Pointing and Scanning Control of Instruments Using Rotating Unbalanced Masses

Motions of telescopes, satellites, and other flight bodies have been controlled by various means in the past. For example, gimbal mounted devices can use electric motors to produce pointing and scanning motions. Reaction wheels, control moment gyros, and propellant-charged reaction jets are other technologies that have also been used. Each of these methods has its advantages, but all actuator systems used in a flight environment face the challenges of minimizing weight, reducing energy consumption, and maximizing reliability. Recently, Polites invented and patented the Rotating Unbalanced Mass (RUM) device as a means for generation scanning motion on flight experiments. RUM devices have been successfully used to generate various scanning motions. The basic principle: a RUM rotating at constant annular velocity exerts a cyclic centrifugal force on the instrument or main body, thus producing a periodic scanning motion. A system of RUM devices exerts no reaction forces on the main body, requires very little energy, and is very simple to construct and control. These are significant advantages over electric motors, reaction wheels, and control moment gyroscopes. Although the RUM device very easily produces scanning motion, an auxiliary control system may be required to maintain the proper orientation, or pointing of the main body. It has been suggested that RUM devices can be used to control pointing dynamics, as well as generate the desired periodic scanning motion. The idea is that the RUM velocity will not be constant, but will vary over the period of one RUM rotation. The thought is that the changing angular velocity produces a centrifugal force having time-varying magnitude and direction. The scope of the present research project is to further study the pointing control concept, and to implement a microcontroller program to control an experimental hardware system. This report is subdivided into three themes. The basic dynamic modeling and control principles are described first. Then, the controller implementation and preliminary test results are discussed. Finally, suggestions for future work are presented

Dynamic Models of Instruments Using Rotating Unbalanced Masses

The motion of telescopes, satellites, and other flight bodies have been controlled by various means in the past. For example, gimbal mounted devices can use electric motors to produce pointing and scanning motions. Reaction wheels, control moment gyros, and propellant-charged reaction jets are other technologies that have also been used. Each of these methods has its advantages, but all actuator systems used in a flight environment face the challenges of minimizing weight, reducing energy consumption, and maximizing reliability. Recently, Polites invented and patented the Rotating Unbalanced Mass (RUM) device as a means for generation scanning motion on flight experiments. RUM devices together with traditional servomechanisms have been successfully used to generate various scanning motions: linear, raster, and circular. The basic principle can be described: A RUM rotating at constant angular velocity exerts a cyclic centrifugal force on the instrument or main body, thus producing a periodic scanning motion. A system of RUM devices exerts no reaction forces on the main body, requires very little energy to rotate the RUMS, and is simple to construct. These are significant advantages over electric motors, reaction wheels, and control moment gyroscopes. Although the RUM device very easily produces scanning motion, an auxiliary control system has been required to maintain the proper orientation, or pointing of the main body. It has been suggested that RUM devices can be used to control pointing dynamics, as well as generate the desired periodic scanning motion. The idea is that the RUM velocity will not be kept constant, but will vary over the period of one RUM rotation. The thought is that the changing angular velocity produces a centrifugal force having time-varying magnitude and direction. The scope of this ongoing research project is to study the pointing control concept, and recommend a direction of study for advanced pointing control using only RUM devices. This report is subdivided into three sections. Three dynamic models and one proposed control principle are described first. Then, the results of model analyses and some experiments are discussed. Finally, suggestions for future work are presented

Hybrid fuzzy and sliding-mode control for motorised tether spin-up when coupled with axial vibration

A hybrid fuzzy sliding mode controller is applied to the control of motorised tether spin-up coupled with an axial oscillation phenomenon. A six degree of freedom dynamic model of a motorised momentum exchange tether is used as a basis for interplanetary payload exchange. The tether comprises a symmetrical double payload configuration, with an outrigger counter inertia and massive central facility. It is shown that including axial elasticity permits an enhanced level of performance prediction accuracy and a useful departure from the usual rigid body representations, particularly for accurate payload positioning at strategic points. A special simulation program has been devised in MATLAB and MATHEMATICA for a given initial condition data case

Pointing and Scanning Control of Optical Instruments using Rotating Unbalanced Masses

Correct pointing direction and scanning motions are essential in the operation of many flight payloads, such as balloon-borne telescopes and space-based X- ray and gamma-ray telescopes. Rotating unbalanced mass (RUM) devices have been recently proposed, implemented and successfully tested to produce a variety of scanning motions. Linear scans, raster scans, and circular scans have been successfully generated on a gimbaled payload using pairs of RUM devices. Theoretical analysis, computer simulations, and experiments have also been used to study the feasibility of using RUM devices to control instrument pointing direction, in addition to generating scanning motion. Dynamic modeling of a gimbaled payload equipped with a pair of RUM devices has been studied, and preliminary testing indicates that the pointing control is indeed feasible. However, there is also great potential for significant performance improvements through more advanced control system analysis, modeling and design. In this paper, modeling and control methods are described to achieve simultaneous scanning and pointing control of a gimbaled payload using rotating unbalance mass (RUM) devices. The model development work builds upon the results of Polites et al. and also some modeling approaches from robotics research. Results of some preliminary experiments are discussed and some nonlinear control methods will be proposed

