Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats

2019 ◽  
Author(s):  
Benjamin E. Hargis ◽  
Benjamin F. Brandt ◽  
Stephen L. Canfield ◽  
Michael Tinker
Keyword(s):  
Control Strategies ◽  
Equations Of Motion ◽  
Satellite System ◽  
Prototype System ◽  
Prototype Development ◽  
Damping Control ◽  
Flight Operations ◽  
Development And Validation ◽  
Thrust Forces ◽  
Lagrange’S Method

Abstract The Electric sail concept is based on a distributed tether satellite system with tether lengths on the order of thousands-of meters. The system must deploy from stowed arrangement into a selected flight configuration in which thrust forces are transmitted through the tether to the satellite body. The system must be stable through deployment procedure and maintain stable, desired configuration during flight operations. Understanding the dynamic behavior of the satellite bodies and distributed, conductive tether are critical to long-range design and development of the Electric Sail concept. This paper’s contribution is the presentation, development and validation of a mathematical model for simulating E-Sail deployment of a prototype system for testing on the MSFC Robotic Flat Floor Facility. A massed tether model is developed using the bead and string concept with equations of motion derived from Lagrange’s Method. The model is validated using infrared motion capture data produced by controlled experiments of a representative tether portion outfitted with IR targets. Further, a prototype is presented which will be used to investigate an E-Sail deployment approach and associated control. The design of this system will allow for deployment on specially designed flat floor facilities at MSFC. The prototype will be used to: 1) gather data for validation of system dynamic model, 2) evaluate alternative deployment strategies, 3) evaluate tether reel-out and damping control strategies.

scholarly journals A Variable Parameter Ambient Vibration Control Method Based on Quasi-Zero Stiffness in Robotic Drilling Systems

Machines ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 67
Author(s):  
Laixi Zhang ◽  
Chenming Zhao ◽  
Feng Qian ◽  
Jaspreet Singh Dhupia ◽  
Mingliang Wu
Keyword(s):  
Vibration Control ◽  
Vibration Isolation ◽  
Control Method ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Variable Parameter ◽  
Harmonic Balance Method ◽  
Variable Stiffness ◽  
Ambient Vibration ◽  
Robotic Drilling

Vibrations in the aircraft assembly building will affect the precision of the robotic drilling system. A variable stiffness and damping semiactive vibration control mechanism with quasi-zero stiffness characteristics is developed. The quasi-zero stiffness of the mechanism is realized by the parallel connection of four vertically arranged bearing springs and two symmetrical horizontally arranged negative stiffness elements. Firstly, the quasi-zero stiffness parameters of the mechanism at the static equilibrium position are obtained through analysis. Secondly, the harmonic balance method is used to deal with the differential equations of motion. The effects of every parameter on the displacement transmissibility are analyzed, and the variable parameter control strategies are proposed. Finally, the system responses of the passive and semiactive vibration isolation mechanisms to the segmental variable frequency excitations are compared through virtual prototype experiments. The results show that the frequency range of vibration isolation is widened, and the stability of the vibration control system is effectively improved without resonance through the semiactive vibration control method. It is of innovative significance for ambient vibration control in robotic drilling systems.

scholarly journals The development and validation of an age-structured model for the evaluation of disease control strategies for intestinal helminths

Parasitology ◽  
1994 ◽  
Vol 109 (3) ◽  
pp. 389-396 ◽  
Author(s):  
M. S. Chan ◽  
H. L. Guyatt ◽  
D. A. P. Bundy ◽  
G. F. Medley
Keyword(s):  
Helminth Infection ◽  
Control Strategies ◽  
Intestinal Helminth ◽  
Intestinal Helminths ◽  
Parasite Control ◽  
Age Related ◽  
Control Programmes ◽  
Age Structured ◽  
Development And Validation ◽  
Age Structured Model

SummaryEpidemiological modelling can be a useful tool for the evaluation of parasite control strategies. An age-structured epidemiological model of intestinal helminth dynamics is developed. This model includes the explicit representation of changing worm distributions between hosts as a result of treatment, and estimates the morbidity due to heavy infections. The model is used to evaluate the effectiveness of different programmes of age-targeted community chemotherapy in reducing the amount of morbidity due to helminth infection. The magnitude of age-related heterogeneities is found to be very important in determining the results of age-targeted treatment programmes. The model was verified using field data from control programmes for Ascaris lumbricoides and Trichuris trichiura, and was found to provide accurate predictions of prevalence and mean intensities of infection during and following different control regimes.

