STATUS REPORT FOR PERIOD 1 JULY THROUGH 31 JULY 1970 U.S. GOVERNMENT CONTRACT (SANITIZED)

• Document Type: CREST
• Collection: NGA Records (Formerly NIMA)
• Document Number (FOIA) /ESDN (CREST): CIA-RDP79B00873A001300010013-6
• Release Decision: RIPPUB
• Original Classification: K
• Document Page Count: 19
• Document Creation Date: December 28, 2016
• Document Release Date: August 29, 2012
• Sequence Number: 13
• Publication Date: July 1, 1970
• Content Type: REPORT

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STATUS REPORT
for period,
1. July through 31 July 1970
U.S. GOVERNMENT
File No. 11038
STAT
STAT
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STAT
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The report period represented herein covers the
period 1 July through 31 July 1970.
Government
Status Report under Contract to the U.S.
This document is presented as the Monthly
STAT
STAT
Project Manager
STAT
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INDEX
Program Status Summary
1
Task 11: Stage Drives
T11 :-
Task 23: Optics Drive Assembly
T23 - 1 through 9.
Task 36: Overall Assembly
T36 - I
Task 43: Computer Programming
T43 - 1
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PROGRAM STATUS SUMMARY
Scheduled percentage of completion 97 %
Actual percentage this date 90.6%
The critical phase of installation and alignment of the optical
system is essentially complete.
It appears that so' far as the viewing branches of the optics
and the main illumination systems are concerned, there has
been no apparent damage in shipment and the performance is
as anticipated. (This is based on. preliminary results only).
The assembly work as a whole is on schedule and the results
of the preliminary testing are very encouraging.
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STEREOCOMPARATOR
TASK 11
STAGE DRIVES
Scheduled percentage of completion 100%
?Actual percentage this date 96%
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The Stereocomparator stages exhibit a resonance of approximately
The work during this report period involved instrumenting the stages
with accelerometers and measuring the frequency of the resonance
as various points of possible flexure were experimentally stiffened.
The objective of this work is to isolate the 20 Hz resonance.
Testing of the stage drives during this period was somewhat restricted
due to the installation and alignment of the optical system.
T11-1
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. E,
STEREOCOMPARATOR
TASKS 16, 17, & 18
VIEWING. OPTICS, VIEWING ILLUMINATION, and
RETICLE PROJECTOR and ILLUMINATION
So'heduled percentage of completion 100%
Actual percentage this date, 100%
The optical installation and alignment has proceeded to the point where
resolution tests have indicated values in white light of the order of
1,000 line pairs per millimeter at 200X magnification.
In addition, stereo photographs have been placed in the Stereocom-
parator and high quality stereo fusion has been readily achieved.
T16,17 & 18 - 1
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STEREOCOM?ARATOR
TASK 23
OPTICS DRIVE ASSEMBLY
Scheduled percentage of completion 100%
Actual percentage this date 98%
Work on phasing.and servo .loop compensation for the Optics
Drive systems is continuing. As explained in the previous re-
port, in many systems. ' it has been found that current drive to
the servo motors has yielded -greatly improved performance char-
acteristics. The status of this work is as follows:
A. Main Viewing Zoom
It was found that the gear reduction system used
in this system was difficult to couple electrically
from a servo standpoint. The, system as originally
? constructed consisted of a high torque printed-cir-
cuit motor followed by a PIC 80 to 1 gear reducer..
The output.shaft of this gear reducer was coupled
through a further spur gear reduction to operate the
barrel cam controlling the position of the lens ele-
ments. It was found that the high torque output
of the printed--circuit motor, when multiplied by the
gear reduction ratio, was sufficient to -cause slippage
of the spur gear mounted on the output shaft of the
gear reducer.
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In order to overcome this difficulty an experimental .
setup was made which eliminated the use of the PIC
gear reducer. In its place was substituted a straight
1/4" diameter shaft. The effect of removing the gear
reducer was, of course, to reduce the motor operating
speeds by a factor of 80. Additionally, the tachom-
eter generator voltage is also reduced` by the same
factor. The purpose of the experimental setup was to
determine whether or not the system could be made to
operate properly at such low speeds using very small
tachometer feedback signals (full speed with this con-
figuration gives a tachometer voltage of less than
0.1 volt).
It was found that the system could be made to perform
properly under these circumstances provided that the
velocity feedback loop gain was increased by a large
factor. This requirement- was due to the fact that the
reflected inertia and friction loads on the motor shaft
are quite high. The final configuration for this system
gave a rate loop bandwidth of approximately 400 Hz
and a position loop bandwidth of approximately 4.5 Hz.
