close-coupled canard-delta-wing fighter model through high angles of attack

NASA Technical Reports Server (NTRS)

Stoll, F.; Koenig, D. G.

1983-01-01

Data obtained through very high angles of attack from a large-scale, subsonic wind-tunnel test of a close-coupled canard-delta-wing fighter model are analyzed. The canard delays wing leading-edge vortex breakdown, even for angles of attack at which the canard is completely stalled. A vortex-lattice method was applied which gave good predictions of lift and pitching moment up to an angle of attack of about 20 deg, where vortex-breakdown effects on performance become significant. Pitch-control inputs generally retain full effectiveness up to the angle of attack of maximum lift, beyond which, effectiveness drops off rapidly. A high-angle-of-attack prediction method gives good estimates of lift and drag for the completely stalled aircraft. Roll asymmetry observed at zero sideslip is apparently caused by an asymmetry in the model support structure.

Assessment of rail long-pitch corrugation

NASA Astrophysics Data System (ADS)

Valehrach, Jan; Guziur, Petr; Riha, Tomas; Plasek, Otto

2017-09-01

The paper focuses on defects of the running surface of the rail, namely the rail corrugation defect and specifically long-pitch corrugation in curves of small radii. These defects cause a shorter life of the rails, greater maintenance costs and increase the noise and vibration pollution. Therefore, it is very important to understand the formation and development of the imperfection of the rails. In the paper, various sections of railway tracks in the Czech Republic are listed, each of them completed with comparison of defect development, the particular track superstructure, rolling stock, axle load, traffic load etc. Based on performed measurements, defect development has been proved as different on sections with similar (or even same) parameters. The paper assumes that a train velocity is the significant circumstance for defect development rates. Assessment of track section with under sleeper pads, which are expected to be the one of the possible ways to suppress the corrugation defect development, is included in evaluation.

Spatial orientation of caloric nystagmus in semicircular canal-plugged monkeys.

PubMed

Arai, Yasuko; Yakushin, Sergei B; Cohen, Bernard; Suzuki, Jun-Ichi; Raphan, Theodore

2002-08-01

We studied caloric nystagmus before and after plugging all six semicircular canals to determine whether velocity storage contributed to the spatial orientation of caloric nystagmus. Monkeys were stimulated unilaterally with cold ( approximately 20 degrees C) water while upright, supine, prone, right-side down, and left-side down. The decline in the slow phase velocity vector was determined over the last 37% of the nystagmus, at a time when the response was largely due to activation of velocity storage. Before plugging, yaw components varied with the convective flow of endolymph in the lateral canals in all head orientations. Plugging blocked endolymph flow, eliminating convection currents. Despite this, caloric nystagmus was readily elicited, but the horizontal component was always toward the stimulated (ipsilateral) side, regardless of head position relative to gravity. When upright, the slow phase velocity vector was close to the yaw and spatial vertical axes. Roll components became stronger in supine and prone positions, and vertical components were enhanced in side down positions. In each case, this brought the velocity vectors toward alignment with the spatial vertical. Consistent with principles governing the orientation of velocity storage, when the yaw component of the velocity vector was positive, the cross-coupled pitch or roll components brought the vector upward in space. Conversely, when yaw eye velocity vector was downward in the head coordinate frame, i.e., negative, pitch and roll were downward in space. The data could not be modeled simply by a reduction in activity in the ipsilateral vestibular nerve, which would direct the velocity vector along the roll direction. Since there is no cross coupling from roll to yaw, velocity storage alone could not rotate the vector to fit the data. We postulated, therefore, that cooling had caused contraction of the endolymph in the plugged canals. This contraction would deflect the cupula toward the plug, simulating ampullofugal flow of endolymph. Inhibition and excitation induced by such cupula deflection fit the data well in the upright position but not in lateral or prone/supine conditions. Data fits in these positions required the addition of a spatially orientated, velocity storage component. We conclude, therefore, that three factors produce cold caloric nystagmus after canal plugging: inhibition of activity in ampullary nerves, contraction of endolymph in the stimulated canals, and orientation of eye velocity to gravity through velocity storage. Although the response to convection currents dominates the normal response to caloric stimulation, velocity storage probably also contributes to the orientation of eye velocity.

Microwave background anisotropies in quasiopen inflation

NASA Astrophysics Data System (ADS)

García-Bellido, Juan; Garriga, Jaume; Montes, Xavier

1999-10-01

Quasiopenness seems to be generic to multifield models of single-bubble open inflation. Instead of producing infinite open universes, these models actually produce an ensemble of very large but finite inflating islands. In this paper we study the possible constraints from CMB anisotropies on existing models of open inflation. The effect of supercurvature anisotropies combined with the quasiopenness of the inflating regions make some models incompatible with observations, and severely reduces the parameter space of others. Supernatural open inflation and the uncoupled two-field model seem to be ruled out due to these constraints for values of Ω0<~0.98. Others, such as the open hybrid inflation model with suitable parameters for the slow roll potential can be made compatible with observations.

Investigation of a bearingless helicopter rotor concept having a composite primary structure

NASA Technical Reports Server (NTRS)

Bielawa, R. L.; Cheney, M. C., Jr.; Novak, R. C.

1976-01-01

Experimental and analytical investigations were conducted to evaluate a bearingless helicopter rotor concept (CBR) made possible through the use of the specialized nonisotropic properties of composite materials. The investigation was focused on four principal areas which were expected to answer important questions regarding the feasibility of this concept. First, an examination of material properties was made to establish moduli, ultimate strength, and fatigue characteristics of unidirectional graphite/epoxy, the composite material selected for this application. The results confirmed the high bending modulus and strengths and low shear modulus expected of this material, and demonstrated fatigue properties in torsion which make this material ideally suited for the CBR application. Second, a dynamically scaled model was fabricated and tested in the low speed wind tunnel to explore the aeroelastic characteristics of the CBR and to explore various concepts relative to the method of blade pitch control. Two basic control configurations were tested, one in which pitch flap coupling could occur and another which eliminated all coupling. It was found that both systems could be operated successfully at simulated speeds of 180 knots; however, the configuration with coupling present revealed a potential for undesirable aeroelastic response. The uncoupled configuration behaved generally as a conventional hingeless rotor and was stable for all conditions tested.

Survey of Quantitative Research Metrics to Assess Pilot Performance in Upset Recovery

NASA Technical Reports Server (NTRS)

Le Vie, Lisa R.

2016-01-01

Accidents attributable to in-flight loss of control are the primary cause for fatal commercial jet accidents worldwide. The National Aeronautics and Space Administration (NASA) conducted a literature review to determine and identify the quantitative standards for assessing upset recovery performance. This review contains current recovery procedures for both military and commercial aviation and includes the metrics researchers use to assess aircraft recovery performance. Metrics include time to first input, recognition time and recovery time and whether that input was correct or incorrect. Other metrics included are: the state of the autopilot and autothrottle, control wheel/sidestick movement resulting in pitch and roll, and inputs to the throttle and rudder. In addition, airplane state measures, such as roll reversals, altitude loss/gain, maximum vertical speed, maximum/minimum air speed, maximum bank angle and maximum g loading are reviewed as well.

Dynamic response characteristics of two transport models tested in the National Transonic Facility

NASA Technical Reports Server (NTRS)

Young, Clarence P., Jr.

1993-01-01

This paper documents recent experiences with measuring the dynamic response characteristics of a commercial transport and a military transport model during full scale Reynolds number tests in the National Transonic Facility. Both models were limited in angle of attack while testing at full scale Reynolds number and cruise Mach number due to pitch or stall buffet response. Roll buffet (wing buzz) was observed for both models at certain Mach numbers while testing at high Reynolds number. Roll buffet was more severe and more repeatable for the military transport model at cruise Mach number. Miniature strain-gage type accelerometers were used for the first time for obtaining dynamic data as a part of the continuing development of miniature dynamic measurements instrumentation for cryogenic applications. This paper presents the results of vibration measurements obtained for both the commercial and military transport models and documents the experience gained in the use of miniature strain gage type accelerometers.

Full-scale semi-span tests of an advanced NLF business jet wing

NASA Technical Reports Server (NTRS)

Hahne, David E.; Jordan, Frank L., Jr.; Davis, Patrick J.; Muchmore, C. Byram

1987-01-01

An investigation has been conducted in the NASA Langley Research Center's 30- by 60-Foot Wind Tunnel on a full-scale semispan model to evaluate and document the low-speed, high-lift characteristics of a business-jet class wing utilizing the HSNLF(1)-0213 airfoil section and a single slotted flap system. In addition to the high-lift studies, evaluations of boundary layer transition effects, the effectiveness of a segmented leading-edge droop for improved stall/spin resistance, and roll control effectiveness with and without flap deflection were made. The wind-tunnel investigation showed that deployment of a single-slotted trailing-edge flap provided substantial increments in lift. Fixed transition studies indicated no adverse effects on lift and pitching-moment characteristics for either the cruise or landing configuration. Subscale roll damping tests also indicated that stall/spin resistance could be enhanced through the use of a properly designed leading-edge droop.

Recovery methods of the dragonfly from irregular initial conditions

NASA Astrophysics Data System (ADS)

Melfi, James; Leonardo, Anthony; Wang, Jane

We release dragonflies from a magnetic tether in a wide range of initial orientations, which results in them utilizing multiple methods to regain their typical flight orientation. Special focus is placed on dropping them while upside down, as the recovery method used is a purely rolling motion. Filming this stereotypical motion with a trio of high speed cameras at 4000 fps, we capture detailed body and wing kinematics data to determine how the dragonfly generates this motion. By replaying the flights within a computer simulation, we can isolate the significant changes to wing kinematics, and find that it is an asymmetry in the wing pitch which generates the roll. Further investigation demonstrates that this choice is highly dependent upon the state of the dragonfly, and as such our results indicate the dragonfly both tracks its current state, and changes its mid-flight control mechanisms accordingly.

Aerodynamic characteristics of a canard-controlled missile at Mach numbers of 1.5 and 2.0.

NASA Technical Reports Server (NTRS)

Kassner, D. L.; Wettlaufer, B.

1977-01-01

A typical missile model with nose mounted canards and cruciform tail surfaces was tested in the Ames 6- by 6-Foot Wind Tunnel to determine the contributions of the component aerodynamic surfaces to the static aerodynamic characteristics at Mach numbers of 1.5 and 2.0 and Reynolds number of 1 million based on body diameter. Data were obtained at angles of attack ranging from -3 deg to 12 deg for various stages of model build-up (i.e., with and without canard and/or tail surfaces). Results were obtained both with the model unrolled and rolled 45 deg. For the canard and tail arrangements investigated, the model was trimmable at angles of attack up to about 10 deg with canard deflections of 9 deg. Also, the tail arrangements studied provided ample pitch stability. there were no appreciable effects of model roll orientation.

Stability and control of the Gossamer human powered aircraft by analysis and flight test

NASA Technical Reports Server (NTRS)

Jex, H. R.; Mitchell, D. G.

1982-01-01

The slow flight speed, very light wing loading, and neutral stability of the Gossamer Condor and the Gossamer Albatross emphasized apparent-mass aerodynamic effects and unusual modes of motion response. These are analyzed, approximated, and discussed, and the resulting transfer functions and dynamic properties are summarized and compared. To verify these analytical models, flight tests were conducted with and electrically powered Gossamer Albatross II. Sensors were installed and their outputs were telemetered to records on the ground. Frequency sweeps of the various controls were made and the data were reduced to frequency domain measures. Results are given for the response of: pitch rate, airspeed and normal acceleration from canard-elevator deflection; roll rate and yaw rate from canard-rudder tilt; and roll rate and yaw rate from wing warp. The reliable data are compared with the analytical predictions.

Airplane numerical simulation for the rapid prototyping process

NASA Astrophysics Data System (ADS)

Roysdon, Paul F.

Airplane Numerical Simulation for the Rapid Prototyping Process is a comprehensive research investigation into the most up-to-date methods for airplane development and design. Uses of modern engineering software tools, like MatLab and Excel, are presented with examples of batch and optimization algorithms which combine the computing power of MatLab with robust aerodynamic tools like XFOIL and AVL. The resulting data is demonstrated in the development and use of a full non-linear six-degrees-of-freedom simulator. The applications for this numerical tool-box vary from un-manned aerial vehicles to first-order analysis of manned aircraft. A Blended-Wing-Body airplane is used for the analysis to demonstrate the flexibility of the code from classic wing-and-tail configurations to less common configurations like the blended-wing-body. This configuration has been shown to have superior aerodynamic performance -- in contrast to their classic wing-and-tube fuselage counterparts -- and have reduced sensitivity to aerodynamic flutter as well as potential for increased engine noise abatement. Of course without a classic tail elevator to damp the nose up pitching moment, and the vertical tail rudder to damp the yaw and possible rolling aerodynamics, the challenges in lateral roll and yaw stability, as well as pitching moment are not insignificant. This thesis work applies the tools necessary to perform the airplane development and optimization on a rapid basis, demonstrating the strength of this tool through examples and comparison of the results to similar airplane performance characteristics published in literature.

Modified method of recording and reproducing natural head position with a multicamera system and a laser level.

PubMed

Liu, Xiao-jing; Li, Qian-qian; Pang, Yuan-jie; Tian, Kai-yue; Xie, Zheng; Li, Zi-li

2015-06-01

As computer-assisted surgical design becomes increasingly popular in maxillofacial surgery, recording patients' natural head position (NHP) and reproducing it in the virtual environment are vital for preoperative design and postoperative evaluation. Our objective was to test the repeatability and accuracy of recording NHP using a multicamera system and a laser level. A laser level was used to project a horizontal reference line on a physical model, and a 3-dimensional image was obtained using a multicamera system. In surgical simulation software, the recorded NHP was reproduced in the virtual head position by registering the coordinate axes with the horizontal reference on both the frontal and lateral views. The repeatability and accuracy of the method were assessed using a gyroscopic procedure as the gold standard. The interclass correlation coefficients for pitch and roll were 0.982 (0.966, 0.991) and 0.995 (0.992, 0.998), respectively, indicating a high degree of repeatability. Regarding accuracy, the lack of agreement in orientation between the new method and the gold standard was within the ranges for pitch (-0.69°, 1.71°) and for roll (-0.92°, 1.20°); these have no clinical significance. This method of recording and reproducing NHP with a multicamera system and a laser level is repeatable, accurate, and clinically feasible. Copyright © 2015 American Association of Orthodontists. Published by Elsevier Inc. All rights reserved.

SpaceDock: A Performance Task Platform for Spaceflight Operations

NASA Technical Reports Server (NTRS)

Marshburn, Thomas H.; Strangman, Gary E.; Strauss, Monica S.; Sutton, Jeffrey P.

2003-01-01

Preliminary evidence during both short- and long-duration spaceflight indicates that perceptual-motor coordination changes occur and persist in-flight. However, there is presently no in-flight method for evaluating astronaut performance on mission-critical tasks such as docking. We present a portable platform we have developed for attempting and evaluating docking, and describe the results of a pilot study wherein flight novices learned the docking task. Methods: A dual-joystick, six degrees of freedom platform-called SpaceDock-was developed to enable portable, adaptable performance testing in a spaceflight operations setting. Upon this platform, a simplified docking task was created, involving a constant rate of approach towards a docking target and requiring the user to correct translation in two dimensions and attitude orientation along one dimension (either pitch or roll). Ten flight naive subjects performed the task over a 45 min period and all joystick inputs and timings were collected, from which we could successfully reconstruct travel paths, input profiles and relative target displacements. Results: Subjects exhibited significant improvements in docking over the course of the experiment. Learning to compensate for roll-alterations was robust, whereas compensation for pitch-alterations was not in evidence in this population and relatively short training period. Conclusion: The SpaceDock platform can provide a novel method for training and testing subjects, on a spaceflight-relevant task, and can be used to examine behavioral learning, strategy use, and has been adapted for use in brain imaging experiments.

Experimental Comparison Between Mahoney and Complementary Sensor Fusion Algorithm for Attitude Determination by Raw Sensor Data of Xsens Imu on Buoy

NASA Astrophysics Data System (ADS)

Jouybari, A.; Ardalan, A. A.; Rezvani, M.-H.

2017-09-01

The accurate measurement of platform orientation plays a critical role in a range of applications including marine, aerospace, robotics, navigation, human motion analysis, and machine interaction. We used Mahoney filter, Complementary filter and Xsens Kalman filter for achieving Euler angle of a dynamic platform by integration of gyroscope, accelerometer, and magnetometer measurements. The field test has been performed in Kish Island using an IMU sensor (Xsens MTi-G-700) that installed onboard a buoy so as to provide raw data of gyroscopes, accelerometers, magnetometer measurements about 25 minutes. These raw data were used to calculate the Euler angles by Mahoney filter and Complementary filter, while the Euler angles collected by XSense IMU sensor become the reference of the Euler angle estimations. We then compared Euler angles which calculated by Mahoney Filter and Complementary Filter with reference to the Euler angles recorded by the XSense IMU sensor. The standard deviations of the differences between the Mahoney Filter, Complementary Filter Euler angles and XSense IMU sensor Euler angles were about 0.5644, 0.3872, 0.4990 degrees and 0.6349, 0.2621, 2.3778 degrees for roll, pitch, and heading, respectively, so the numerical result assert that Mahoney filter is precise for roll and heading angles determination and Complementary filter is precise only for pitch determination, it should be noted that heading angle determination by Complementary filter has more error than Mahoney filter.