Surface structure and solidification morphology of aluminum nanoclusters

Classical molecular dynamics simulation with embedded atom method potential had been performed to investigate the surface structure and solidification morphology of aluminum nanoclusters Aln (n = 256, 604, 1220 and 2048). It is found that Al cluster surfaces are comprised of (111) and (001) crystal planes. (110) crystal plane is not found on Al cluster surfaces in our simulation. On the surfaces of smaller Al clusters (n = 256 and 604), (111) crystal planes are dominant. On larger Al clusters (n = 1220 and 2048), (111) planes are still dominant but (001) planes can not be neglected. Atomic density on cluster (111)/(001) surface is smaller/larger than the corresponding value on bulk surface. Computational analysis on total surface area and surface energies indicates that the total surface energy of an ideal Al nanocluster has the minimum value when (001) planes occupy 25% of the total surface area. We predict that a melted Al cluster will be a truncated octahedron after equilibrium solidification.Comment: 22 pages, 6 figures, 34 reference

Bilateral Assessment of Functional Tasks for Robot-assisted Therapy Applications

This article presents a novel evaluation system along with methods to evaluate bilateral coordination of arm function on activities of daily living tasks before and after robot-assisted therapy. An affordable bilateral assessment system (BiAS) consisting of two mini-passive measuring units modeled as three degree of freedom robots is described. The process for evaluating functional tasks using the BiAS is presented and we demonstrate its ability to measure wrist kinematic trajectories. Three metrics, phase difference, movement overlap, and task completion time, are used to evaluate the BiAS system on a bilateral symmetric (bi-drink) and a bilateral asymmetric (bi-pour) functional task. Wrist position and velocity trajectories are evaluated using these metrics to provide insight into temporal and spatial bilateral deficits after stroke. The BiAS system quantified movements of the wrists during functional tasks and detected differences in impaired and unimpaired arm movements. Case studies showed that stroke patients compared to healthy subjects move slower and are less likely to use their arm simultaneously even when the functional task requires simultaneous movement. After robot-assisted therapy, interlimb coordination spatial deficits moved toward normal coordination on functional tasks

Equivalent efficacies of reverse hybrid and concomitant therapies in first- line treatment of Helicobacter pylori infection

Background and AimConcomitant therapy is a recommended first- line treatment for Helicobacter pylori infection in most national or international consensuses. Reverse hybrid therapy is a modified 14- day concomitant therapy without clarithromycin and metronidazole in the final 7 days. This study aims to test whether 14- day reverse hybrid therapy is non- inferior to 14- day concomitant therapy in the first- line treatment of H. pylori infection.MethodsHelicobacter pylori- infected adult patients were randomly assigned to receive either reverse hybrid therapy (dexlansoprazole 60 mg o.d. plus amoxicillin 1 g b.d. for 14 days, and clarithromycin 500 mg plus metronidazole 500 mg b.d. for initial 7 days) or concomitant therapy (dexlansoprazole 60 mg once o.d. plus amoxicillin 1 g, clarithromycin 500 mg, and metronidazole 500 mg b.d. for 14 days). H. pylori status was assessed 6 weeks after the end of treatment.ResultsHelicobacter pylori- infected participants (n = 248) were randomized to receive either 14- day reverse hybrid therapy (n = 124) or 14- day concomitant therapy (n = 124). Intention- to- treat analysis demonstrated that the two therapies had comparable eradication rate (95.2% vs 93.5%; 95% confidence interval, - 4.0% to 7.4%; P = 0.582). However, reverse hybrid therapy had a much lower frequency of adverse events than concomitant therapy (20.2% vs 38.7%, P = 0.001). The two therapies exhibited comparable drug adherence (93.5% vs 87.9%, P = 0.125).ConclusionsFourteen- day reverse hybrid therapy and 14- day concomitant therapy are equivalent in efficacy for the first- line treatment of H. pylori infection. However, reverse hybrid therapy has fewer adverse events compared with concomitant therapy.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/163472/2/jgh15034_am.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/163472/1/jgh15034.pd

Discovery of an intermediate-luminosity red transient in M51 and its likely dust-obscured, infrared-variable progenitor

We present the discovery of an optical transient (OT) in Messier 51, designated M51 OT2019-1 (also ZTF19aadyppr, AT 2019abn, ATLAS19bzl), by the Zwicky Transient Facility (ZTF). The OT rose over 15 days to an observed luminosity of $M_r=-13$ (${\nu}L_{\nu}=9\times10^6~L_{\odot}$), in the luminosity gap between novae and typical supernovae (SNe). Spectra during the outburst show a red continuum, Balmer emission with a velocity width of $\approx400$ km s$^{-1}$, Ca II and [Ca II] emission, and absorption features characteristic of an F-type supergiant. The spectra and multiband light curves are similar to the so-called "SN impostors" and intermediate-luminosity red transients (ILRTs). We directly identify the likely progenitor in archival Spitzer Space Telescope imaging with a $4.5~\mu$m luminosity of $M_{[4.5]}\approx-12.2$ and a $[3.6]-[4.5]$ color redder than 0.74 mag, similar to those of the prototype ILRTs SN 2008S and NGC 300 OT2008-1. Intensive monitoring of M51 with Spitzer further reveals evidence for variability of the progenitor candidate at [4.5] in the years before the OT. The progenitor is not detected in pre-outburst Hubble Space Telescope optical and near-IR images. The optical colors during outburst combined with spectroscopic temperature constraints imply a higher reddening of $E(B-V)\approx0.7$ mag and higher intrinsic luminosity of $M_r\approx-14.9$ (${\nu}L_{\nu}=5.3\times10^7~L_{\odot}$) near peak than seen in previous ILRT candidates. Moreover, the extinction estimate is higher on the rise than on the plateau, suggestive of an extended phase of circumstellar dust destruction. These results, enabled by the early discovery of M51 OT2019-1 and extensive pre-outburst archival coverage, offer new clues about the debated origins of ILRTs and may challenge the hypothesis that they arise from the electron-capture induced collapse of extreme asymptotic giant branch stars.Comment: 21 pages, 5 figures, published in ApJ