The Anchor-Last Deployment Problem for Inextensible Mooring Lines

1975 ◽  
Vol 97 (3) ◽  
pp. 1046-1052 ◽  
Author(s):  
Robert C. Rupe ◽  
Robert W. Thresher
Keyword(s):  
Numerical Model ◽  
Equations Of Motion ◽  
Simultaneous Equations ◽  
Mooring Line ◽  
Integration Scheme ◽  
Lumped Mass ◽  
Mooring Lines ◽  
Concentrated Masses ◽  
Predictor Corrector ◽  
Lagrange’S Method

A lumped mass numerical model was developed which predicts the dynamic response of an inextensible mooring line during anchor-last deployment. The mooring line was modeled as a series of concentrated masses connected by massless inextensible links. A set of angles was used for displacement coordinates, and Lagrange’s Method was used to derive the equations of motion. The resulting formulation exhibited inertia coupling, which, for the predictor-corrector integration scheme used, required the solution of a set of linear simultaneous equations to determine the acceleration of each lumped mass. For the selected cases studied the results show that the maximum tension in the cable during deployment will not exceed twice the weight of the cable and anchor in water.

Hamilton’s Principle, Lagrange’s Method, and Ship Motion Theory

1984 ◽  
Vol 28 (04) ◽  
pp. 229-237 ◽  
Author(s):  
Touvia Miloh
Keyword(s):  
Lagrangian Density ◽  
Transfer Functions ◽  
Equations Of Motion ◽  
Steady Motion ◽  
Harmonic Oscillation ◽  
Wave Radiation ◽  
Forward Speed ◽  
Forward Motion ◽  
Radiation Problem ◽  
Lagrange’S Method

Lagrange's equations of motion, describing the motion of several bodies on or below a free surface, are here derived from Hamilton's variational principle. The Lagrangian density is obtained by extending Luke's principle to the wave-radiation problem, and the hydrodynamical loads on the bodies are expressed in terms of the Lagrangian density and its derivatives with respect to the generalized coordinates of the bodies. First we consider a forced harmonic oscillation without a forward speed and then we discuss the case of the same oscillatory motion superimposed on arbitrary steady motion. In both cases we employ Lagrange's method to derive the transfer functions between the generalized forces and the amplitudes of the harmonic motions, in terms of added mass, damping, and the hydrostatic restoring coefficients. The case of a steady forward motion, for which the transfer function is already known, is obtained as a particular case of the general solution.

Dynamics of the Planetary Roller Screw Mechanism

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Matthew H. Jones ◽  
Steven A. Velinsky ◽  
Ty A. Lasky
Keyword(s):  
Steady State ◽  
Slip Velocity ◽  
Equations Of Motion ◽  
Viscous Friction ◽  
Contact Angles ◽  
Dynamic Equations ◽  
Roller Screw ◽  
Angular Velocities ◽  
Screw Mechanism ◽  
Lagrange’S Method

This paper develops the dynamic equations of motion for the planetary roller screw mechanism (PRSM) accounting for the screw, rollers, and nut bodies. First, the linear and angular velocities and accelerations of the components are derived. Then, their angular momentums are presented. Next, the slip velocities at the contacts are derived in order to determine the direction of the forces of friction. The equations of motion are derived through the use of Lagrange's Method with viscous friction. The steady-state angular velocities and screw/roller slip velocities are also derived. An example demonstrates the magnitude of the slip velocity of the PRSM as a function of both the screw lead and the screw and nut contact angles. By allowing full dynamic simulation, the developed analysis can be used for much improved PRSM system design.

scholarly journals Development and validation of the weight control strategies scale

Obesity ◽  
2013 ◽  
Vol 21 (12) ◽  
pp. 2429-2436 ◽  
Author(s):  
Angela Marinilli Pinto ◽  
Joseph L. Fava ◽  
Hollie A. Raynor ◽  
Jessica Gokee LaRose ◽  
Rena R. Wing
Keyword(s):  
Weight Control ◽  
Control Strategies ◽  
Weight Control Strategies ◽  
Development And Validation

Optimal Control Strategies for Wheeled Mobile Robot With Bounded Inputs

2010 ◽  
Author(s):  
Ilan Zohar ◽  
Amit Ailon
Keyword(s):  
Optimal Control ◽  
Mobile Robot ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Wheeled Mobile Robots ◽  
Optimal Control Strategy ◽  
Input Signals ◽  
Control Objective ◽  
Quadratic Index ◽  
Algebraic Constraints

This paper presents a simple approach for solving optimal control problems in wheeled mobile robots with bounded inputs. The control objective is to minimize a quadratic index of performance subject to differential constraints (the mobile robot equations of motion). The solution to the problem is obtained by utilizing an explicit trajectory parametrization method, which allows us to establish a sub-optimal control strategy by minimizing a multivariable function subject to a set of algebraic constraints. The approach is based on the flatness property, which allows us to represent the flat output by a polynomial. The bounds on the input signals are taken into consideration in the current analysis.

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