Spray Formation during the Impact of a Flat Plate on Water Surface

NASA Astrophysics Data System (ADS)

Wang, An; Duncan, James H.

2015-11-01

Spray formation during the impact of a flat plate on a water surface is studied experimentally. The plate is mounted on a two-axis carriage that can slam the plate vertically into the water surface as the carriage moves horizontally along a towing tank. The plate is 122 cm by 38 cm and oriented with adjustable pitch and roll angle. The port (lower) edge of the plate is positioned with a 3-mm gap from one of the tank walls. A laser sheet is created in a plane oriented perpendicular to the axis of the horizontal motion of the carriage. The temporal evolution of the spray within the light sheet is measured with a cinematic laser induced fluorescence technique at a frame rate of 800 Hz. Experiments are performed with a fixed plate trajectory in a vertical plane, undertaken at various speeds. Two types of spray are found when the plate has nonzero pitch and roll angles. The first type is composed of a cloud of high-speed droplets and ligaments generated as the port edge of the plate hits the water surface during the initial impact. The second type is a thin sheet of water that grows from the starboard edge of the plate as it moves below the local water level. The geometrical features of the spray are found to be dramatically affected by the impact velocity. The support of the Office of Naval Research under grant N000141310587 is gratefully acknowledged.

Control effectiveness and tip-fin dihedral effects for the HL-20 lifting-body configuration at Mach numbers from 1.6 to 4.5

NASA Technical Reports Server (NTRS)

Cruz, Christopher I.; Ware, George M.

1995-01-01

Wind tunnel tests were made with a scale model of the HL-20 in the Langley Unitary Plan Wind Tunnel. Pitch control was investigated by deflecting the elevon surfaces on the outboard fins and body flaps on the fuselage. Yaw control tests were made with the all movable center fin deflected 5 deg. Almost full negative body flap deflection (-30 deg) was required to trim the HL-20 (moment reference center at 0.54-percent body length from nose) to positive values of life in the Mach number range from 1.6 to 2.5. Elevons were twice as effective as body flaps as a longitudinal trim device. The elevons were effective as a roll control, but because of tip-fin dihedral angle, produced about as much adverse yawing moment as rolling moment. The body flaps were less effective in producing rolling moment, but produced little adverse yawing moment. The yaw effectiveness of the all movable center fin was essentially constant over the angle-of-attack range at each Mach number. The value of yawing moment, however, was small. Center-fin deflection produced almost no rolling moments. The model was directionally unstable over most of the Mach number range with tip-fin dihedral angles less than the baseline value of 50 deg.

Development of a 6DOF robotic motion phantom for radiation therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary

Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left–right), Y (superior–inferior), Z (anterior–posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronizedmore » motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the Stewart–Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 min, with a maximal RMSE of 0.04 mm translationally and 0.04° rotationally, and a prostate trajectory over 2 min, with a maximal RMSE of 0.06 mm translationally and 0.04° rotationally. Conclusions: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Such functionality makes the robotic phantom usable for either quality assurance or research purposes.« less

SU-E-J-258: Inter- and Intra-Fraction Setup Stability and Couch Change Tolerance for Image Guided Radiation Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Teboh, Forbang R; Agee, M; Rowe, L

2014-06-01

Purpose: Immobilization devices combine rigid patient fixation as well as comfort and play a key role providing the stability required for accurate radiation delivery. In the setup step, couch re-positioning needed to align the patient is derived via registration of acquired versus reference image. For subsequent fractions, replicating the initial setup should yield identical alignment errors when compared to the reference. This is not always the case and further couch re-positioning can be needed. An important quality assurance measure is to set couch tolerances beyond which additional investigations are needed. The purpose of this work was to study the inter-fractionmore » couch changes needed to re-align the patient and the intra-fraction stability of the alignment as a guide to establish the couch tolerances. Methods: Data from twelve patients treated on the Accuray CyberKnife (CK) system for fractionated intracranial radiotherapy and immobilized with Aquaplast RT, U-frame, F-Head-Support (Qfix, PA, USA) was used. Each fraction involved image acquisitions and registration with the reference to re-align the patient. The absolute couch position corresponding to the approved setup alignment was recorded per fraction. Intra-fraction set-up corrections were recorded throughout the treatment. Results: The average approved setup alignment was 0.03±0.28mm, 0.15±0.22mm, 0.06±0.31mm in the L/R, A/P, S/I directions respectively and 0.00±0.35degrees, 0.03±0.32degrees, 0.08±0.45degrees for roll, pitch and yaw respectively. The inter-fraction reproducibility of the couch position was 6.65mm, 10.55mm, and 4.77mm in the L/R, A/P and S/I directions respectively and 0.82degrees, 0.71degrees for roll and pitch respectively. Intra-fraction monitoring showed small average errors of 0.21±0.21mm, 0.00±0.08mm, 0.23±0.22mm in the L/R, A/P, S/I directions respectively and 0.03±0.12degrees, 0.04±0.25degrees, and 0.13±0.15degrees in the roll, pitch and yaw respectively. Conclusion: The inter-fraction reproducibility should serve as a guide to couch tolerances, specific to a site and immobilization. More patients need to be included to make general conclusions.« less

Comparison of attitude information for helmet-mounted displays

NASA Astrophysics Data System (ADS)

Davy, Eleanor C.; Selcon, Stephen J.

1997-02-01

There are many potential uses of helmet-mounted displays (HMDs). One is to allow aircrew to spend increased time off- boresight scanning the outside world for threats or targets. Another is for acquiring a target and subsequently employing a weapon whilst looking off-boresight. An experiment was conducted to examine the use of HMDs for both these tasks using four different attitude displays: pitch ladder, cylinder, arc segmented attitude reference and roll-pitch. The task involved subjects flying a simulated low-level, high-speed mission which was divided into two phases. Phase one required subjects to scan off-boresight for air threats and acquire them by using the off-boresight capability of the HMD. Phase two required subjects to use the head-down display (HDD) to locate ground targets and use the HMD off- boresight capability to acquire them. Novel objective performance measures, designed specifically to evaluate HMD symbology, were collected. Overall, it was found that performance was superior when using the pitch ladder than other displays. This was supported by the subjective findings that it provided higher situational awareness than other displays. It was concluded that the advantage for the pitch ladder may have been due to having the same symbology on the HUD and HMD, enhancing smooth transitioning between the two displays. The importance of developing operationally relevant tasks and measures for the evaluation of HMDs are discussed and the implications of this research for future work are considered.

Biomimetic propulsion under random heaving conditions, using active pitch control

NASA Astrophysics Data System (ADS)

Politis, Gerasimos; Politis, Konstantinos

2014-05-01

Marine mammals travel long distances by utilizing and transforming wave energy to thrust through proper control of their caudal fin. On the other hand, manmade ships traveling in a wavy sea store large amounts of wave energy in the form of kinetic energy for heaving, pitching, rolling and other ship motions. A natural way to extract this energy and transform it to useful propulsive thrust is by using a biomimetic wing. The aim of this paper is to show how an actively pitched biomimetic wing could achieve this goal when it performs a random heaving motion. More specifically, we consider a biomimetic wing traveling with a given translational velocity in an infinitely extended fluid and performing a random heaving motion with a given energy spectrum which corresponds to a given sea state. A formula is invented by which the instantaneous pitch angle of the wing is determined using the heaving data of the current and past time steps. Simulations are then performed for a biomimetic wing at different heave energy spectra, using an indirect Source-Doublet 3-D-BEM, together with a time stepping algorithm capable to track the random motion of the wing. A nonlinear pressure type Kutta condition is applied at the trailing edge of the wing. With a mollifier-based filtering technique, the 3-D unsteady rollup pattern created by the random motion of the wing is calculated without any simplifying assumptions regarding its geometry. Calculated unsteady forces, moments and useful power, show that the proposed active pitch control always results in thrust producing motions, with significant propulsive power production and considerable beneficial stabilizing action to ship motions. Calculation of the power required to set the pitch angle prove it to be a very small percentage of the useful power and thus making the practical application of the device very tractable.

Evaluation of electrolytic tilt sensors for measuring model angle of attack in wind tunnel tests

NASA Technical Reports Server (NTRS)

Wong, Douglas T.

1992-01-01

The results of a laboratory evaluation of electrolytic tilt sensors as potential candidates for measuring model attitude or angle of attack in wind tunnel tests are presented. The performance of eight electrolytic tilt sensors was compared with that of typical servo accelerometers used for angle-of-attack measurements. The areas evaluated included linearity, hysteresis, repeatability, temperature characteristics, roll-on-pitch interaction, sensitivity to lead-wire resistance, step response time, and rectification. Among the sensors being evaluated, the Spectron model RG-37 electrolytic tilt sensors have the highest overall accuracy in terms of linearity, hysteresis, repeatability, temperature sensitivity, and roll sensitivity. A comparison of the sensors with the servo accelerometers revealed that the accuracy of the RG-37 sensors was on the average about one order of magnitude worse. Even though a comparison indicates that the cost of each tilt sensor is about one-third the cost of each servo accelerometer, the sensors are considered unsuitable for angle-of-attack measurements. However, the potential exists for other applications such as wind tunnel wall-attitude measurements where the errors resulting from roll interaction, vibration, and response time are less and sensor temperature can be controlled.

High-performance wire-grid polarizers using jet and Flash™ imprint lithography

NASA Astrophysics Data System (ADS)

Ahn, Se Hyun; Yang, Shuqiang; Miller, Mike; Ganapathisubramanian, Maha; Menezes, Marlon; Choi, Jin; Xu, Frank; Resnick, Douglas J.; Sreenivasan, S. V.

2013-07-01

Extremely large-area roll-to-roll (R2R) manufacturing on flexible substrates is ubiquitous for applications such as paper and plastic processing. It combines the benefits of high speed and inexpensive substrates to deliver a commodity product at low cost. The challenge is to extend this approach to the realm of nanopatterning and realize similar benefits. In order to achieve low-cost nanopatterning, it is imperative to move toward high-speed imprinting, less complex tools, near zero waste of consumables, and low-cost substrates. We have developed a roll-based J-FIL process and applied it to a technology demonstrator tool, the LithoFlex 100, to fabricate large-area flexible bilayer wire-grid polarizers (WGPs) and high-performance WGPs on rigid glass substrates. Extinction ratios of better than 10,000 are obtained for the glass-based WGPs. Two simulation packages are also employed to understand the effects of pitch, aluminum thickness, and pattern defectivity on the optical performance of the WGP devices. It is determined that the WGPs can be influenced by both clear and opaque defects in the gratings; however, the defect densities are relaxed relative to the requirements of a high-density semiconductor device.

Body saccades of Drosophila consist of stereotyped banked turns.

PubMed

Muijres, Florian T; Elzinga, Michael J; Iwasaki, Nicole A; Dickinson, Michael H

2015-03-01

The flight pattern of many fly species consists of straight flight segments interspersed with rapid turns called body saccades, a strategy that is thought to minimize motion blur. We analyzed the body saccades of fruit flies (Drosophila hydei), using high-speed 3D videography to track body and wing kinematics and a dynamically scaled robot to study the production of aerodynamic forces and moments. Although the size, degree and speed of the saccades vary, the dynamics of the maneuver are remarkably stereotypic. In executing a body saccade, flies perform a quick roll and counter-roll, combined with a slower unidirectional rotation around their yaw axis. Flies regulate the size of the turn by adjusting the magnitude of torque that they produce about these control axes, while maintaining the orientation of the rotational axes in the body frame constant. In this way, body saccades are different from escape responses in the same species, in which the roll and pitch component of banking is varied to adjust turn angle. Our analysis of the wing kinematics and aerodynamics showed that flies control aerodynamic torques during the saccade primarily by adjusting the timing and amount of span-wise wing rotation. © 2015. Published by The Company of Biologists Ltd.

E-2633

NASA Image and Video Library

1956-10-12

A photo of the control stick used on the Iron Cross Attitude Simulator. Although it resembled today's desktop computer flight sticks, its operation was different. As with a standard control stick, moving it back and forth raised and lowered the nose resulting in changes in pitch. Moving the stick to the right or left raised or lowered the wing, resulted in changes in roll. This control stick had a third axis, not found in standard control sticks. Twisting the stick to the right or left caused the airplane's nose to move horizontally in the same direction, resulting in changes in yaw.

Haptic seat for fuel economy feedback

DOEpatents

Bobbitt, III, John Thomas

2016-08-30

A process of providing driver fuel economy feedback is disclosed in which vehicle sensors provide for haptic feedback on fuel usage. Such sensors may include one or more of a speed sensors, global position satellite units, vehicle pitch/roll angle sensors, suspension displacement sensors, longitudinal accelerometer sensors, throttle position in sensors, steering angle sensors, break pressure sensors, and lateral accelerometer sensors. Sensors used singlely or collectively can provide enhanced feedback as to various environmental conditions and operating conditions such that a more accurate assessment of fuel economy information can be provided to the driver.

High performance forward swept wing aircraft

NASA Technical Reports Server (NTRS)

Koenig, David G. (Inventor); Aoyagi, Kiyoshi (Inventor); Dudley, Michael R. (Inventor); Schmidt, Susan B. (Inventor)

1988-01-01

A high performance aircraft capable of subsonic, transonic and supersonic speeds employs a forward swept wing planform and at least one first and second solution ejector located on the inboard section of the wing. A high degree of flow control on the inboard sections of the wing is achieved along with improved maneuverability and control of pitch, roll and yaw. Lift loss is delayed to higher angles of attack than in conventional aircraft. In one embodiment the ejectors may be advantageously positioned spanwise on the wing while the ductwork is kept to a minimum.

Design and Development of a Real-Time Model Attitude Measurement System for Hypersonic Facilities

NASA Technical Reports Server (NTRS)

Jones, Thomas W.; Lunsford, Charles B.

2005-01-01

A series of wind tunnel tests have been conducted to evaluate a multi-camera videogrammetric system designed to measure model attitude in hypersonic facilities. The technique utilizes processed video data and applies photogrammetric principles for point tracking to compute model position including pitch, roll and yaw variables. A discussion of the constraints encountered during the design, development, and testing process, including lighting, vibration, operational range and optical access is included. Initial measurement results from the NASA Langley Research Center (LaRC) 31-Inch Mach 10 tunnel are presented.

Design and Development of a Real-Time Model Attitude Measurement System for Hypersonic Facilities

NASA Technical Reports Server (NTRS)

Jones, Thomas W.; Lunsford, Charles B.

2004-01-01

A series of wind tunnel tests have been conducted to evaluate a multi-camera videogrammetric system designed to measure model attitude in hypersonic facilities. The technique utilizes processed video data and applies photogrammetric principles for point tracking to compute model position including pitch, roll and yaw variables. A discussion of the constraints encountered during the design, development, and testing process, including lighting, vibration, operational range and optical access is included. Initial measurement results from the NASA Langley Research Center (LaRC) 31-Inch Mach 10 tunnel are presented.

Theoretical prediction of airplane stability derivatives at subcritical speeds

NASA Technical Reports Server (NTRS)

Tulinius, J.; Clever, W.; Nieman, A.; Dunn, K.; Gaither, B.

1973-01-01

The theoretical development and application is described of an analysis for predicting the major static and rotary stability derivatives for a complete airplane. The analysis utilizes potential flow theory to compute the surface flow fields and pressures on any configuration that can be synthesized from arbitrary lifting bodies and nonplanar thick lifting panels. The pressures are integrated to obtain section and total configuration loads and moments due side slip, angle of attack, pitching motion, rolling motion, yawing motion, and control surface deflection. Subcritical compressibility is accounted for by means of the Gothert similarity rule.

Design and Flight Test of a Cable Angle Feedback Control System for Improving Helicopter Slung Load Operations at Low Speed

DTIC Science & Technology

2014-04-01

improve the damping of the load pendulum motions, but the load feedback generally had the effect of making the load feel heavier to the pilot [28...0.25 2 1000lbs 16,000lbs 0.06 Another important parameter is the slung load pendulum frequency. Using a simple pendulum model, this natural...the expected yaw and heave modes. The presence of the load adds oscillatory pendulum modes in the pitch and roll axes, as expected. Table 2-3

Feasibility of Dynamic Stability Measurements of Planetary Entry Capsules Using MSBS

NASA Technical Reports Server (NTRS)

Britcher, Colin; Schoenenberger, Mark

2015-01-01

The feasibility of conducting dynamic stability testing of planetary entry capsules at low supersonic Mach numbers using a Magnetic Suspension and Balance System (MSBS) is reviewed. The proposed approach would employ a spherical magnetic core, exert control in three degrees-of-freedom (i.e. x, y, z translations) and allow the model to freely rotate in pitch, yaw, and roll. A proof-of-concept system using an existing MSBS electromagnet array in a subsonic wind tunnel is described, with future potential for development of a new system for a supersonic wind tunnel.