Rate loop control of the systems as is encountered in
the manual operating mode was judged to be sufficiently
T23-2
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smooth to provide satisfactory' viewing. characteristics.
Only one difficulty remains with this system and that
,
lies in the fact that when the servo drive is not
commanding the system, the mechanism. tends by gravity
to preferentially seek the end limits of travel.
In most of the systems in the Stereocomparator, a suf-
ficient gear reduction exists such that the motor brush
friction, when multiplied by the gear reduction ratio, is
sufficient to hold the mechanical system in place under
both power-off conditions and with. the rate loop only
connected. With the- low gear reduction provision now
installed in the viewing zooms, the motor brush friction
"''torque does not get multiplied to a high enough value to
prevent the load unbalance from driving the system back
through - the -gear train. Means for leveling out the load
characteristic over the range of travel of this assembly are
being investigated, and it is expected that it will be
possible to reduce the, load unbalance in the system to
a sufficiently low value that the friction in the system can
hold the mechanism in any selected location.
B. Reticle lO X Zoom
This system has been set up to follow the main viewing
zoom in order to maintain a constant reticle pattern
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size with varying magnification in the main optics.
This system was found to have considerable back-
lash present in the_ integral gear reducer package
attached to the' motor/tachometer assembly, in
order to achieve system stability, it was found nec-
essary to reduce the position loop gain by a factor
of 3; the rate loop gain was correspondingly increased
to achieve' the- same steady-state resolution. Additionally,
since this is a Type. Il system, containing two complex
motor .integration poles, there is no velocity following
error at constant speeds. The reduction of the. position
loop gain has, however, increased the acceleration error
characteristics for the system, and there is a noticeable..
delay, to responsd if the main viewing zoom is suddenly
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accelerated. However, since under normal operating
conditions the speeds and . accelerations present *in the
optical systems are rather low, it has been found that the
acceleration traoking errors present in this system 'produce
no visible effects. Thus, the operating characteristics
of the reticle zoom system appear to be satisfactory.
Due to the sensitivity of the reticle projector system to -
vibration,. no attempt has been made to measure the band-
widthof the rate and position idops, but both appear adequate
and the system is overdamped so that n6 overshoots or
hunting is present.
T23-4
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C. Main Viewing Anamorph Ratio System
This system has the compensation network designed and
installed and the system appears to operate satisfactorily.
The bandwidth of this system is somewhat less than the
4.5 Hz bandwidth attained in some of the other systems
due to the fact that a very large gear reduction between
the motor and the movable prisms exists. The motor there-
fore has to reach very high velocities in order to cause
significant motion of the prisms, and an acceleration
limit is present in the system since the servo-amplifier
has a voltage limit. Additionally, in order to secure suffi-
cient feedback potentiometer travel from the small angular
motions. 'of the anamorph prisms, a precision step-up gearir}g
arrangement is used between the prism pinions and the
potentiometer shaft. A small amount of backlash is present
in this. system and it was found that a wideband system
displayed an.unstable limit cycle caused by both this back-.
lash and the backlash present in the gear.reducer which
is integrally mounted to the motor/tachometer assembly.
Reduction of.. the rate loop bandwidth and the use of the
current. Source servo-amplifiers described previously yielded
a stable system which has good transient characteristics
(overdarnped). It is expected that the operation of this
system as configured is satisfactory for use in the
T23-5
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Stereocomparator because the anamorph optical function
itself is not as drastic to the operator's eyes as are the
parallax and image rotation functions.
D. Reticle Anamorph Ratio System
The reticle anamorph ratio system is mechanically similar
to the main viewing anamorph ratio assembly, but of much
smaller and lighter construction. Since virtually all of the
optics drives systems, with the exception of the main
viewing zoom, are instrument-type servo loops (i.e.,
the load mass reflected to the motor is insignificant com-
pared to the inertia of the motor itself) a compensation
network similar to that used on the main viewing anamorph
system was installed on the reticle anamorph ratio sub-
assembly. Operation of this system appeared to be similar
to that.of the main anamorph system except' that it was
found possible to increase the bandwidth of the system by
approximately 25% in order to minimize following errors.
Satisfactory results were obtained with this configuration.
The reticle anamorph system was found to have some diffi-
culties associated'with the limit switch system; specifically
the prelimits, which command a velocity slowdown as the
limit of travel is approached, have an operating point which
extends a great distance into the active operating area
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of the range of travel of the system. The result is that
if the main anamorph is slewed rapidly there is an appre-
ciable lag in the reticle anamorph system response due
to the velocity of the reticle anamorph being limited to
approximately 10%of full speed over most of its, range.
