Modeling, Analysis, and Optimization Issues for Large Space Structures

Topics concerning the modeling, analysis, and optimization of large space structures are discussed including structure-control interaction, structural and structural dynamics modeling, thermal analysis, testing, and design

Modeling and Control of Flexible Link Manipulators

Autonomous maritime navigation and offshore operations have gained wide attention with the aim of reducing operational costs and increasing reliability and safety. Offshore operations, such as wind farm inspection, sea farm cleaning, and ship mooring, could be carried out autonomously or semi-autonomously by mounting one or more long-reach robots on the ship/vessel. In addition to offshore applications, long-reach manipulators can be used in many other engineering applications such as construction automation, aerospace industry, and space research. Some applications require the design of long and slender mechanical structures, which possess some degrees of flexibility and deflections because of the material used and the length of the links. The link elasticity causes deflection leading to problems in precise position control of the end-effector. So, it is necessary to compensate for the deflection of the long-reach arm to fully utilize the long-reach lightweight flexible manipulators. This thesis aims at presenting a unified understanding of modeling, control, and application of long-reach flexible manipulators. State-of-the-art dynamic modeling techniques and control schemes of the flexible link manipulators (FLMs) are discussed along with their merits, limitations, and challenges. The kinematics and dynamics of a planar multi-link flexible manipulator are presented. The effects of robot configuration and payload on the mode shapes and eigenfrequencies of the flexible links are discussed. A method to estimate and compensate for the static deflection of the multi-link flexible manipulators under gravity is proposed and experimentally validated. The redundant degree of freedom of the planar multi-link flexible manipulator is exploited to minimize vibrations. The application of a long-reach arm in autonomous mooring operation based on sensor fusion using camera and light detection and ranging (LiDAR) data is proposed.publishedVersio

Technology for large space systems: A bibliography with indexes (supplement 19)

This bibliography lists 526 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1988 and June 30, 1988. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems

Large space structures and systems in the space station era: A bibliography with indexes (supplement 04)

Bibliographies and abstracts are listed for 1211 reports, articles, and other documents introduced into the NASA scientific and technical information system between 1 Jul. and 30 Dec. 1991. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems

Precision Pointing Control System (PPCS) system design and analysis

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

MIT Space Engineering Research Center

The Space Engineering Research Center (SERC) at MIT, started in Jul. 1988, has completed two years of research. The Center is approaching the operational phase of its first testbed, is midway through the construction of a second testbed, and is in the design phase of a third. We presently have seven participating faculty, four participating staff members, ten graduate students, and numerous undergraduates. This report reviews the testbed programs, individual graduate research, other SERC activities not funded by the Center, interaction with non-MIT organizations, and SERC milestones. Published papers made possible by SERC funding are included at the end of the report

Technology for large space systems: A bibliography with indexes (supplement 22)

This bibliography lists 1077 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

The effect of structure, actuator, and sensor on the zeroes of controlled structures

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1991.Includes bibliographical references (leaves 131-135).by Farla Mindy Fleming.M.S

Multivariable isoperformance methodology for precision opto-mechanical systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2001.Includes bibliographical references (p. 277-285).Precision opto-mechanical systems, such as space telescopes, combine structures, optics and controls in order to meet stringent pointing and phasing requirements. In this context a novel approach to the design of complex, multi-disciplinary systems is presented in the form of a multivariable isoperformance methodology. The isoperformance approach first finds a point design within a given topology, which meets the performance requirements with sufficient margins. The performance outputs are then treated as equality constraints and the non-uniqueness of the design space is exploited by trading key disturbance, plant, optics and controls parameters with respect to each other. Three algorithms (branch-and-bound, tangential front following and vector spline approximation) are developed for the bivariate and multivariable problem. The challenges of large order models are addressed by presenting a fast diagonal Lyapunov solver, apriori error bounds for model reduction as well as a governing sensitivity equation for similarity transformed state space realizations. Specific applications developed with this technique are error budgeting and multiobjective design optimization. The goal of the multiobjective design optimization is to achieve a design which is pareto optimal, such that multiple competing objectives can be satisfied within the performance invariant set. Thus, situations are avoided where very costly and hard-to-meet requirements are levied onto one subsystem, while other subsystems hold substantial margins.(cont.) An experimental validation is carried out on the DOLCE laboratory testbed. The testbed allows verification of the predictive capability of the isoperformance technique on models of increasing fidelity. A comparison with experimental results, trading excitation amplitude and payload mass, is demonstrated. The predicted performance contours match the experimental data very well at low excitation levels, typical of the disturbance environment on precision opto-mechanical systems. The relevance of isoperformance to space systems engineering is demonstrated with a comprehensive NEXUS spacecraft dynamics and controls analysis. It is suggested that isoperformance is a useful concept in other fields of engineering science such as crack growth calculations in structures. The isoperformance approach enhances the understanding of complex opto-mechanical systems beyond the local neighborhood of a particular point design.by Olivier L. de Weck.Ph.D

Space station systems: A bibliography with indexes (supplement 9)

This bibliography lists 1,313 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1989 and June 30, 1989. Its purpose is to provide helpful information to researchers, designers and managers engaged in Space Station technology development and mission design. Coverage includes documents that define major systems and subsystems related to structures and dynamic control, electronics and power supplies, propulsion, and payload integration. In addition, orbital construction methods, servicing and support requirements, procedures and operations, and missions for the current and future Space Station are included