PC104 Control Environment Development and Use for Testing the Dynamic Accuracy of the MicroStrain 3DM-GX1 Sensor

DTIC Science & Technology

2007-06-01

Seen here is the actual function code: 92 void SerComInit(void) 93 { 94 out8(sbase + 4, 0x09); // MCR data terminal ready 95...the main function, is the function that will do this: 71 61 StopCONTmode(); The definition of this function is after the main function and...67 { 68 if(checksum==dataid+roll+pitch+yaw+timerticks) 69 { 70 cout<<"Its good data"<<endl; 71

Saturn Apollo Program

NASA Image and Video Library

1968-01-01

This is a cutaway illustration of the Saturn V service module configuration. Packed with plumbing and tanks, the service module was the command module's constant companion until just before reentry. All components not needed during the last few minutes of flight, and therefore requiring no protection against reentry heat, were transported in this module. It carried oxygen for most of the trip, fuel cells to generate electricity (along with the oxygen and hydrogen to run them); small engines to control pitch, roll, and yaw; and a large engine to propel the spacecraft into, and out of, lunar orbit.

Instantaneous relationship between solar inertial and local vertical local horizontal attitudes

NASA Technical Reports Server (NTRS)

Vickery, S. A.

1977-01-01

The instantaneous relationship between the Solar Inertial (SI) and Local Vertical Local Horizontal (LVLH) coordinate systems is derived. A method is presented for computation of the LVLH to SI rotational transformation matrix as a function of an input LVLH attitude and the corresponding look angles to the sun. Logic is provided for conversion between LVLH and SI attitudes expressed in terms of a pitch, yaw, roll Euler sequence. Documentation is included for a program which implements the logic on the Hewlett-Packard 97 programmable calculator.

Handling Qualities Evaluations of Unmanned Aircraft Systems

DTIC Science & Technology

2015-05-04

attitude at rotation 5° ± 0.5° 5° ± 2° Airspeed Vclimb ± 2 KIAS Vclimb ± 3 KIAS Heading Control Runway Track ± 2° Runway Track ± 5° No observed roll...maintain pitch attitude to maintain a target climb speed ±2 KIAS during the initial climb out. This task is 4 appropriate especially for an aircraft with...then maintain a climb speed after rotation (±2 KIAS ) until 1000 feet (ft) AGL. In this scenario, the pilot would pull the stick back after rotation

Flight evaluation of stabilization and command augmentation system concepts and cockpit displays during approach and landing of powered-lift STOL aircraft

NASA Technical Reports Server (NTRS)

Franklin, J. A.; Innis, R. C.; Hardy, G. H.

1980-01-01

A flight research program was conducted to assess the effectiveness of manual control concepts and various cockpit displays in improving altitude (pitch, roll, and yaw) and longitudinal path control during short takeoff aircraft approaches and landings. Satisfactory flying qualities were demonstrared to minimum decision heights of 30 m (100 ft) for selected stabilization and command augmentation systems and flight director combinations. Precise landings at low touchdown sink rates were achieved with a gentle flare maneuver.

Study of aerodynamic technology for VSTOL fighter/attack aircraft: Horizontal attitude concept

NASA Technical Reports Server (NTRS)

Brown, S. H.

1978-01-01

A horizontal attitude VSTOL (HAVSTOL) supersonic fighter attack aircraft powered by RALS turbofan propulsion system is analyzed. Reaction control for subaerodynamic flight is obtained in pitch and yaw from the RALS and roll from wingtip jets powered by bleed air from the RALS duct. Emphasis is placed on the development of aerodynamic characteristics and the identification of aerodynamic uncertainties. A wind tunnel program is shown to resolve some of the uncertainties. Aerodynamic data developed are static characteristics about all axes, control effectiveness, drag, propulsion induced effects and reaction control characteristics.

The ATS-F interferometer - A precision wide field-of-view attitude sensor. [solid state system design

NASA Technical Reports Server (NTRS)

Teichman, M. A.; Marek, F. L.; Browning, J. J.; Parr, A. K.

1974-01-01

An RF phase interferometer has been integrated into the ATS-F spacecraft attitude control system. Laboratory measurements indicate that the interferometer is capable of determining spacecraft attitude in pitch and roll to an accuracy of 0.18 deg over a field-of-view of plus or minus 12.5 deg about the spacecraft normal axis with an angular resolution of 0.004 deg. The system is completely solid state, weighs 17 pounds, and consumes 12.5 W of DC power.

Some Landing Studies Pertinent to Glider-Reentry Vehicles

NASA Technical Reports Server (NTRS)

Houbolt, John C.; Batterson, Sidney A.

1960-01-01

Results are presented of some landing studies that may serve as guidelines in the consideration of landing problems of glider-reentry configurations. The effect of the initial conditions of sinking velocity, angle of attack, and pitch rate on impact severity and the effect of locating the rear gear in various positions are discussed. Some information is included regarding the influence of landing-gear location on effective masses. Preliminary experimental results on the slideout phase of landing include sliding and rolling friction coefficients that have been determined from tests of various skids and all-metal wheels.

Integration of visual and motion cues for simulator requirements and ride quality investigation. [computerized simulation of aircraft landing, visual perception of aircraft pilots

NASA Technical Reports Server (NTRS)

Young, L. R.

1975-01-01

Preliminary tests and evaluation are presented of pilot performance during landing (flight paths) using computer generated images (video tapes). Psychophysiological factors affecting pilot visual perception were measured. A turning flight maneuver (pitch and roll) was specifically studied using a training device, and the scaling laws involved were determined. Also presented are medical studies (abstracts) on human response to gravity variations without visual cues, acceleration stimuli effects on the semicircular canals, and neurons affecting eye movements, and vestibular tests.

Results of dynamic stability tests conducted on a .012 scale model modified 089 B shuttle orbiter in the AEDC-VKF tunnel B at a Mach number of 8.0 (LA42)

NASA Technical Reports Server (NTRS)

Vaughn, J. E.; Daviet, J. T.

1975-01-01

Experimental aerodynamic investigations were conducted on a .012 scale model of a NASA/Langley modified version of the Rockwell 089B Space Shuttle Orbiter. Using the forced oscillation test technique, dynamic stability derivatives were measured in the pitch, yaw and roll planes at a Mach number of 8 over an angle of attack range from -4 deg to 28 deg. Plotted and tabulated results are presented.

Computer programs for calculating pressure distributions including vortex effects on supersonic monoplane or cruciform wing-body-tail combinations with round or elliptical bodies

NASA Technical Reports Server (NTRS)

Dillenius, M. F. E.; Nielsen, J. N.

1979-01-01

Computer programs are presented which are capable of calculating detailed aerodynamic loadings and pressure distributions acting on pitched and rolled supersonic missile configurations which utilize bodies of circular or elliptical cross sections. The applicable range of angle of attack is up to 20 deg, and the Mach number range is 1.3 to about 2.5. Effects of body and fin vortices are included in the methods, as well as arbitrary deflections of canard or fin panels.

Relation of motion sickness susceptibility to vestibular and behavioral measures of orientation

NASA Technical Reports Server (NTRS)

Peterka, Robert J.

1995-01-01

The objective is to determine the relationship of motion sickness susceptibility to vestibulo-ocular reflexes (VOR), motion perception, and behavioral utilization of sensory orientation cues for the control of postural equilibrium. The work is focused on reflexes and motion perception associated with pitch and roll movements that stimulate the vertical semicircular canals and otolith organs of the inner ear. This work is relevant to the space motion sickness problem since 0 g related sensory conflicts between vertical canal and otolith motion cues are a likely cause of space motion sickness.

A Nonlinear Dynamic Inversion Predictor-Based Model Reference Adaptive Controller for a Generic Transport Model

NASA Technical Reports Server (NTRS)

Campbell, Stefan F.; Kaneshige, John T.

2010-01-01

Presented here is a Predictor-Based Model Reference Adaptive Control (PMRAC) architecture for a generic transport aircraft. At its core, this architecture features a three-axis, non-linear, dynamic-inversion controller. Command inputs for this baseline controller are provided by pilot roll-rate, pitch-rate, and sideslip commands. This paper will first thoroughly present the baseline controller followed by a description of the PMRAC adaptive augmentation to this control system. Results are presented via a full-scale, nonlinear simulation of NASA s Generic Transport Model (GTM).

Sea-floor-mounted rotating side-scan sonar for making time-lapse sonographs

USGS Publications Warehouse

Rubin, David M.; McCulloch, David S.; Hill, H. R.

1983-01-01

Records that are collected with this system offer several advantages over records that are collected with towed systems. Bottom features are presented in nearly true plan geometry, and transducer yaw, pitch, and roll are eliminated. Most importantly, repeated observations can be made from a single point, and bedform movements of <50 cm can be measured. In quiet seas the maximum useful range of the system varies from 30 m (for mapping ripples) to 200 m (for mapping 10-m wavelength sand waves) to 450 m or more (for mapping gravel patches).

An investigation of the auditory perception of western lowland gorillas in an enrichment study.

PubMed

Brooker, Jake S

2016-09-01

Previous research has highlighted the varied effects of auditory enrichment on different captive animals. This study investigated how manipulating musical components can influence the behavior of a group of captive western lowland gorillas (Gorilla gorilla gorilla) at Bristol Zoo. The gorillas were observed during exposure to classical music, rock-and-roll music, and rainforest sounds. The two music conditions were modified to create five further conditions: unmanipulated, decreased pitch, increased pitch, decreased tempo, and increased tempo. We compared the prevalence of activity, anxiety, and social behaviors between the standard conditions. We also compared the prevalence of each of these behaviors across the manipulated conditions of each type of music independently and collectively. Control observations with no sound exposure were regularly scheduled between the observations of the 12 auditory conditions. The results suggest that naturalistic rainforest sounds had no influence on the anxiety of captive gorillas, contrary to past research. The tempo of music appears to be significantly associated with activity levels among this group, and social behavior may be affected by pitch. Low tempo music also may be effective at reducing anxiety behavior in captive gorillas. Regulated auditory enrichment may provide effective means of calming gorillas, or for facilitating active behavior. Zoo Biol. 35:398-408, 2016. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

Generalized Courant-Snyder Theory and Kapchinskij-Vladimirskij Distribution For High-intensity Beams In A Coupled Transverse Focusing Lattice

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hong QIn, Ronald Davidson

2011-07-18

The Courant-Snyder (CS) theory and the Kapchinskij-Vladimirskij (KV) distribution for high-intensity beams in a uncoupled focusing lattice are generalized to the case of coupled transverse dynamics. The envelope function is generalized to an envelope matrix, and the envelope equation becomes a matrix envelope equation with matrix operations that are non-commutative. In an uncoupled lattice, the KV distribution function, first analyzed in 1959, is the only known exact solution of the nonlinear Vlasov-Maxwell equations for high-intensity beams including self-fields in a self-consistent manner. The KV solution is generalized to high-intensity beams in a coupled transverse lattice using the generalized CS invariant.more » This solution projects to a rotating, pulsating elliptical beam in transverse configuration space. The fully self-consistent solution reduces the nonlinear Vlasov-Maxwell equations to a nonlinear matrix ordinary differential equation for the envelope matrix, which determines the geometry of the pulsating and rotating beam ellipse. These results provide us with a new theoretical tool to investigate the dynamics of high-intensity beams in a coupled transverse lattice. A strongly coupled lattice, a so-called N-rolling lattice, is studied as an example. It is found that strong coupling does not deteriorate the beam quality. Instead, the coupling induces beam rotation, and reduces beam pulsation.« less

Generalized Courant-Snyder theory and Kapchinskij-Vladimirskij distribution for high-intensity beams in a coupled transverse focusing lattice

DOE Office of Scientific and Technical Information (OSTI.GOV)

Qin Hong; Department of Modern Physics, University of Science and Technology of China, Hefei, Anhui 230026; Davidson, Ronald C.

2011-05-15

The Courant-Snyder (CS) theory and the Kapchinskij-Vladimirskij (KV) distribution for high-intensity beams in an uncoupled focusing lattice are generalized to the case of coupled transverse dynamics. The envelope function is generalized to an envelope matrix, and the envelope equation becomes a matrix envelope equation with matrix operations that are noncommutative. In an uncoupled lattice, the KV distribution function, first analyzed in 1959, is the only known exact solution of the nonlinear Vlasov-Maxwell equations for high-intensity beams including self-fields in a self-consistent manner. The KV solution is generalized to high-intensity beams in a coupled transverse lattice using the generalized CS invariant.more » This solution projects to a rotating, pulsating elliptical beam in transverse configuration space. The fully self-consistent solution reduces the nonlinear Vlasov-Maxwell equations to a nonlinear matrix ordinary differential equation for the envelope matrix, which determines the geometry of the pulsating and rotating beam ellipse. These results provide us with a new theoretical tool to investigate the dynamics of high-intensity beams in a coupled transverse lattice. A strongly coupled lattice, a so-called N-rolling lattice, is studied as an example. It is found that strong coupling does not deteriorate the beam quality. Instead, the coupling induces beam rotation and reduces beam pulsation.« less

Simulation test results for lift/cruise fan research and technology aircraft

NASA Technical Reports Server (NTRS)

Bland, M. P.; Konsewicz, R. K.

1976-01-01

A flight simulation program was conducted on the flight simulator for advanced aircraft (FSAA). The flight simulation was a part of a contracted effort to provide a lift/cruise fan V/STOL aircraft mathematical model for flight simulation. The simulated aircraft is a configuration of the Lift/Cruise Fan V/STOL research technology aircraft (RTA). The aircraft was powered by three gas generators driving three fans. One lift fan was installed in the nose of the aircraft, and two lift/cruise fans at the wing root. The thrust of these fans was modulated to provide pitch and roll control, and vectored to provide yaw, side force control, and longitudinal translation. Two versions of the RTA were defined. One was powered by the GE J97/LF460 propulsion system which was gas-coupled for power transfer between fans for control. The other version was powered by DDA XT701 gas generators driving 62 inch variable pitch fans. The flight control system in both versions of the RTA was the same.

Wabble gear drive mechanism. [for aerospace environments

NASA Technical Reports Server (NTRS)

Winiarski, F. J. (Inventor)

1967-01-01

The wabble gear principle was applied in the design of a driving mechanism for controlling spacecraft solar panels. The moving elements, other than the output gear, are contained within a hermetically sealed package to prevent escape of lubricants and ingestion of contaminant particles. The driving gear contains one more tooth than the output gear on a concave, conical pitch surface of slightly larger apex angle. The two gears mesh face to face such that engagement takes place at one point along the circumference. The driving gear is not permitted to rotate by virtue of its attachment through the bellows which permits flexure in the pitch and yaw position, but not in roll. As the bearing carrier rotates, the inclined mounting of the bearing causes the driving gear to perform a wabbling, irrotational motion. This wabbling motion causes the contact point between the output gear and the driving gear to traverse around the circumference of the gears once per revolution of the bearing carrier.

Wind tunnel and ground static tests of a .094 scale powered model of a modified T-39 lift/cruise fan V/STOL research airplane

NASA Technical Reports Server (NTRS)

Hunt, D.; Clinglan, J.; Salemann, V.; Omar, E.

1977-01-01

Ground static and wind tunnel test of a scale model modified T-39 airplane are reported. The configuration in the nose and replacement of the existing nacelles with tilting lift/cruise fans. The model was powered with three 14 cm diameter tip driven turbopowered simulators. Forces and moments were measured by an internal strain guage balance. Engine simulator thrust and mass flow were measured by calibrated pressure and temperature instrumentation mounted downstream of the fans. The low speed handling qualities and general aerodynamic characteristics of the modified T-39 were defined. Test variables include thrust level and thrust balance, forward speed, model pitch and sideslip angle at forward speeds, model pitch, roll, and ground height during static tests, lift/cruise fan tilt angle, flap and aileron deflection angle, and horizonal stabilizer angle. The effects of removing the landing gear, the lift/cruise fans, and the tail surfaces were also investigated.

Processing techniques for global land 1-km AVHRR data

USGS Publications Warehouse

Eidenshink, Jeffery C.; Steinwand, Daniel R.; Wivell, Charles E.; Hollaren, Douglas M.; Meyer, David

1993-01-01

The U.S. Geological Survey's (USGS) Earth Resources Observation Systems (EROS) Data Center (EDC) in cooperation with several international science organizations has developed techniques for processing daily Advanced Very High Resolution Radiometer (AVHRR) 1-km data of the entire global land surface. These techniques include orbital stitching, geometric rectification, radiometric calibration, and atmospheric correction. An orbital stitching algorithm was developed to combine consecutive observations acquired along an orbit by ground receiving stations into contiguous half-orbital segments. The geometric rectification process uses an AVHRR satellite model that contains modules for forward mapping, forward terrain correction, and inverse mapping with terrain correction. The correction is accomplished by using the hydrologic features coastlines and lakes from the Digital Chart of the World. These features are rasterized into the satellite projection and are matched to the AVHRR imagery using binary edge correlation techniques. The resulting coefficients are related to six attitude correction parameters: roll, roll rate, pitch, pitch rate, yaw, and altitude. The image can then be precision corrected to a variety of map projections and user-selected image frames. Because the AVHRR lacks onboard calibration for the optical wavelengths, a series of time-variant calibration coefficients derived from vicarious calibration methods and are used to model the degradation profile of the instruments. Reducing atmospheric effects on AVHRR data is important. A method has been develop that will remove the effects of molecular scattering and absorption from clear sky observations, using climatological measurements of ozone. Other methods to remove the effects of water vapor and aerosols are being investigated.