The operator therefore could see the reticle spot become
elongated for a brief period of time until the reticle ana-
morph system catches up the main anamorph, at which
time the reticle spot becomes round. Since during normal
measuring operations, the optical elements are generally
moving quite slowly, it is expected that this characteristic
will not .produce any troublesome effects.
The limit switch arrangement in this system also has a
difficulty that apses from the fact that the actuating cam
motions-, are very small, and there is some hysteresis
in the microswitch. This situation precludes the use of
an int.6grator in the. rate loop for the system, because
once alimit of travel is reached, further velocity commands
in the direction" of the limit are not permitted to pass into
the system. (This is effected by means of blocking diodes
on the velocity input to the servo). With an integrator
in the system even though the' input has no command applied,
miscellaneous bias and offset currents are present and
will cause the integrator to drift. (The position loop is
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opened by the blocking diode). Thus this particular system
could drift of its own accord into the second limit micro-
switch actuation point which would require activation of
the second limit bypass circuitry in order to pull the system
back into its. operating range. It was therefore decided
that a non-integrating (Type I) loop configuration would
be used. This type of system has a finite, although small,
velocity following error, but this small error is not noticeable
to the operator even at very high anamorph ratios.
E . 4X - Reticle Site Zoom
This relay operated system is under manual control of the
operator and allows him to set the diameter of the reticle
spot in each eyepiece to a convenient size for viewing.
Two speeds of operation in each direction are provided.
This system operates in a satisfactory manner.-
F. Reticle Brightness Control System
This system consists of a pair of counter-rotating variable-
density filter wheels placed in the reticle optical path
to control the apparent brightness of the reticle spot. The
system, has been connected to the relay control system
and operates entirely satisfactorily, giving two speeds
in each. direction of operation.
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G. Illumination Condenser Permutation Systems
When changing from the low range to the high range of
magnification-in the Stereocomparator, it is necessary
to switch three optical assemblies in the illumination
system. These consist of a large afocal condenser lens
assembly; and reorientation of the outer ring of the variable
beam-defining iris located below the illumination condenser
zoom assembly. These changeover systems are operated
by means of geneva drive mechanisms. An exception
is the iris changeover which utilizes a slip clutch to allow
overtravel of the motor pinion. These systems have been
connected to the relay control unit, and it is found that
the changeover occurs in approximately six seconds. As
has been mentioned in previous reports, it is necessary
to drive the variable beam-defining iris systems to a pre-
determined location before changeover can occur. Depending
on the setting of the main viewing zoom, this motion could
take as long as three seconds. After the permutation change-
over has occurred, the variable iris must then slew to
the proper point corresponding to the new zoom setting
which could also take as long as three seconds. Thus
it can be seen that a complete changeover sequence from
one magnification range to the other will require a maximum
of 12 seconds. These systems work satisfactorily.
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STEREOCO MPARATOR
TASK 36
OVERALL ASSEMBLY
Scheduled percentage of completion 100%
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Actual percentage this date 90%
During this report period the optical subassemblies received
from the optical subcontractor were assembled into the Stereo-
comparator: The optical alignment has now proceeded to the
point where resolution tests have indicated values in white
light of the order of 1,000 line pairs per millimeter at 200X
magnif ication .
In addition, stereo photographs have been placed in the
Stereocomparator and high quality stereo fusion has.been
readily achieved.
The main viewing branch on the right side optics appeared
generally satisfactory, based on preliminary tests.
The left side optics exhibited difficulties with image wander.
This necessitated the performance of additional' alignment procedures.
obtained from the optical subcontractor. This realignment work is
presently almost complete, with good results being achieved.
T36 - 1
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STEREOCOMPARATOR
COMPUTER PROGRAMMING AND SERVICES
Scheduled percentage of completion 100%
Actual, percentage this date 93%
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Recoding of the teletype data input package of subroutines to incor-
porate real formats and real units (see Status Report for June, Task 43)
was completed. The information available on the formats desired for
the pan and strip systems was believed to be accurate and complete.
The information available for the frame system was somewhat less so,
but was utilized as well as possible. The lists of items used in normal
operation include a number of items which are not actually required
for the Honeywell computer. These were included in order to keep
the lists standard. They can be readily deleted if they turn out to be
undesirable. Provision was incorporated both for punching paper tape
simultaneously with typing the requested information and for reading
from a paper tape if one is available. Both of these features are optional
to the operator.
During the next several weeks) will be doing such recoding
of the computer program as is required to utilize the additional 16K
core memory which has been added to the Honeywell computer. Other-
wise Task 43 is completed, except for the final system integration.
STAT
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