Effects of Motion Cues on the Training of Multi-Axis Manual Control Skills

NASA Technical Reports Server (NTRS)

Zaal, Peter M. T.; Mobertz, Xander R. I.

2017-01-01

The study described in this paper investigated the effects of two different hexapod motion configurations on the training and transfer of training of a simultaneous roll and pitch control task. Pilots were divided between two groups which trained either under a baseline hexapod motion condition, with motion typically provided by current training simulators, or an optimized hexapod motion condition, with increased fidelity of the motion cues most relevant for the task. All pilots transferred to the same full-motion condition, representing motion experienced in flight. A cybernetic approach was used that gave insights into the development of pilots use of visual and motion cues over the course of training and after transfer. Based on the current results, neither of the hexapod motion conditions can unambiguously be chosen as providing the best motion for training and transfer of training of the used multi-axis control task. However, the optimized hexapod motion condition did allow pilots to generate less visual lead, control with higher gains, and have better disturbance-rejection performance at the end of the training session compared to the baseline hexapod motion condition. Significant adaptations in control behavior still occurred in the transfer phase under the full-motion condition for both groups. Pilots behaved less linearly compared to previous single-axis control-task experiments; however, this did not result in smaller motion or learning effects. Motion and learning effects were more pronounced in pitch compared to roll. Finally, valuable lessons were learned that allow us to improve the adopted approach for future transfer-of-training studies.

Physiological responses to the Coriolis illusion: effects of head position and vision.

PubMed

Westmoreland, David; Krell, Robert W; Self, Brian P

2007-10-01

Changes in sympathetic outflow during Type II spatial disorientation are well documented. In this study we investigated the influences of head position and eye state (open or closed) on sympathetic activation. There were 11 naive subjects (6 men, 5 women) who were tested in a General Aviation Trainer that accelerated at a subthreshold rate for 60 s until a constant angular velocity of 90 degrees x s(-1) was reached. Approximately 40 s later, subjects were instructed to tilt their heads along either the pitch or roll axis, stimulating a Coriolis illusion. Subjects reported the perceived intensity and duration of disorientation. Heart rate, heart rate variability, and electrodermal responses were recorded before, during, and after the period of disorientation. Each subject completed four trials, which were crossed combinations of head position and eye state. There were significant increases in heart rate and the electrodermal response during disorientation, but no significant change in heart rate variability. Head position had no significant effect on any physiological parameters or on the perceived intensity of disorientation; subjects reported a shorter duration of disorientation when the head was tilted into the roll versus the pitch axis. Eye state had no effect on heart rate, heart rate variability, or the intensity of disorientation, but the electrodermal response was somewhat greater, and the duration of disorientation shorter when eyes were open. The results suggest that head position and eye state (open or closed) do not need to be included as factors when investigating sympathetic outflow during a mild Coriolis illusion.

Improving LADCP Velocity Profiles with External Attitude Sensors

NASA Astrophysics Data System (ADS)

Thurnherr, A. M.; Goszczko, I.

2016-12-01

Data collected with Acoustic Doppler Current Profilers installed on CTD rosettes and lowered through the water column (LADCP systems) are routinely used to derive full-depth profiles of ocean velocity. In addition to the uncertainties arising from random noise in the along-beam velocity measurements, LADCP derived velocities are commonly contaminated by bias errors due to imperfectly measured instrument attitude (pitch, roll and heading). Of particular concern are the heading measurements because it is not usually feasible to calibrate the internal ADCP compasses with the instruments installed on a CTD rosette, away from the magnetic disturbances of the ship as well as the current-carrying winch wire. Heading data from dual-headed LADCP systems, which consist of upward and downward-pointing ADCPs installed on the same rosette, commonly indicate heading-dependent compass errors with amplitudes exceeding 10 degrees. In an attempt to reduce LADCP velocity errors, over 200 full-depth profiles were collected during several recent projects, including GO-SHIP, DIMES and ECOGIG, with an inexpensive (<$200) external magnetometer/accelerometer package. The resulting data permit full compass calibrations (for both hard- and soft-iron effects) from in-situ profile data and yields improved pitch and roll measurements. Results indicate greatly reduced inconsistencies between the data from the two ADCPs (horizontal-velocity processing residuals), as well as smaller biases in vertical -velocity (w) measurements. In addition, the external magnetometer package allows processing of some LADCP data collected in regions where the horizontal magnitude of the earth's magnetic field is insufficient for the ADCPs internal compasses to work at all.

ANALYSIS OF AIRCRAFT MOTIONS

NASA Technical Reports Server (NTRS)

Wingrove, R. C.

1994-01-01

This program was developed by Ames Research Center, in cooperation with the National Transportation Safety Board, as a technique for deriving time histories of an aircraft's motion from Air Traffic Control (ATC) radar records. This technique uses the radar range and azimuth data, along with the downlinked altitude data, to derive an expanded set of data which includes airspeed, lift, attitude angles (pitch, roll, and heading), etc. This technique should prove useful as a source of data in the investigation of commercial airline accidents and in the analysis of accidents involving aircraft which do not have onboard data recorders (e.g., military, short-haul, and general aviation). The technique used to determine the aircraft motions involves smoothing of raw radar data. These smoothed results, in combination with other available information (wind profiles and aircraft performance data), are used to derive the expanded set of data. This program uses a cubic least-square fit to smooth the raw data. This moving-arc procedure provides a smoothed time history of the aircraft position, the inertial velocities, and accelerations. Using known winds, these inertial data are transformed to aircraft stability axes to provide true airspeed, thrust-drag, lift, and roll angle. Further derivation, based on aircraft dependent performance data, can determine the aircraft angle of attack, pitch, and heading angle. Results of experimental tests indicate that values derived from ATC radar records using this technique agree favorably with airborne measurements. This program is written in FORTRAN IV to be executed in the batch mode, and has been implemented on a CDC 6000 series computer with a central memory requirement of 64k (octal) of 60 bit words.

Dynamic interactions of an integrated vehicle-electromagnetic energy harvester-tire system subject to uneven road excitations

NASA Astrophysics Data System (ADS)

Xing, Jing Tang; Sun, Zhe; Zhou, Sulian; Tan, Mingyi

2017-04-01

An investigation is undertaken of an integrated mechanical-electromagnetic coupling system consisting of a rigid vehicle with heave, roll, and pitch motions, four electromagnetic energy harvesters and four tires subject to uneven road excitations in order to improve the passengers' riding comfort and harvest the lost engine energy due to uneven roads. Following the derived mathematical formulations and the proposed solution approaches, the numerical simulations of this interaction system subject to a continuous sinusoidal road excitation and a single ramp impact are completed. The simulation results are presented as the dynamic response curves in the forms of the frequency spectrum and the time history, which reveals the complex interaction characteristics of the system for vibration reductions and energy harvesting performance. It has addressed the coupling effects on the dynamic characteristics of the integrated system caused by: (1) the natural modes and frequencies of the vehicle; (2) the vehicle rolling and pitching motions; (3) different road excitations on four wheels; (4) the time delay of a road ramp to impact both the front and rear wheels, etc., which cannot be tackled by an often used quarter vehicle model. The guidelines for engineering applications are given. The developed coupling model and the revealed concept provide a means with analysis idea to investigate the details of four energy harvester motions for electromagnetic suspension designs in order to replace the current passive vehicle isolators and to harvest the lost engine energy. Potential further research directions are suggested for readers to consider in the future.

Effect of Dynamic Rolling Oscillations on Twin Tail Buffet Response

NASA Technical Reports Server (NTRS)

Sheta, Essam F.; Kandil, Osama A.

1999-01-01

The effect of dynamic rolling oscillations of delta-wing/twin-tail configuration on twin-tail buffet response is investigated. The computational model consists of a sharp-edged delta wing of aspect ratio one and swept-back flexible twin tail with taper ratio of 0.23. The configuration model is statically pitched at 30 deg. angle of attack and then forced to oscillate in roll around the symmetry axis at a constant amplitude of 4 deg. and reduced frequency of pi and 2(pi). The freestream Mach number and Reynolds number are 0.3 and 1.25 million, respectively. This multidisciplinary problem is solved using three sets of equations on a dynamic multi-block grid structure. The first set is the unsteady, full Navier-Stokes equations, the second set is the aeroelastic equations for coupled bending and torsion vibrations of the tails, and the third set is the grid-displacement equations. The configuration is investigated for inboard position of the twin tails which corresponds to a separation distance between the twin tails of 33% wing span. The computed results are compared with the results of stationary configuration, which previously have been validated using experimental data. The results conclusively showed that the rolling oscillations of the configuration have led to higher loads, higher deflections, and higher excitation peaks than those of the stationary configuration. Moreover, increasing the reduced frequency has led to higher loads and excitation peaks and lower bending and torsion deflections and acceleration.

Surface fatigue life of M50NiL and AISI 9310 spur gears and R C bars

NASA Technical Reports Server (NTRS)

Townsend, Dennis P.; Bamberger, Eric N.

1991-01-01

Spur gear endurance tests and rolling element surface fatigue tests were conducted to study vacuum induction melted, vacuum arc remelted (VIM-VAR) M50NiL steel for use as a gear steel in advanced aircraft applications, to determine its endurance characteristics, and to compare the results with those for standard VAR and VIM-VAR AISI 9310 gear material. Tests were conducted with spur gears and rolling contact bars manufactured from VIM-VAR M50NiL and VAR and VIM-VAR AISI 9310. The gear pitch diameter was 8.9 cm. Gear test conditions were an inlet oil temperature of 320 K, and outlet oil temperature of 350 K, a maximum Hertz stress of 1.71 GPa, and a speed of 10000 rpm. Bench rolling element fatigue tests were conducted at ambient temperatures with a bar speed of 12,500 rpm and a maximum Hertz stress of 4.83 GPa. The VIM-VAR M50NiL gears had a surface fatigue life that was 4.5 and 11.5 times that for VIM-VAR and VAR AISI 9310 gears, respectively. The surface fatigue life of the VIM-VAR M50NiL rolling contact bars was 13.2 and 21.6 times that for the VIM-VAR and VAR AISI 9310, respectively. The VIM-VAR M50NiL material was shown to have good resistance to fracture through a fatigue spall and superior fatigue life to both other gears.

Fatigue acceptance test limit criterion for larger diameter rolled thread fasteners

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kephart, A.R.

1997-05-01

This document describes a fatigue lifetime acceptance test criterion by which studs having rolled threads, larger than 1.0 inches in diameter, can be assured to meet minimum quality attributes associated with a controlled rolling process. This criterion is derived from a stress dependent, room temperature air fatigue database for test studs having a 0.625 inch diameter threads of Alloys X-750 HTH and direct aged 625. Anticipated fatigue lives of larger threads are based on thread root elastic stress concentration factors which increase with increasing thread diameters. Over the thread size range of interest, a 30% increase in notch stress ismore » equivalent to a factor of five (5X) reduction in fatigue life. The resulting diameter dependent fatigue acceptance criterion is normalized to the aerospace rolled thread acceptance standards for a 1.0 inch diameter, 0.125 inch pitch, Unified National thread with a controlled Root radius (UNR). Testing was conducted at a stress of 50% of the minimum specified material ultimate strength, 80 Ksi, and at a stress ratio (R) of 0.10. Limited test data for fastener diameters of 1.00 to 2.25 inches are compared to the acceptance criterion. Sensitivity of fatigue life of threads to test nut geometry variables was also shown to be dependent on notch stress conditions. Bearing surface concavity of the compression nuts and thread flank contact mismatch conditions can significantly affect the fastener fatigue life. Without improved controls these conditions could potentially provide misleading acceptance data. Alternate test nut geometry features are described and implemented in the rolled thread stud specification, MIL-DTL-24789(SH), to mitigate the potential effects on fatigue acceptance data.« less

Differential Canard deflection for generation of yawing moment on the X-31 with and without the vertical tail. M.S. Thesis - George Washington Univ.

NASA Technical Reports Server (NTRS)

Whiting, Matthew Robert

1996-01-01

The feasibility of augmenting the available yaw control power on the X-31 through differential deflection of the canard surfaces was studied as well as the possibility of using differential canard control to stabilize the X-31 with its vertical tail removed. Wind-tunnel tests and the results of departure criteria and linear analysis showed the destabilizing effect of the reduction of the vertical tail on the X-31. Wind-tunnel testing also showed that differential canard deflection was capable of generating yawing moments of roughly the same magnitude as the thrust vectoring vanes currently in place on the X-31 in the post-stall regime. Analysis showed that the X-31 has sufficient aileron roll control power that with the addition of differential canard as a yaw controller, the wind-axis roll accelerations will remain limited by yaw control authority. It was demonstrated, however, that pitch authority may actually limit the maximum roll rate which can be sustained. A drop model flight test demonstrated that coordinated, wind axis rolls could be performed with roll rates as high as 50 deg/sec (full scale equivalent) at 50 deg angle of attack. Another drop model test was conducted to assess the effect of vertical tail reduction, and an analysis of using differential canard deflection to stabilize the tailless X-31 was performed. The results of six-degree-of-freedom, non-linear simulation tests were correlated with the drop model flights. Simulation studies then showed that the tailless X-31 could be controlled at angles of attack at or above 20 deg using differential canard as the only yaw controller.

Influence of gravity on the orientation of vestibular induced quick phases.

PubMed

Pettorossi, V E; Errico, P; Ferraresi, A; Draicchio, F

1995-01-01

In rabbits and cats the orientation of the quick phases (QPs) of the vestibulo-ocular reflex (VOR) was studied varying the head position in space. At different head tilt positions, QPs induced by step vestibular stimulation disaligned with respect to the stimulus toward the orientation of the earth's horizontal axis. The rabbits' QPs were horizontal during yaw stimulation and remained horizontal in a range of head pitch of +/- 90 degrees (reorientation gain = 1). Therefore, the slow compensatory responses (CSPs) progressively disaligned compared with the QPs. QPs induced by roll stimulation also showed horizontal orientation, although these were rare in the upright position and occurred more frequently when the head was pitched. In cats only the yaw-induced QPs were coplanar with the stimulus, while QPs induced by pitching were mostly oblique. It followed that in either yawing or pitching, the QPs had their end point scattered within a horizontally elongated area of the visual field. When tilting cats in the frontal plane, the orientation of QP trajectories changed with respect to the stimulus so that the end point distribution tended to remain aligned toward the horizontal instead of being fixed in the orbit. The reorientation gain decreased from 1 to 0.5 by increasing the head tilt. On the basis of difference regarding eye implantation and motility it was suggested that the effect of gravity on the orientation of QPs could be aimed at maintaining the interocular axis aligned with the horizon in the rabbit and at orientating the visual scanning system in the horizontal plane in the cat.

Unsteady Thick Airfoil Aerodynamics: Experiments, Computation, and Theory

NASA Technical Reports Server (NTRS)

Strangfeld, C.; Rumsey, C. L.; Mueller-Vahl, H.; Greenblatt, D.; Nayeri, C. N.; Paschereit, C. O.

2015-01-01

An experimental, computational and theoretical investigation was carried out to study the aerodynamic loads acting on a relatively thick NACA 0018 airfoil when subjected to pitching and surging, individually and synchronously. Both pre-stall and post-stall angles of attack were considered. Experiments were carried out in a dedicated unsteady wind tunnel, with large surge amplitudes, and airfoil loads were estimated by means of unsteady surface mounted pressure measurements. Theoretical predictions were based on Theodorsen's and Isaacs' results as well as on the relatively recent generalizations of van der Wall. Both two- and three-dimensional computations were performed on structured grids employing unsteady Reynolds-averaged Navier-Stokes (URANS). For pure surging at pre-stall angles of attack, the correspondence between experiments and theory was satisfactory; this served as a validation of Isaacs theory. Discrepancies were traced to dynamic trailing-edge separation, even at low angles of attack. Excellent correspondence was found between experiments and theory for airfoil pitching as well as combined pitching and surging; the latter appears to be the first clear validation of van der Wall's theoretical results. Although qualitatively similar to experiment at low angles of attack, two-dimensional URANS computations yielded notable errors in the unsteady load effects of pitching, surging and their synchronous combination. The main reason is believed to be that the URANS equations do not resolve wake vorticity (explicitly modeled in the theory) or the resulting rolled-up un- steady flow structures because high values of eddy viscosity tend to \\smear" the wake. At post-stall angles, three-dimensional computations illustrated the importance of modeling the tunnel side walls.

Spatial orientation of the vestibular system

NASA Technical Reports Server (NTRS)

Raphan, T.; Dai, M.; Cohen, B.

1992-01-01

1. A simplified three-dimensional state space model of visual vestibular interaction was formulated. Matrix and dynamical system operators representing coupling from the semicircular canals and the visual system to the velocity storage integrator were incorporated into the model. 2. It was postulated that the system matrix for a tilted position was a composition of two linear transformations of the system matrix for the upright position. One transformation modifies the eigenvalues of the system matrix while another rotates the pitch and roll eigenvectors with the head, while maintaining the yaw axis eigenvector approximately spatially invariant. Using this representation, the response characteristics of the pitch, roll, and yaw eye velocity were obtained in terms of the eigenvalues and associated eigenvectors. 3. Using OKAN data obtained from monkeys and comparing to the model predictions, the eigenvalues and eigenvectors of the system matrix were identified as a function of tilt to the side or of tilt to the prone positions, using a modification of the Marquardt algorithm. The yaw eigenvector for right-side-down tilt and for downward pitch cross-coupling was approximately 30 degrees from the spatial vertical. For the prone position, the eigenvector was computed to be approximately 20 degrees relative to the spatial vertical. For both side-down and prone positions, oblique OKN induced along eigenvector directions generated OKAN which decayed to zero along a straight line with approximately a single time constant. This was verified by a spectral analysis of the residual sequence about the straight line fit to the decaying data. The residual sequence was associated with a narrow autocorrelation function and a wide power spectrum. 4. Parameters found using the Marquardt algorithm were incorporated into the model. Diagonal matrices in a head coordinate frame were introduced to represent the direct pathway and the coupling of the visual system to the integrator. Model simulations predicted the behavior of yaw and pitch OKN and OKAN when the animal was upright, as well as the cross-coupling in the tilted position. The trajectories in velocity space were also accurately simulated. 5. There were similarities between the monkey eigenvectors and human perception of the spatial vertical. For side-down tilts and downward eye velocity cross-coupling, there was only an Aubert (A) effect. For upward eye velocity cross-coupling there were both Muller (E) and Aubert (A) effects. The mean of the eigenvectors for upward and downward eye velocities overlay human 1 x g perceptual data.(ABSTRACT TRUNCATED AT 400 WORDS).

Aerodynamics of an Axisymmetric Missile Concept Having Cruciform Strakes and In-Line Tail Fins From Mach 0.60 to 4.63

NASA Technical Reports Server (NTRS)

Allen, Jerry M.

2005-01-01

An experimental study has been performed to develop a large force and moment aerodynamic data set on a slender axisymmetric missile configuration having cruciform strakes and in-line control tail fins. The data include six-component balance measurements of the configuration aerodynamics and three-component measurements on all four tail fins. The test variables include angle of attack, roll angle, Mach number, model buildup, strake length, nose size, and tail fin deflection angles to provide pitch, yaw, and roll control. Test Mach numbers ranged from 0.60 to 4.63. The entire data set is presented on a CD-ROM that is attached to this paper. The CD-ROM also includes extensive plots of both the six-component configuration data and the three-component tail fin data. Selected samples of these plots are presented in this paper to illustrate the features of the data and to investigate the effects of the test variables.

Aerodynamics of an Axisymmetric Missile Concept Having Cruciform Strakes and In-Line Tail Fins From Mach 0.60 to 4.63, Supplement

NASA Technical Reports Server (NTRS)

Allen, Jerry M.

2005-01-01

An experimental study has been performed to develop a large force and moment aerodynamic data set on a slender axisymmetric missile configuration having cruciform strakes and in-line control tail fins. The data include six-component balance measurements of the configuration aerodynamics and three-component measurements on all four tail fins. The test variables include angle of attack, roll angle, Mach number, model buildup, strake length, nose size, and tail fin deflection angles to provide pitch, yaw, and roll control. Test Mach numbers ranged from 0.60 to 4.63. The entire data set is presented on a CD-ROM that is attached to this paper. The CD-ROM also includes extensive plots of both the six-component configuration data and the three-component tail fin data. Selected samples of these plots are presented in this paper to illustrate the features of the data and to investigate the effects of the test variables.

Integrated Orbit, Attitude, and Structural Control System Design for Space Solar Power Satellites

NASA Technical Reports Server (NTRS)

Woods-Vedeler, Jessica (Technical Monitor); Moore, Chris (Technical Monitor); Wie, Bong; Roithmayr, Carlos

2001-01-01

The major objective of this study is to develop an integrated orbit, attitude, and structural control system architecture for very large Space Solar Power Satellites (SSPS) in geosynchronous orbit. This study focuses on the 1.2-GW Abacus SSPS concept characterized by a 3.2 x 3.2 km solar-array platform, a 500-m diameter microwave beam transmitting antenna, and a 500 700 m earth-tracking reflector. For this baseline Abacus SSPS configuration, we derive and analyze a complete set of mathematical models, including external disturbances such as solar radiation pressure, microwave radiation, gravity-gradient torque, and other orbit perturbation effects. The proposed control system architecture utilizes a minimum of 500 1-N electric thrusters to counter, simultaneously, the cyclic pitch gravity-gradient torque, the secular roll torque caused by an o.set of the center-of-mass and center-of-pressure, the cyclic roll/yaw microwave radiation torque, and the solar radiation pressure force whose average value is about 60 N.

Integrated Orbit, Attitude, and Structural Control Systems Design for Space Solar Power Satellites

NASA Technical Reports Server (NTRS)

Wie, Bong; Roithmayr, Carlos M.

2001-01-01

The major objective of this study is to develop an integrated orbit, attitude, and structural control systems architecture for very large Space Solar Power Satellites (SSPS) in geosynchronous orbit. This study focuses on the 1.2-GW Abacus SSPS concept characterized by a 3.2 x 3.2 km solar-array platform, a 500-m diameter microwave beam transmitting antenna, and a 500 x 700 m earth-tracking reflector. For this baseline Abacus SSPS configuration, we derive and analyze a complete set of mathematical models, including external disturbances such as solar radiation pressure, microwave radiation, gravity-gradient torque, and other orbit perturbation effects. The proposed control systems architecture utilizes a minimum of 500 1-N electric thrusters to counter, simultaneously, the cyclic pitch gravity-gradient torque, the secular roll torque caused by an offset of the center-of-mass and center-of-pressure, the cyclic roll/yaw microwave radiation torque, and the solar radiation pressure force whose average value is about 60 N.

Proving the correctness of the flight director program EADIFD, volume 1

NASA Technical Reports Server (NTRS)

Lee, F. J.; Maurer, W. D.

1977-01-01

EADIFD is written in symbolic assembly language for execution on the C4000 airborne computer. It is a subprogram of an aircraft navigation and guidance program and is used to generate pitch and roll command signals for use in terminal airspace. The proof of EADIFD was carried out by an inductive assertion method consisting of two parts, a verification condition generator and a source language independent proof checker. With the specifications provided by NASA, EADIFD was proved correct. The termination of the program is guaranteed and the program contains no instructions that can modify it under any conditions.

Laboratory test results of the high speed optical tracking system for the Spaceborne Geodynamic Ranging System

NASA Technical Reports Server (NTRS)

Zagwodzki, Thomas W.; White, David L.

1987-01-01

The high speed, high resolution optical tracking system for the Spaceborne Geodynamic Ranging System employs a two-axis gimbaled pointing device that can operate from a Space Shuttle platform and can track multiple retroreflector ground targets with arcsec accuracy. Laboratory tests of the stepping characteristics of the pointing system for various step sizes and directions has shown arcsec repeatability with little wasted motion, overshoot, or ringing. The worst rms tracking jitter was 1 and 2 arcsec in the roll and pitch axes, respectively, at the maximum tracking rate of 2 deg/sec.

Exploratory investigation of the incipient spinning characteristics of a typical light general aviation airplane

NASA Technical Reports Server (NTRS)

Ranaudo, R. J.

1977-01-01

The incipient spinning characteristics of general aviation airplanes were studied. Angular rates in pitch, yaw, and roll were measured through the stall during the incipient spin and throughout the recovery along with control positions, angle of attack, and angle of sideslip. The characteristic incipient spinning motion was determined from a given set of entry conditions. The sequence of recovery controls were varied at two distinct points during the incipient spin, and the effect on recovery characteristics was examined. Aerodynamic phenomena associated with flow over the aft portion of the fuselage, vertical stabilizer, and rubber are described.

Results of wind tunnel RCS interaction tests on a 0.010-scale space shuttle orbiter model (51-0) in the Calspan Corporation 48-inch hypersonic shock tunnel (test 0A93)

NASA Technical Reports Server (NTRS)

Daileda, J. J.; Marroquin, J.; Rogers, C. E.

1976-01-01

A hypersonic shock tunnel test on a 0.010 scale SSV orbital configuration was performed to determine the effects of RCS jet/flow field interactions on SSV aerodynamic stability and control characteristics at various hypersonic Mach and Reynolds numbers. Flow field interaction data were obtained using pitch and roll jets. In addition, direct impingement data were obtained at a Mach number of zero with the test section pumped down to below 10 microns of mercury pressure.

Air Defense Initiative Air-to-Air Engagement Analysis. Volume 2. Error Models and Simulation for Case I: Pre-Launch Coordination Without Post-Launch Updates

DTIC Science & Technology

1991-03-08

acceleration and angular rates (produced by roll, pitch. and yaw motions) experienced by the LP. 12 ___________________________________ Synetics Table 3 2...at time tlP,INIT. The corresponding n-frame to b-frame D(’NI is: Cb(t) = L.q(Y’LP,INIT). (A.30) 41). (’onipute angular rates: The angular rates with...respect to inertial space (p, q, and r) are computed from the angular rates with respect to the n-frame (P, Q, and R), which in turn are computed from

Preliminary Airworthiness Evaluation of the AH-1S (Modernized Cobra) with the HELLFIRE, TOW, and Stinger Missiles Installed

DTIC Science & Technology

1984-10-01

is ready for engagement. The SCAS pitch, roll, and yaw engage switches energize the appropriate channels of the SCAS and the electrical solenoid valves ...I 4i TFF FF iff iT1Ii F1T ’I" 114~~~~7. FF+4441UF - - 4-� 1;4 444 1~ FF1 111410 4 IB1: TIF FF 1F V4j UVFFtli T FF’HI F F FF F F tF1 F ’’ ’-FF11 1

Flatness-Based Tracking Control and Nonlinear Observer for a Micro Aerial Quadcopter

NASA Astrophysics Data System (ADS)

Rivera, G.; Sawodny, O.

2010-09-01

This paper deals with the design of a nonlinear observer and a differential flat based path tracking controller for a mini aerial quadcopter. Taking into account that only the inertial coordinates and the yaw angle are available for measurements, it is shown, that the system is differentially flat, allowing a systematic design of a nonlinear tracking control in open and closed loop. A nonlinear observer is carried out to estimate the roll and pitch angle as well as all the linear and angular velocities. Finally the performance of the feedback controller and observer are illustrated in a computer simulation.

Design, Analysis and Qualification of Elevon for Reusable Launch Vehicle

NASA Astrophysics Data System (ADS)

Tiwari, S. B.; Suresh, R.; Krishnadasan, C. K.

2017-12-01

Reusable launch vehicle technology demonstrator is configured as a winged body vehicle, designed to fly in hypersonic, supersonic and subsonic regimes. The vehicle will be boosted to hypersonic speeds after which the winged body separates and descends using aerodynamic control. The aerodynamic control is achieved using the control surfaces mainly the rudder and the elevon. Elevons are deflected for pitch and roll control of the vehicle at various flight conditions. Elevons are subjected to aerodynamic, thermal and inertial loads during the flight. This paper gives details about the configuration, design, qualification and flight validation of elevon for Reusable Launch Vehicle.

Dynamic Stability Instrumentation System (DSIS). Volume 3; User Manual

NASA Technical Reports Server (NTRS)

Daniels, Taumi S.; Boyden, Richmond P.; Dress, David A.; Jordan, Thomas L.

1996-01-01

The paper is an operating manual for the Dynamic Stability Instrumentation System in specific NASA Langley wind tunnels. The instrumentation system performs either a synchronous demodulation or a Fast Fourier Transform on dynamic balance strain gage signals, and ultimately computes aerodynamic coefficients. The dynamic balance converts sting motor rotation into pitch or yaw plane or roll axis oscillation, with timing information provided by a shaft encoder. Additional instruments control model attitude and balance temperature and monitor sting vibrations. Other instruments perform self-calibration and diagnostics. Procedures for conducting calibrations and wind-off and wind-on tests are listed.

Night-Vision Goggle Visual Performance During 12 Hours at 10,000 ft Altitude at Night Conditions

DTIC Science & Technology

2008-03-01

relative ta the use .of head-phanes (OR= 1.74, CI= 0.64-4.71), attendance ta cancerts (OR= 2.20, CI= 0.62-7.82), .or matar sparts (OR= 1.02, CI= 0.21-4.77...performance of low-grade hypaxia exposu re at 10,000 ft duri~g 12 haurs night condltlans. Methods: Hypabaric expasures in a dark environment simulating a...visian gaggle at an altitude .of 10,000 ft In a dark envlranment are described. [418] ROLL, PITCH, AND YAW OFTHE HEAD AS IT TRACKS VISUAL AND

Integrated Technology Rotor Methodology Assessment Workshop Held in Moffett Field, California on 21-22 Jun 1983

DTIC Science & Technology

1988-06-01

Fuseaje mode%, 6/un/im NA 10 10 10 6/10 6/9 6/10 6/10 4/0 NA rigid body / elastic Aerodynamics on NA NA NA NA NA CP CP CP CP NA NA fuselage Pylon CP PR GDOF... motions were cyclic and body modes using the moving-block allowed to decay freely. The body pitch and roll analysis. A complete discussion of the model...conditions. Quick-acting and slow- o acting (self-centering) snubbers were intalled to 0 0 arrest the fuselage motion divergences or co lock 0 0 out body

An accurate solution of the gas lubricated, flat sector thrust bearing

NASA Technical Reports Server (NTRS)

Etsion, I.; Fleming, D. P.

1976-01-01

A flat sector shaped pad geometry for gas lubricated thrust bearings is analyzed considering both pitch and roll angles of the pad and the true film thickness distribution. Maximum load capacity is achieved when the pad is tilted so as to create a uniform minimum film thickness along the pad trailing edge. Performance characteristics for various geometries and operating conditions of gas thrust bearings are presented in the form of design curves. A comparison is made with the rectangular slider approximation. It is found that this approximation is unsafe for practical design, since it always overestimates load capacity.

Theoretical characteristics in supersonic flow of two types of control surfaces on triangular wings

NASA Technical Reports Server (NTRS)

Tucker, Warren A; Nelson, Robert L

1949-01-01

Methods based on the linearized theory for supersonic flow were used to find the characteristics of two types of control surfaces on thin triangular wings. The first type, the constant-chord partial-span flap, was considered to extend either outboard from the center of the wing or inboard from the wing tip. The second type, the full-triangular-tip flap, was treated only for the case in which the Mach number component normal to the leading edge is supersonic. For each type, expressions were found for the lift, rolling-moment, pitching-moment, and hinge-moment characteristics.

Analysis of the gas-lubricated flat-sector-pad thrust bearing

NASA Technical Reports Server (NTRS)

Etsion, I.

1976-01-01

A flat sector-shaped pad geometry for a gas-lubricated thrust bearing is analyzed considering both the pitch and roll of the pad. It is shown that maximum load capacity is achieved when the pad is tilted so as to create uniform minimum film thickness along the pad trailing edge. Performance characteristics for various geometries and operating conditions of gas thrust bearings are presented in the form of design curves, and a comparison is made with the rectangular slider approximation. It is found that this approximation is unsafe for practical design, since it always overestimates load capacity.

The Use of Groundspeed. in a Wind Shear and the Flight Evaluation of a Radar-Altimeter-Based System for the Measurement of Groundspeed.

DTIC Science & Technology

1981-07-01

Figure Page I OORAN’ Transmitting Antenna Located at FS 517 on Fuselage Under- 4 surface of Gulfstream I Airplane 2 CORAN ’" Receiving Antenna Pair...Located at FS 376.5 on Fuselage 5 Undersurface of Gulfstream 1 Airplane 3 CORAN ’ Rack Installed in Gulfstream I Airplane 7 4 CORAN " Power and Display...Unit 8 5 CORAN ’" Velocity Concept 9 6 Correlation Geometry in a Drift 11 7 Pitch and Roll Insensitivity 11 iv INTRODUCTION A groundspeed display, to be

The Use of Source-Sink and Doublet Distributions Extended to the Solution of Boundary-Value Problems in Supersonic Flow

NASA Technical Reports Server (NTRS)

Heaslet, Max A; Lomax, Harvard

1948-01-01

A direct analogy is established between the use of source-sink and doublet distributions in the solution of specific boundary-value problems in subsonic wing theory and the corresponding problems in supersonic theory. The correct concept of the "finite part" of an integral is introduced and used in the calculation of the improper integrals associated with supersonic doublet distributions. The general equations developed are shown to include several previously published results and particular examples are given for the loading on rolling and pitching triangular wings with supersonic leading edges.

Soil moisture detection by Skylab's microwave sensors. [radiometer/scatterometer measurements of Texas

NASA Technical Reports Server (NTRS)

Moore, R. K.; Ulaby, F. T. (Principal Investigator); Barr, J. C.; Sobti, A.

1974-01-01

The author has identified the following significant results. Terrain microwave backscatter and emission response to soil moisture variations were investigated using Skylab's 13.9 GHz RADSCAT (radiometer/scatterometer) system. Data acquired on June 5, 1973, over a test site in west-central Texas indicated a fair degree of correlation with composite rainfall. The scan made was cross-track contiguous (CTC) with a pitch of 29.4 deg and no roll effect. Vertical polarization was employed with both radiometer and scatterometer. The composite rainfall was computed according to the flood prediction technique using rainfall data supplied by weather reporting stations.

Jet-boundary and Plan-form Corrections for Partial-Span Models with Reflection-Plane, End-Plate, or No End-Plate in a Closed Circular Wind Tunnel

NASA Technical Reports Server (NTRS)

Sivells, James C; Deters, Owen J

1946-01-01

A method is presented for determining the jet-boundary and plan-form corrections necessary for application to test data for a partial-span model with a reflection plane, an end plate, or no end plate in a closed circular wind tunnel. Examples are worked out for a partial-span model with each of the three end conditions in the Langley 19-foot pressure tunnel and the corrections are applied to measured values of lift, drag, pitching-moment, rolling-moment, and yawing-moment coefficients.

E-2578

NASA Image and Video Library

1956-09-27

NACA High-Speed Flight Station test pilot Stan Butchart flying the Iron Cross, the mechanical reaction control simulator. High-pressure nitrogen gas expanded selectively, by the pilot, through the small reaction control thrusters maneuvered the Iron Cross through the three axes. The exhaust plume can be seen from the aft thruster. The tanks containing the gas can be seen on the cart at the base of the pivot point of the Iron Cross. NACA technicians built the iron-frame simulator, which matched the inertia ratios of the Bell X-1B airplane, installing six jet nozzles to control the movement about the three axes of pitch, roll, and yaw.

Spatial and rotational quality assurance of 6DOF patient tracking systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary

Purpose: External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations. In this work, the authors develop a novel technique to evaluate the 6 degree of freedom 6(DOF) (translations and rotations) performance of external motion tracking systems. The authors apply this methodology to an infrared marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. Methods: An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to perform motions with sub-millimeter and subdegree accuracy in a 6DOF workspace. An infraredmore » marker tracking system was first used to validate a calibration algorithm which associates the motion phantom coordinate frame to the camera frame. The 6DOF positions of the mobile robotic system in this space were then tracked and recorded independently by an optical surface tracking system after a cranial phantom was rigidly fixed to the moveable platform of the robotic stage. The calibration methodology was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20 × 20 × 16 mm and 5° × 5° × 5° workspace. The intended input motions were compared to the calibrated 6DOF measured points. Results: The technique found the accuracy of the infrared (IR) marker tracking system to have maximal root-mean square error (RMSE) values of 0.18, 0.25, 0.07 mm, 0.05°, 0.05°, and 0.09° in left–right (LR), superior–inferior (SI), anterior–posterior (AP), pitch, roll, and yaw, respectively, comparing the intended 6DOF position and the measured position by the IR camera. Similarly, the 6DOF RSME discrepancy for the HD optical surface tracker yielded maximal values of 0.46, 0.60, 0.54 mm, 0.06°, 0.11°, and 0.08° in LR, SI, AP, pitch, roll, and yaw, respectively, over the same 6DOF evaluative workspace. An earlier generation 3D optical surface tracking unit was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.69, 0.74, 0.47 mm, 0.28°, 0.19°, and 0.18°, in LR, SI, AP, pitch, roll, and yaw, respectively, in the same 6DOF evaluation space. Conclusions: The proposed technique was found to be effective at evaluating the performance of 6DOF patient tracking systems. All observed optical tracking systems were found to exhibit tracking capabilities at the sub-millimeter and subdegree level within a 6DOF workspace.« less

Linear parameter varying representations for nonlinear control design

NASA Astrophysics Data System (ADS)

Carter, Lance Huntington

Linear parameter varying (LPV) systems are investigated as a framework for gain-scheduled control design and optimal hybrid control. An LPV system is defined as a linear system whose dynamics depend upon an a priori unknown but measurable exogenous parameter. A gain-scheduled autopilot design is presented for a bank-to-turn (BTT) missile. The method is novel in that the gain-scheduled design does not involve linearizations about operating points. Instead, the missile dynamics are brought to LPV form via a state transformation. This idea is applied to the design of a coupled longitudinal/lateral BTT missile autopilot. The pitch and yaw/roll dynamics are separately transformed to LPV form, where the cross axis states are treated as "exogenous" parameters. These are actually endogenous variables, so such a plant is called "quasi-LPV." Once in quasi-LPV form, a family of robust controllers using mu synthesis is designed for both the pitch and yaw/roll channels, using angle-of-attack and roll rate as the scheduling variables. The closed-loop time response is simulated using the original nonlinear model and also using perturbed aerodynamic coefficients. Modeling and control of engine idle speed is investigated using LPV methods. It is shown how generalized discrete nonlinear systems may be transformed into quasi-LPV form. A discrete nonlinear engine model is developed and expressed in quasi-LPV form with engine speed as the scheduling variable. An example control design is presented using linear quadratic methods. Simulations are shown comparing the LPV based controller performance to that using PID control. LPV representations are also shown to provide a setting for hybrid systems. A hybrid system is characterized by control inputs consisting of both analog signals and discrete actions. A solution is derived for the optimal control of hybrid systems with generalized cost functions. This is shown to be computationally intensive, so a suboptimal strategy is proposed that neglects a subset of possible parameter trajectories. A computational algorithm is constructed for this suboptimal solution applied to a class of linear non-quadratic cost functions.

An Impulse-Momentum Method for Calculating Landing-Gear Contact Conditions in Eccentric Landings

NASA Technical Reports Server (NTRS)

Yntema, Robert T; Milwitzky, Benjamin

1952-01-01

An impulse-momentum method for determining impact conditions for landing gears in eccentric landings is presented. The analysis is primarily concerned with the determination of contact velocities for impacts subsequent to initial touchdown in eccentric landings and with the determination of the effective mass acting on each landing gear. These parameters determine the energy-absorption requirements for the landing gear and, in conjunction with the particular characteristics of the landing gear, govern the magnitude of the ground loads. Changes in airplane angular and linear velocities and the magnitude of landing-gear vertical, drag, and side impulses resulting from a landing impact are determined by means of impulse-momentum relationships without the necessity for considering detailed force-time variations. The effective mass acting on each gear is also determined from the calculated landing-gear impulses. General equations applicable to any type of eccentric landing are written and solutions are obtained for the particular cases of an impact on one gear, a simultaneous impact on any two gears, and a symmetrical impact. In addition a solution is presented for a simplified two-degree-of-freedom system which allows rapid qualitative evaluation of the effects of certain principal parameters. The general analysis permits evaluation of the importance of such initial conditions at ground contact as vertical, horizontal, and side drift velocities, wing lift, roll and pitch angles, and rolling and pitching velocities, as well as the effects of such factors as landing gear location, airplane inertia, landing-gear length, energy-absorption efficiency, and wheel angular inertia on the severity of landing impacts. -A brief supplementary study which permits a limited evaluation of variable aerodynamic effects neglected in the analysis is presented in the appendix. Application of the analysis indicates that landing-gear impacts in eccentric landings can be appreciably more severe than impacts in symmetrical landings with the same sinking speed. The results also indicate the effects of landing-gear location, airplane inertia, initial wing lift, side drift velocity, attitude, and initial rolling velocity on the severity of both initial and subsequent landing-gear impacts. A comparison of the severity of impacts on auxiliary gears for tricycle and quadricycle configurations is also presented.

Spatial orientation of optokinetic nystagmus and ocular pursuit during orbital space flight

NASA Technical Reports Server (NTRS)

Moore, Steven T.; Cohen, Bernard; Raphan, Theodore; Berthoz, Alain; Clement, Gilles

2005-01-01

On Earth, eye velocity of horizontal optokinetic nystagmus (OKN) orients to gravito-inertial acceleration (GIA), the sum of linear accelerations acting on the head and body. We determined whether adaptation to micro-gravity altered this orientation and whether ocular pursuit exhibited similar properties. Eye movements of four astronauts were recorded with three-dimensional video-oculography. Optokinetic stimuli were stripes moving horizontally, vertically, and obliquely at 30 degrees/s. Ocular pursuit was produced by a spot moving horizontally or vertically at 20 degrees/s. Subjects were either stationary or were centrifuged during OKN with 1 or 0.5 g of interaural or dorsoventral centripetal linear acceleration. Average eye position during OKN (the beating field) moved into the quick-phase direction by 10 degrees during lateral and upward field movement in all conditions. The beating field did not shift up during downward OKN on Earth, but there was a strong upward movement of the beating field (9 degrees) during downward OKN in the absence of gravity; this likely represents an adaptation to the lack of a vertical 1-g bias in-flight. The horizontal OKN velocity axis tilted 9 degrees in the roll plane toward the GIA during interaural centrifugation, both on Earth and in space. During oblique OKN, the velocity vector tilted towards the GIA in the roll plane when there was a disparity between the direction of stripe motion and the GIA, but not when the two were aligned. In contrast, dorsoventral acceleration tilted the horizontal OKN velocity vector 6 degrees in pitch away from the GIA. Roll tilts of the horizontal OKN velocity vector toward the GIA during interaural centrifugation are consistent with the orientation properties of velocity storage, but pitch tilts away from the GIA when centrifuged while supine are not. We speculate that visual suppression during OKN may have caused the velocity vector to tilt away from the GIA during dorsoventral centrifugation. Vertical OKN and ocular pursuit did not exhibit orientation toward the GIA in any condition. Static full-body roll tilts and centrifugation generating an equivalent interaural acceleration produced the same tilts in the horizontal OKN velocity before and after flight. Thus, the magnitude of tilt in OKN velocity was dependent on the magnitude of interaural linear acceleration, rather than the tilt of the GIA with regard to the head. These results favor a 'filter' model of spatial orientation in which orienting eye movements are proportional to the magnitude of low frequency interaural linear acceleration, rather than models that postulate an internal representation of gravity as the basis for spatial orientation.

Computational Investigation and Validation of Twin-Tail Buffet Response Including Dynamics and Control

NASA Technical Reports Server (NTRS)

Kandil, Osama A.

1998-01-01

Multidisciplinary tools for prediction of single rectangular-tail buffet are extended to single swept-back-tail buffet in transonic-speed flow, and multidisciplinary tools for prediction and control of twin-tail buffet are developed and presented. The configuration model consists of a sharp-edged delta wing with single or twin tails that are oriented normal to the wing surface. The tails are treated as cantilevered beams fixed at the root and allowed to oscillate in both bending and torsion. This complex multidisciplinary problem is solved sequentially using three sets of equations on a dynamic single or multi-block grid structure. The first set is the unsteady, compressible, Reynolds-averaged Navier-Stokes equations which are used for obtaining the flow field vector and the aerodynamic loads on the tails. The Navier-Stokes equations are solved accurately in time using the implicit, upwind, flux-difference splitting, finite volume scheme. The second set is the coupled bending and torsion aeroelastic equations of cantilevered beams which are used for obtaining the bending and torsion deflections of the tails. The aeroelastic equations'are solved accurately in time using, a fifth-order-accurate Runge-Kutta scheme. The third set is the grid-displacement equations and the rigid-body dynamics equations, which are used for updating the grid coordinates due to the tail deflections and rigid-body motions. The tail-buffet phenomenon is predicted for highly-swept, single vertical tail placed at the plane of geometric symmetry, and for highly-swept, vertical twin tails placed at three different spanwise separation distances. The investigation demonstrates the effects of structural inertial coupling and uncoupling of the bending and torsion modes of vibration, spanwise positions of the twin-tail, angle of attack, and pitching and rolling dynamic motions of the configuration model on the tail buffet loading and response. The fundamental issue of twin-tail buffet alleviation is addressed using two active flow-control methods. These methods are the tangential leading-edge blowing and the flow suction from the leading-edge vortex cores along their paths. Qualitative and quantitative comparisons with the available experimental data are presented. The comparisons indicate that the present multidisciplinary aeroelastic analysis tools are robust, accurate and efficient.

A 3-DOF parallel robot with spherical motion for the rehabilitation and evaluation of balance performance.

PubMed

Patanè, Fabrizio; Cappa, Paolo

2011-04-01

In this paper a novel electrically actuated parallel robot with three degrees-of-freedom (3 DOF) for dynamic postural studies is presented. The design has been described, the solution to the inverse kinematics has been found, and a numerical solution for the direct kinematics has been proposed. The workspace of the implemented robot is characterized by an angular range of motion of about ±10° for roll and pitch when yaw is in the range ±15°. The robot was constructed and the orientation accuracy was tested by means of an optoelectronic system and by imposing a sinusoidal input, with a frequency of 1 Hz and amplitude of 10°, along the three axes, in sequence. The collected data indicated a phase delay of 1° and an amplitude error of 0.5%-1.5%; similar values were observed for cross-axis sensitivity errors. We also conducted a clinical application on a group of normal subjects, who were standing in equilibrium on the robot base with eyes open (EO) and eyes closed (EC), which was rotated with a tri-axial sinusoidal trajectory with a frequency of 0.5 Hz and amplitude 5° for roll and pitch and 10° for the yaw. The postural configuration of the subjects was recorded with an optoelectronic system. However, due to the mainly technical nature of this paper, only initial validation outcomes are reported here. The clinical application showed that only the tilt and displacement on the sagittal pane of head, trunk, and pelvis in the trials conducted with eyes closed were affected by drift and that the reduction of the yaw rotation and of the mediolateral translation was not a controlled parameter, as happened, instead, for the other anatomical directions.

Practical issues regarding angular and energy response in in vivo intraoperative electron radiotherapy dosimetry.

PubMed

López-Tarjuelo, Juan; Bouché-Babiloni, Ana; Morillo-Macías, Virginia; Santos-Serra, Agustín; Ferrer-Albiach, Carlos

2017-01-01

To estimate angular response deviation of MOSFETs in the realm of intraoperative electron radiotherapy (IOERT), review their energy dependence, and propose unambiguous names for detector rotations. MOSFETs have been used in IOERT. Movement of the detector, namely rotations, can spoil results. We propose yaw, pitch, and roll to name the three possible rotations in space, as these unequivocally name aircraft rotations. Reinforced mobile MOSFETs (model TN-502RDM-H) and an Elekta Precise linear accelerator were used. Two detectors were placed in air for the angular response study and the whole set of five detectors was calibrated as usual to evaluate energy dependence. The maximum readout was obtained with a roll of 90° and 4 MeV. With regard to pitch movement, a substantial drop in readout was achieved at 90°. Significant overresponse was measured at 315° with 4 MeV and at 45° with 15 MeV. Energy response is not different for the following groups of energies: 4, 6, and 9 MeV; and 12 MeV, 15 MeV, and 18 MeV. Our proposal to name MOSFET rotations solves the problem of defining sensor orientations. Angular response could explain lower than expected results when the tip of the detector is lifted due to inadvertent movements. MOSFETs energy response is independent of several energies and differs by a maximum of 3.4% when dependent. This can limit dosimetry errors and makes it possible to calibrate the detectors only once for each group of energies, which saves time and optimizes lifespan of MOSFETs.

A study of factors affecting the steady spin of an airplane

NASA Technical Reports Server (NTRS)

Scudder, Nathan F

1933-01-01

Data from wind-tunnel tests on a model of the NY-1 airplane were used in a study of the effect on the steady spin of a number of factors considered to be important. The factors were of two classes, mass distribution effects and aerodynamic effects. The study indicated that mass extended along the longitudinal axis has no detrimental effect or is even slightly beneficial, mass extended along the lateral axis is detrimental if the airplane spins with the inner wing tip far down, and mass extended along the normal axis, if of considerable magnitude, has a strong favorable effect. The aerodynamic effects considered in terms of rolling, pitching, and yawing moments added to those for a conventional airplane showed that added stable rolling moment could contribute favorable effect on the spin only in decreasing the amount of inward sideslip required for equilibrium. Negative pitching moment of moderate magnitude has unfavorable effect on a high-angle-of-attack spin, and stable yawing moment has pronounced beneficial effect on the spin. Experimental data from various sources were available to verify nearly all the deductions resulting from the study of the curves. When these results were considered for the purpose of deciding upon the best means to be developed for controlling the spin, the yawing-moment equilibrium was found to offer the most promising field for research. The wing-cellule yawing moment, of which the shape of the chord-force curve is an approximate measure, should be made as small as possible in the unstable sense and the damping yawing moment of the tail should be made as large as possible. The most serious unfavorable effect on the damping yawing moment of the tail is the blanketing of the vertical surfaces by the other parts of the tail.

Experimental aerodynamics characteristics for bodies of elliptic cross section at angles of attack from 0 deg to 58 deg and Mach numbers from 0.6 to 2.0

NASA Technical Reports Server (NTRS)

Jorgensen, L. H.; Nelson, E. R.

1975-01-01

An experimental investigation was conducted to measure the static aerodynamic characteristics for two bodies of elliptic cross section and for their equivalent body of revolution. The equivalent body of revolution had the same length and axial distribution of cross-sectional area as the elliptic bodies. It consisted of a tangent ogive nose of fineness ratio 3 followed by a cylinder with a fineness ratio of 7. All bodies were tested at Mach numbers of 0.6, 0.9, 1.2, 1.5, and 2.0 at angles of attack from 0 deg to 58 deg. The data demonstrate that the aerodynamic characteristics can be significantly altered by changing the body cross section from circular to elliptic and by rolling the body from 0 deg to 90 deg. For example, the first elliptic body (with a constant cross-sectional axis ratio of 2) developed at zero roll about twice the normal force developed by the equivalent body of revolution. At some angles of attack greater than about 25 deg, side forces and yawing moments were measured in spite of the fact that the bodies were tested at zero angle of sideslip. The side-force and yawing-moment coefficients decreased with an increase in Mach number and essentially disappeared for all the bodies at Mach numbers greater than 1.2. From the standpoint of reducing undesirable side forces at high angles of attack, it is best to have the flattest side of the nose of the elliptic bodies pitching against the stream crossflow. The effect of Reynolds number was also the least significant for both elliptic bodies when the flattest side of the nose was pitched against the stream crossflow.

Hawkmoth flight stability in turbulent vortex streets.

PubMed

Ortega-Jimenez, Victor Manuel; Greeter, Jeremy S M; Mittal, Rajat; Hedrick, Tyson L

2013-12-15

Shedding of vortices is a common phenomenon in the atmosphere over a wide range of spatial and temporal scales. However, it is unclear how these vortices of varying scales affect the flight performance of flying animals. In order to examine these interactions, we trained seven hawkmoths (Manduca sexta) (wingspan ~9 cm) to fly and feed in a wind tunnel under steady flow (controls) and in the von Kármán vortex street of vertically oriented cylinders (two different cylinders with diameters of 10 and 5 cm) at speeds of 0.5, 1 and 2 m s(-1). Cylinders were placed at distances of 5, 25 and 100 cm upstream of the moths. Moths exhibited large amplitude yaw oscillations coupled with modest oscillations in roll and pitch, and slight increases in wingbeat frequency when flying in both the near (recirculating) and middle (vortex dominated) wake regions. Wingbeat amplitude did not vary among treatments, except at 1 m s(-1) for the large cylinder. Yaw and roll oscillations were synchronized with the vortex shedding frequencies in moths flying in the wake of the large cylinder at all speeds. In contrast, yaw and pitch were synchronized with the shedding frequency of small vortices at speeds ≤1 m s(-1). Oscillations in body orientation were also substantially smaller in the small cylinder treatment when compared with the large cylinder, regardless of temporal or non-dimensional spatial scale. Moths flying in steady conditions reached a higher air speed than those flying into cylinder wakes. In general, flight effects produced by the cylinder wakes were qualitatively similar among the recirculating and vortex-dominated wake regions; the magnitude of those effects, however, declined gradually with downstream distance.

Evaluation of a Commercial Tractor Safety Monitoring System Using a Reverse Engineering Procedure.

PubMed

Casazza, Camilla; Martelli, Roberta; Rondelli, Valda

2016-10-17

There is a high rate of work-related deaths in agriculture. In Italy, despite the obligato-ry installation of ROPS, fatal accidents involving tractors represent more than 40% of work-related deaths in agriculture. As death is often due to an overturn that the driver is incapable of predicting, driver assistance devices that can signal critical stability conditions have been studied and marketed to prevent accidents. These devices measure the working parameters of the tractor through sensors and elaborate the values using an algorithm that, taking into account the geometric characteristics of the tractor, pro-vides a risk index based on models elaborated on a theoretical basis. This research aimed to verify one of these stability indexes in the field, using a commercial driver as-sistance device to monitor five tractors on the University of Bologna experimental farm. The setup of the device involved determining the coordinates of the center of gravity of the tractor and the implement mounted on the tractor. The analysis of the stability in-dex, limited to events with a significant risk level, revealed a clear separation into two groups: events with high values of roll or pitch and low speeds, typical of a tractor when working, and events with low values of roll and pitch and high steering angle and forward speed, typical of travel on the road. The equation for calculating the critical speed when turning provided a significant contribution only for events that were typi-cal of travel rather than field work, suggesting a diversified calculation approach ac-cording to the work phase. Copyright© by the American Society of Agricultural Engineers.

Investigation of the Low-Subsonic Stability and Control Characteristics of a Free-Flying Model of a Thick 70 deg Delta Reentry Configuration

NASA Technical Reports Server (NTRS)

Paulson, John W.; Shanks, Robert E.

1961-01-01

An investigation of the low-subsonic flight characteristics of a thick 70 deg delta reentry configuration having a diamond cross section has been made in the Langley full-scale tunnel over an angle-of-attack range from 20 to 45 deg. Flight tests were also made at angles of attack near maximum lift (alpha = 40 deg) with a radio-controlled model dropped from a helicopter. Static and dynamic force tests were made over an angle-of-attack range from 0 to 90 deg. The longitudinal stability and control characteristics were considered satisfactory when the model had positive static longitudinal stability. It was possible to fly the model with a small amount of static instability, but the longitudinal characteristics were considered unsatisfactory in this condition. At angles of attack above the stall the model developed a large, constant-amplitude pitching oscillation. The lateral stability characteristics were considered to be only fair at angles of attack from about 20 to 35 deg because of a lightly damped Dutch roll oscillation. At higher angles of attack the oscillation was well damped and the lateral stability was generally satisfactory. The Dutch roll damping at the lower angles of attack was increased to satisfactory values by means of a simple rate-type roll damper. The lateral control characteristics were generally satisfactory throughout the angle- of-attack range, but there was some deterioration in aileron effectiveness in the high angle-of-attack range due mainly to a large increase in damping in roll.

Stability and Control Characteristics of a Model of an Aerial Vehicle Supported by Four Ducted Fans

NASA Technical Reports Server (NTRS)

Parlett, Lysle P.

1961-01-01

The stability and control characteristics of a simple, lightly loaded model approximately one-third the size of a full-scale vehicle have been investigated by a series of free-flight tests. The model is representative of a type of vertically rising aircraft which would utilize four ducted fans as its sole source of lift and propulsion. The ducts were arranged in a rectangular pattern and were fixed to the airframe so that their axes of revolution were vertical for hovering flight. Control moments were provided by remotely controlled compressed-air jets at the sides and ends of the model. In hovering, the model in its original configuration exhibited divergent oscillations about both the roll and pitch axes. Because these oscillations were of a rather short period., the model was very difficult to control by the use of remote controls only. The model could be completely stabilized by the addition of a sufficient amount of artificial damping. The pitching oscillation was made easier to control by increasing the distance between the forward and rearward pairs of ducts. In forward flight, with the model in its original configuration, the top speed was limited by the development of an uncontrollable pitch-up. Large forward tilt angles were required for trim at the highest speeds attained. With the model rotated so that the shorter axis became the longitudinal axis, the pitch trim problem was found to be less than with the longer axis as the longitudinal axis. The installation of a system of vanes in the slipstream of the forward ducts reduced the tilt angle but increased the power required.

Dynamics and control of tethered antennas/reflectors in orbit

NASA Astrophysics Data System (ADS)

Liu, Liangdong; Bainum, Peter M.

The system linear equations for the motion of a tethered shallow spherical shell in orbit with its symmetry axis nominally following the local vertical are developed. The shell roll, yaw, tether out-of-plane swing motion and elastic vibrations are decoupled from the shell and tether in-plane pitch motions and elastic vibrations. The neutral gravity stability conditions for the special case of a constant length rigid tether are given for in-plane motion and out-of-plant motion. It is proved that the in-plane motion of the system could be asymptotically stable based on Rupp's tension control law, for a variable length tether. However, the system simulation results indicate that the transient responses can be improved significantly, especially for the damping of the tether and shell pitch motion, by an optimal feedback control law for the rigid variable length tether model. It is also seen that the system could be unstable when the effect of tether flexibility is included if the control gains are not chosen carefully. The transient responses for three different tension control laws are compared during typical station keeping operations.

X-31 high angle of attack control system performance

NASA Technical Reports Server (NTRS)

Huber, Peter; Seamount, Patricia

1994-01-01

The design goals for the X-31 flight control system were: (1) level 1 handling qualities during post-stall maneuvering (30 to 70 degrees angle-of-attack); (2) thrust vectoring to enhance performance across the flight envelope; and (3) adequate pitch-down authority at high angle-of-attack. Additional performance goals are discussed. A description of the flight control system is presented, highlighting flight control system features in the pitch and roll axes and X-31 thrust vectoring characteristics. The high angle-of-attack envelope clearance approach will be described, including a brief explanation of analysis techniques and tools. Also, problems encountered during envelope expansion will be discussed. This presentation emphasizes control system solutions to problems encountered in envelope expansion. An essentially 'care free' envelope was cleared for the close-in-combat demonstrator phase. High angle-of-attack flying qualities maneuvers are currently being flown and evaluated. These results are compared with pilot opinions expressed during the close-in-combat program and with results obtained from the F-18 HARV for identical maneuvers. The status and preliminary results of these tests are discussed.

Self-motion perception: assessment by real-time computer-generated animations

NASA Technical Reports Server (NTRS)

Parker, D. E.; Phillips, J. O.

2001-01-01

We report a new procedure for assessing complex self-motion perception. In three experiments, subjects manipulated a 6 degree-of-freedom magnetic-field tracker which controlled the motion of a virtual avatar so that its motion corresponded to the subjects' perceived self-motion. The real-time animation created by this procedure was stored using a virtual video recorder for subsequent analysis. Combined real and illusory self-motion and vestibulo-ocular reflex eye movements were evoked by cross-coupled angular accelerations produced by roll and pitch head movements during passive yaw rotation in a chair. Contrary to previous reports, illusory self-motion did not correspond to expectations based on semicircular canal stimulation. Illusory pitch head-motion directions were as predicted for only 37% of trials; whereas, slow-phase eye movements were in the predicted direction for 98% of the trials. The real-time computer-generated animations procedure permits use of naive, untrained subjects who lack a vocabulary for reporting motion perception and is applicable to basic self-motion perception studies, evaluation of motion simulators, assessment of balance disorders and so on.

Vertical interferometer workstation for testing large spherical optics

NASA Astrophysics Data System (ADS)

Truax, B.

2013-09-01

The design of an interferometer workstation for the testing of large concave and convex spherical optics is presented. The workstation handles optical components and mounts up to 425 mm in diameter with mass of up to 40 kg with 6 axes of adjustment. A unique method for the implementation of focus, roll and pitch was used allowing for extremely precise adjustment. The completed system includes transmission spheres with f-numbers from f/1.6 to f/0.82 incorporating reference surface diameters of up to 306 mm and surface accuracies of better than 63 nm PVr. The design challenges and resulting solutions are discussed. System performance results are presented.

An automated geometric correction system for airborne multispectral scanner imagery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lewis-King, E.; Tinney, L.; Brickey, D.

1996-10-01

The United States Department of Energy (USDOE) maintains a Remote Sensing Laboratory (RSL) to support nuclear related programs of the US Government. The mission of the organization includes both emergency response and more routine environmental assessments of nuclear facilities. The USDOE RSL maintains a small fleet of specially equipped aircraft that are used as platforms for remote sensor systems. The aircraft include helicopters, light aircraft, and a business jet suitable for high altitude acquisitions. Multispectral scanners flown on these platforms are subject to geometric distortions related to variations in aircraft orientation (pitch, roll, and yaw), position, and velocity during datamore » acquistions.« less

Flight simulator with spaced visuals

NASA Technical Reports Server (NTRS)

Gilson, Richard D. (Inventor); Thurston, Marlin O. (Inventor); Olson, Karl W. (Inventor); Ventola, Ronald W. (Inventor)

1980-01-01

A flight simulator arrangement wherein a conventional, movable base flight trainer is combined with a visual cue display surface spaced a predetermined distance from an eye position within the trainer. Thus, three degrees of motive freedom (roll, pitch and crab) are provided for a visual proprioceptive, and vestibular cue system by the trainer while the remaining geometric visual cue image alterations are developed by a video system. A geometric approach to computing runway image eliminates a need to electronically compute trigonometric functions, while utilization of a line generator and designated vanishing point at the video system raster permits facile development of the images of the longitudinal edges of the runway.

[Peculiarities of pilot's perception of flight information presented on on-board liquid crystal displays].

PubMed

Lemeshchenko, N A; Ivanov, A I; Lapa, V V; Davydov, V V; Zhelonkin, V I; Riabinin, V A; Golosov, S Iu

2014-01-01

The article deals with results of experimental studies conducted on flight testing desk and covering peculiarities of pilot's perception of flight information presented on on-board liquid crystal display in dependence on changes speed and update rate of the screen. The authors determine frequency characteristics of information update rate, that achieve acceptable quality of the flight parameters perception in accordance with the changes speed. Vigorous maneuvering with high angular velocities of changed parameters of roll and pitch causes visual distortions that are connected with poor frequency of information update rate, deteriorate piloting quality and can cause flight unsafety.

Applications of system identification methods to the prediction of helicopter stability, control and handling characteristics

NASA Technical Reports Server (NTRS)

Padfield, G. D.; Duval, R. K.

1982-01-01

A set of results on rotorcraft system identification is described. Flight measurements collected on an experimental Puma helicopter are reviewed and some notable characteristics highlighted. Following a brief review of previous work in rotorcraft system identification, the results of state estimation and model structure estimation processes applied to the Puma data are presented. The results, which were obtained using NASA developed software, are compared with theoretical predictions of roll, yaw and pitching moment derivatives for a 6 degree of freedom model structure. Anomalies are reported. The theoretical methods used are described. A framework for reduced order modelling is outlined.

An Improved Theoretical Aerodynamic Derivatives Computer Program for Sounding Rockets

NASA Technical Reports Server (NTRS)

Barrowman, J. S.; Fan, D. N.; Obosu, C. B.; Vira, N. R.; Yang, R. J.

1979-01-01

The paper outlines a Theoretical Aerodynamic Derivatives (TAD) computer program for computing the aerodynamics of sounding rockets. TAD outputs include normal force, pitching moment and rolling moment coefficient derivatives as well as center-of-pressure locations as a function of the flight Mach number. TAD is applicable to slender finned axisymmetric vehicles at small angles of attack in subsonic and supersonic flows. TAD improvement efforts include extending Mach number regions of applicability, improving accuracy, and replacement of some numerical integration algorithms with closed-form integrations. Key equations used in TAD are summarized and typical TAD outputs are illustrated for a second-stage Tomahawk configuration.

Subsonic Aerodynamic Characteristics of a Circular Body Earth-to-Orbit Vehicle

NASA Technical Reports Server (NTRS)

Lepsch, Roger A., Jr.; Ware, George M.; MacConochie, Ian O.

1996-01-01

A test of a generic reusable earth-to-orbit transport was conducted in the 7- by 10-Foot high-speed tunnel at the Langley Research Center at Mach number 0.3. The model had a body with a circular cross section and a thick clipped delta wing as the major lifting surface. For directional control, three different vertical fin arrangements were investigated: a conventional aft-mounted center vertical fin, wingtip fins, and a nose-mounted vertical fin. The configuration was longitudinally stable about the estimated center-of-gravity position of 0.72 body length and had sufficient pitch-control authority for stable trim over a wide range of angle of attack, regardless of fin arrangement. The maximum trimmed lift/drag ratio for the aft center-fin configuration was less than 5, whereas the other configurations had values of above 6. The aft center-fin configuration was directionally stable for all angles of attack tested. The wingtip and nose fins were not intended to produce directional stability but to be active controllers for artificial stabilization. Small rolling-moment values resulted from yaw control of the nose fin. Large adverse rolling-moment increments resulted from tip-fin controller deflection above 13 deg angle of attack. Flow visualization indicated that the adverse rolling-moment increments were probably caused by the influence of the deflected tip-fin controller on wing flow separation.

Surface fatigue life and failure characteristics of EX-53, CBS 1000M, and AISI 9310 gear materials

NASA Technical Reports Server (NTRS)

Townsend, D. P.

1985-01-01

Spur gear endurance tests and rolling-element surface fatigue tests are conducted to investigate EX-53 and CBS 1000M steels for use as advanced application gear materials, to determine their endurance characteristics, and to compare the results with the standard AISI 9310 gear material. The gear pitch diameter is 8.89 cm (3.50 in). Gear test conditions are an oil inlet temperature of 320 K (116 F), an oil outlet temperature of 350 K (170 F), a maximum Hertz stress of 1.71 GPa (248 ksi), and a speed of 10,000 rpm. Bench-type rolling-element fatigue tests are conducted at ambient temperature with a bar specimen speed of 12,500 rpm and a maximum Hertz stress of 4.83 GPa (700 ksi). The EX-53 test gears have a surface fatigue life of twice that of the AISI 9310 spur gears. The CBS 1000M test gears have a surface fatigue life of more than twice that of the AISI 9310 spur gears. However, the CBS 1000M gears experience a 30-percent tooth fracture failure which limits its use as a gear material. The rolling-contact fatigue lines of RC bar specimens of EX-53 and ASISI 9310 are approximately equal. However, the CBS 1000M RC specimens have a surface fatigue life of about 50 percent that of the AISI 9310.

NASA Ares I Launch Vehicle Roll and Reaction Control Systems Lessons Learned

NASA Technical Reports Server (NTRS)

Butt, Adam; Popp, Chris G.; Jernigan, Frankie R.; Paseur, Lila F.; Pitts, Hank M.

2011-01-01

On April 15, 2010 President Barak Obama made the official announcement that the Constellation Program, which included the Ares I launch vehicle, would be canceled. NASA s Ares I launch vehicle was being designed to launch the Orion Crew Exploration Vehicle, returning humans to the moon, Mars, and beyond. It consisted of a First Stage (FS) five segment solid rocket booster and a liquid J-2X Upper Stage (US) engine. Roll control for the FS was planned to be handled by a dedicated Roll Control System (RoCS), located on the connecting interstage. Induced yaw or pitch moments experienced during FS ascent would have been handled by vectoring of the booster nozzle. After FS booster separation, the US Reaction Control System (ReCS) would have provided the US Element with three degrees of freedom control as needed. The lessons learned documented in this paper will be focused on the technical designs and producibility of both systems along with the partnership between NASA and Boeing, who was on contract to build the Ares I US Element, which included the FS RoCS and US ReCS. In regards to partnership, focus will be placed on integration along with technical work accomplished by Boeing with special emphasis on each task order. In summary, this paper attempts to capture key lessons learned that should be helpful in the development of future launch vehicle RCS designs.

Reduced heart rate variability: an indicator of cardiac uncoupling and diminished physiologic reserve in 1,425 trauma patients.

PubMed

Morris, John A; Norris, Patrick R; Ozdas, Asli; Waitman, Lemuel R; Harrell, Frank E; Williams, Anna E; Cao, Hanqing; Jenkins, Judith M

2006-06-01

Measurements of a patient's physiologic reserve (age, injury severity, admission lactic acidosis, transfusion requirements, and coagulopathy) reflect robustness of response to surgical insult. We have previously shown that cardiac uncoupling (reduced heart rate variability, HRV) in the first 24 hours after injury correlates with mortality and autonomic nervous system failure. We hypothesized: Deteriorating physiologic reserve correlates with reduced HRV and cardiac uncoupling. There were 1,425 trauma ICU patients that satisfied the inclusion criteria. Differences in mortality across categorical measurements of the domains of physiologic reserve were assessed using the chi test. The relationship of cardiac uncoupling and physiologic reserve was examined using multivariate logistic regression models for various levels of cardiac uncoupling (>0 through 28% reduced HRV in the first 24 hours). Of these, 797 (55.9%) patients exhibited cardiac uncoupling. Deteriorating measures of physiologic reserve reflected increased risk of death. Measures of acidosis (admission lactate, time to lactate normalization, and lactate deterioration over the first 24 hours), coagulopathy, age, and injury severity contributed significantly to the risk of cardiac uncoupling (area under receiver operator curve, ROC=0.73). The association between deteriorating reserve and cardiac uncoupling increases with the threshold for uncoupling (ROC=0.78). Reduced heart rate variability is a new biomarker reflecting the loss of command and control of the heart (cardiac uncoupling). Risk of cardiac uncoupling increases significantly as a patient's physiologic reserve deteriorates and physiologic exhaustion approaches. Cardiac uncoupling provides a noninvasive, overall measure of a patient's clinical trajectory over the first 24 hours of ICU stay.

Modeling, simulation, and flight characteristics of an aircraft designed to fly at 100,000 feet

NASA Technical Reports Server (NTRS)

Sim, Alex G.

1991-01-01

A manned real time simulation of a conceptual vehicle, the stratoplane, was developed to study the problems associated with the flight characteristics of a large, lightweight vehicle. Mathematical models of the aerodynamics, mass properties, and propulsion system were developed in support of the simulation and are presented. The simulation was at first conducted without control augmentation to determine the needs for a control system. The unaugmented flying qualities were dominated by lightly damped dutch roll oscillations. Constant pilot workloads were needed at high altitudes. Control augmentation was studied using basic feedbacks. For the longitudinal axis, flight path angle, and pitch rate feedback were sufficient to damp the phugoid mode and to provide good flying qualities. In the lateral directional axis, bank angle, roll rate, and yaw rate feedbacks were sufficient to provide a safe vehicle with acceptable handling qualities. Intentionally stalling the stratoplane to very high angles of attack (deep stall) was studied as a means of enable safe and rapid descent. It was concluded that the deep stall maneuver is viable for this class of vehicle.

Uncertainty Analysis of Inertial Model Attitude Sensor Calibration and Application with a Recommended New Calibration Method

NASA Technical Reports Server (NTRS)

Tripp, John S.; Tcheng, Ping

1999-01-01

Statistical tools, previously developed for nonlinear least-squares estimation of multivariate sensor calibration parameters and the associated calibration uncertainty analysis, have been applied to single- and multiple-axis inertial model attitude sensors used in wind tunnel testing to measure angle of attack and roll angle. The analysis provides confidence and prediction intervals of calibrated sensor measurement uncertainty as functions of applied input pitch and roll angles. A comparative performance study of various experimental designs for inertial sensor calibration is presented along with corroborating experimental data. The importance of replicated calibrations over extended time periods has been emphasized; replication provides independent estimates of calibration precision and bias uncertainties, statistical tests for calibration or modeling bias uncertainty, and statistical tests for sensor parameter drift over time. A set of recommendations for a new standardized model attitude sensor calibration method and usage procedures is included. The statistical information provided by these procedures is necessary for the uncertainty analysis of aerospace test results now required by users of industrial wind tunnel test facilities.

A preliminary look at an optimal multivariable design for propulsion-only flight control of jet-transport aircraft

NASA Technical Reports Server (NTRS)

Azzano, Christopher P.

1992-01-01

Control of a large jet transport aircraft without the use of conventional control surfaces was studied. Engine commands were used to attempt to recreate the forces and moments typically provided by the elevator, ailerons, and rudder. Necessary conditions for aircraft controllability were developed pertaining to aircraft configuration such as the number of engines and engine placement. An optimal linear quadratic regulator controller was developed for the Boeing 707-720, in particular, for regulation of its natural dynamic modes. The design used a method of assigning relative weights to the natural modes, i.e., phugoid and dutch roll, for a more intuitive selection of the cost function. A prototype pilot command interface was then integrated into the loop based on pseudorate command of both pitch and roll. Closed loop dynamics were evaluated first with a batch linear simulation and then with a real time high fidelity piloted simulation. The NASA research pilots assisted in evaluation of closed loop handling qualities for typical cruise and landing tasks. Recommendations for improvement on this preliminary study of optimal propulsion only flight control are provided.

Finite Element Aircraft Simulation of Turbulence

NASA Technical Reports Server (NTRS)

McFarland, R. E.

1997-01-01

A turbulence model has been developed for realtime aircraft simulation that accommodates stochastic turbulence and distributed discrete gusts as a function of the terrain. This model is applicable to conventional aircraft, V/STOL aircraft, and disc rotor model helicopter simulations. Vehicle angular activity in response to turbulence is computed from geometrical and temporal relationships rather than by using the conventional continuum approximations that assume uniform gust immersion and low frequency responses. By using techniques similar to those recently developed for blade-element rotor models, the angular-rate filters of conventional turbulence models are not required. The model produces rotational rates as well as air mass translational velocities in response to both stochastic and deterministic disturbances, where the discrete gusts and turbulence magnitudes may be correlated with significant terrain features or ship models. Assuming isotropy, a two-dimensional vertical turbulence field is created. A novel Gaussian interpolation technique is used to distribute vertical turbulence on the wing span or lateral rotor disc, and this distribution is used to compute roll responses. Air mass velocities are applied at significant centers of pressure in the computation of the aircraft's pitch and roll responses.

Crash tests of four identical high-wing single-engine airplanes

NASA Technical Reports Server (NTRS)

Vaughan, V. L., Jr.; Hayduk, R. J.

1980-01-01

Four identical four place, high wing, single engine airplane specimens with nominal masses of 1043 kg were crash tested at the Langley Impact Dynamics Research Facility under controlled free flight conditions. These tests were conducted with nominal velocities of 25 m/sec along the flight path angles, ground contact pitch angles, and roll angles. Three of the airplane specimens were crashed on a concrete surface; one was crashed on soil. Crash tests revealed that on a hard landing, the main landing gear absorbed about twice the energy for which the gear was designed but sprang back, tending to tip the airplane up to its nose. On concrete surfaces, the airplane impacted and remained in the impact attitude. On soil, the airplane flipped over on its back. The crash impact on the nose of the airplane, whether on soil or concrete, caused massive structural crushing of the forward fuselage. The liveable volume was maintained in both the hard landing and the nose down specimens but was not maintained in the roll impact and nose down on soil specimens.

Flight evaluation of pneumatic forebody vortex control in post-stall flight

NASA Technical Reports Server (NTRS)

Walchli, Lawrence A.

1994-01-01

The following topics are discussed: (1) X-29 description; Vortex Flow Control (VFC) technology description; (3) X-29 VFC wind tunnel results (forebody only); (4) X-29 VFC wind tunnel results (full configuration yawing moment); (5) X-29 VFC wind tunnel results (full configuration C(sub n) with sideslip); (6) X-29VFC wind tunnel results (full configuration pitching moment); (7) VFC optimized nozzle details; (8) X-29 forebody nozzle configuration; (9) X-29 VFC system stored gas schematic; (10) X-29 VFC system stored gas installation; (11) VFC effectiveness at zero sideslip; (12) VFC effectiveness at 35 AOA with sideslip; (13) 'VFC Roll' at 40 AOA; (14) Effects of VFC on wing rock; (15) Integrated controls C(sub n) prediction; (16) Proposed F-15 with lateral control laws with active VFC; (17) Simulated F-15 roll performance with active VFC; (18) Simulated F-15 spin recovery with active VFC; (19) Test team restructuring; (20) testbed selection; (21) Simulation for risk reduction; (22) Benefits of high pressure system; and (23) Advanced weapon system integration.

SU-E-T-234: Daily Quality Assurance for a Six Degrees of Freedom Couch Using a Novel Phantom

DOE Office of Scientific and Technical Information (OSTI.GOV)

Woods, K; Woollard, J; Ayan, A

2015-06-15

Purpose: To test the accuracy and reproducibility of both translational and rotational movements for a couch with six degrees of freedom (6DoF) using a novel phantom design Methods: An end-to-end test was carried out using two different phantoms. A 6 cm3 cube with a central fiducial BB (WL-QA Sun Nuclear) and a custom fabricated rectangular prism (31 cm x 8 cm x 8 cm), placed on a baseplate with known angular offsets for pitch, roll and yaw with a central fiducial BB and unique surface structures for registration purposes, were used. The end-to-end test included an initial CT simulation formore » a reference study, setup to an offset mark on each phantom, registration of the reference CT to the acquired cone-beam CT, and final Winston-Lutz delivery at four cardinal gantry angles. Results for both translational and rotational movements were recorded and compared for both phantoms. Results: Translational and rotational measurements were performed with a PerfectPitch (Varian) couch for 10 trials for both phantoms. Distinct translational shifts were [−5.372±0.384mm, −10.183±0.137mm, 14.028±0.155mm] for the cube and [7.520±0.159mm, −9.117±0.101mm, 16.273±0.115mm] for the prototype phantom for lateral, longitudinal, and vertical shifts, respectively. Distinct rotational adjustments were [1.121±0.102o, −1.067±0.235o, −2.662±0.380o] for the cube and [2.534±0.059o, 1.994±0.025o, 2.094±0.076o] for the prototype for pitch, roll, and yaw, respectively. Winston-Lutz test results performed after 6DoF couch correction from each cardinal gantry angle ranged from 0.26–0.72mm for the cube and 0.55–0.86mm for the prototype. Conclusion: The prototype phantom is more precise for both translational and rotational adjustments compared to a commercial phantom. The design of the prototype phantom allows for a more discernible visual confirmation of correct translational and rotational adjustments with the prototype phantom. Winston-Lutz results are more accurate for the commercial phantom but are still within tolerance for the prototype phantom.« less

Low Concentrations of Uncouplers of Oxidative Phosphorylation Prevent Inflammatory Activation of Endothelial Cells by Tumor Necrosis Factor.

PubMed

Romaschenko, V P; Zinovkin, R A; Galkin, I I; Zakharova, V V; Panteleeva, A A; Tokarchuk, A V; Lyamzaev, K G; Pletjushkina, O Yu; Chernyak, B V; Popova, E N

2015-05-01

In endothelial cells, mitochondria play an important regulatory role in physiology as well as in pathophysiology related to excessive inflammation. We have studied the effect of low doses of mitochondrial uncouplers on inflammatory activation of endothelial cells using the classic uncouplers 2,4-dinitrophenol and 4,5,6,7-tetrachloro-2-trifluoromethylbenzimidazole, as well as the mitochondria-targeted cationic uncoupler dodecyltriphenylphosphonium (C12TPP). All of these uncouplers suppressed the expression of E-selectin, adhesion molecules ICAM1 and VCAM1, as well as the adhesion of neutrophils to endothelium induced by tumor necrosis factor (TNF). The antiinflammatory action of the uncouplers was at least partially mediated by the inhibition of NFκB activation due to a decrease in phosphorylation of the inhibitory subunit IκBα. The dynamic concentration range for the inhibition of ICAM1 expression by C12TPP was three orders of magnitude higher compared to the classic uncouplers. Probably, the decrease in membrane potential inhibited the accumulation of penetrating cations into mitochondria, thus lowering the uncoupling activity and preventing further loss of mitochondrial potential. Membrane potential recovery after the removal of the uncouplers did not abolish its antiinflammatory action. Thus, mild uncoupling could induce TNF resistance in endothelial cells. We found no significant stimulation of mitochondrial biogenesis or autophagy by the uncouplers. However, we observed a decrease in the relative amount of fragmented mitochondria. The latter may significantly change the signaling properties of mitochondria. Earlier we showed that both classic and mitochondria-targeted antioxidants inhibited the TNF-induced NFκB-dependent activation of endothelium. The present data suggest that the antiinflammatory effect of mild uncoupling is related to its antioxidant action.

Acute Knockdown of Uncoupling Protein-2 Increases Uncoupling via the Adenine Nucleotide Transporter and Decreases Oxidative Stress in Diabetic Kidneys

PubMed Central

Friederich-Persson, Malou; Aslam, Shakil; Nordquist, Lina; Welch, William J.; Wilcox, Christopher S.; Palm, Fredrik

2012-01-01

Increased O2 metabolism resulting in chronic hypoxia is common in models of endstage renal disease. Mitochondrial uncoupling increases O2 consumption but the ensuing reduction in mitochondrial membrane potential may limit excessive oxidative stress. The present study addressed the hypothesis that mitochondrial uncoupling regulates mitochondria function and oxidative stress in the diabetic kidney. Isolated mitochondria from kidney cortex of control and streptozotocin-induced diabetic rats were studied before and after siRNA knockdown of uncoupling protein-2 (UCP-2). Diabetes resulted in increased UCP-2 protein expression and UCP-2-mediated uncoupling, but normal mitochondria membrane potential. This uncoupling was inhibited by GDP, which also increased the membrane potential. siRNA reduced UCP-2 protein expression in controls and diabetics (−30–50%), but paradoxically further increased uncoupling and markedly reduced the membrane potential. This siRNA mediated uncoupling was unaffected by GDP but was blocked by ADP and carboxyatractylate (CAT). Mitochondria membrane potential after UCP-2 siRNA was unaffected by GDP but increased by CAT. This demonstrated that further increased mitochondria uncoupling after siRNA towards UCP-2 is mediated through the adenine nucleotide transporter (ANT). The increased oxidative stress in the diabetic kidney, manifested as increased thiobarbituric acids, was reduced by knocking down UCP-2 whereas whole-body oxidative stress, manifested as increased circulating malondialdehyde, remained unaffected. All parameters investigated were unaffected by scrambled siRNA. In conclusion, mitochondrial uncoupling via UCP-2 regulates mitochondria membrane potential in diabetes. However, blockade of the diabetes-induced upregulation of UCP- 2 results in excessive uncoupling and reduced oxidative stress in the kidney via activation of ANT. PMID:22768304

Longitudinal Stability and Control Characteristics as Determined by the Rocket-model Technique for an Inline, Cruciform, Canard Missile Configuration with a Low-aspect-ratio Wing Having Trailing-edge Flap Controls for a Mach Number Range of 0.7 to 1.

NASA Technical Reports Server (NTRS)

Baber, Hal T , Jr; Moul, Martin T

1955-01-01

Two full-scale models of an inline, cruciform, canard missile configuration having a low-aspect-ratio wing equipped with flap-type controls were flight tested in order to determine the missile's longitudinal aerodynamic characteristics. Stability derivatives and control and drag characteristics are presented for a range of Mach number from 0.7 to 1.8. Nonlinear lift and moment curves were noted for the angle - of-attack range of this test (0 deg to 8 deg). The aerodynamic-center location for angles of attack near 50 remained nearly constant for supersonic speeds at 13.5 percent of the mean aerodynamic chord; whereas for angles of attack near 0 deg, there was a rapid forward movement of the aerodynamic center as the Mach number increased. At a control deflection of 0 deg, the missile's response to the longitudinal control was in an essentially fixed space plane which was not coincident with the pitch plane as a result of the missile rolling. As a consequence, stability characteristics were determined from the resultant of pitch and yaw motions. The damping-in-pitch derivatives for the two angle -of-attack ranges of the test are in close agreement and varied only slightly with Mach number. The horn-balanced trailing-edge flap was effective in producing angle of attack over the Mach number range.