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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Parallel algorithms for computation of the manipulator inertia matrix

The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm.

Amin-Javaheri, Masoud↗
NASA NTRS1989

More about the moment of inertia of Mars

Differences between Mars and other terrestrial planets are discussed. Unlike other terrestrial planets, Mars has two nonhydrostatic components of moments of inertia that are nearly equal. The most probable value of I/MR-squared is slightly less than 0.3650.

Kaula, William M.↗
NASA NTRS1991

Alignment Tool For Inertia Welding

Compact, easy-to-use tool aligns drive bar of inertia welder over hole in stub. Ensures drive bar concentric to hole within 0.002 in. (0.051 mm.). Holds two batteries and light bulb. Electrical circuit completed, providing current to bulb when pin in contact with post. When pin centered in post hole, it does not touch post, and lamp turns off. Built for use in making repair welds on liquid-oxygen-injector posts in Space Shuttle main engine. Version having suitably modified dimensions used to facilitate alignment in other forests of post.

Snyder, Gary L.↗
NASA NTRS1991

Inertia effects in thin film flow with a corrugated boundary

An analytical solution is presented for two-dimensional, incompressible film flow between a sinusoidally grooved (or rough) surface and a flat-surface. The upper grooved surface is stationary whereas the lower, smooth surface moves with a constant speed. The Navier-Stokes equations were solved employing both mapping techniques and perturbation expansions. Due to the inclusion of the inertia effects, a different pressure distribution is obtained than predicted by the classical lubrication theory. In particular, the amplitude of the pressure distribution of the classical lubrication theory is found to be in error by over 100 perent (for modified Reynolds number of 3-4).

Serbetci, Ilter↗
NASA NTRS1991

Motion of particles with inertia in a compressible free shear layer

The effects of the inertia of a particle on its flow-tracking accuracy and particle dispersion are studied using direct numerical simulations of 2D compressible free shear layers in convective Mach number (Mc) range of 0.2 to 0.6. The results show that particle response is well characterized by tau, the ratio of particle response time to the flow time scales (Stokes' number). The slip between particle and fluid imposes a fundamental limit on the accuracy of optical measurements such as LDV and PIV. The error is found to grow like tau up to tau = 1 and taper off at higher tau. For tau = 0.2 the error is about 2 percent. In the flow visualizations based on Mie scattering, particles with tau more than 0.05 are found to grossly misrepresent the flow features. These errors are quantified by calculating the dispersion of particles relative to the fluid. Overall, the effect of compressibility does not seem to be significant on the motion of particles in the range of Mc considered here.

Samimy, M.↗
NASA NTRS1991

The earth's equatorial principal axes and moments of inertia

The earth's equatorial principal moments of inertia are given as A and B, where A is less than B, and the corresponding principal axes are given as a and b. Explicit formulas are derived for determining the orientation of a and b axes and the difference B - A using C(22) and S(22), the two gravitational harmonic coefficients of degree 2 and order 2. For the earth, the a axis lies along the (14.93 deg W, 165.07 deg E) diameter, and the b axis lies perpendicular to it along the (75.07 deg E, 104.93 deg W) diameter. The difference B - A is 7.260 x 10 to the -6th MR2. These quantities for other planets are contrasted, and geophysical implications are discussed.

Liu, H. S.↗
NASA NTRS1992

The radiobrightness thermal inertia measure of soil moisture

Radiobrightness thermal inertia (RTI) is proposed as a method for using day-night differences in satellite-sensed radiobrightness to monitor the moisture of Great Plains soils. Diurnal thermal and radiobrightness models are used to examine the sensitivity of the RTI method. Model predictions favor use of the 37.0 and 85.5 GHz, H-polarized channels of the Special Sensor Microwave/Imager (SSM/I). The model further predicts that overflight times near 2:00 AM/PM would be nearly optimal for RTI, that midnight/noon and 4:00 AM/PM are nearly as good, but that the 6:00 AM/PM overflight times of the current SSM/I are particularly poor. Data from the 37.0 GHz channel of the Scanning Multichannel Microwave Radiometer (SMMR) are used to demonstrate that the method is plausible.

England, Anthony W.↗
NASA NTRS1992

The polar layered deposits on Mars: Inference from thermal inertia modeling and geologic studies

It is widely believed that the Martian polar layered deposits record climate variations over at least the last 10 to 100 m.y., but the details of the processes involved and their relative roles in layer formation and evolution remain obscure. Weathering of the Martian layered deposits by sublimation of water ice can account for the thermal inertias, water vapor abundances, and geologic relationships observed in the Martian polar regions. The nonvolatile components of the layered deposits appears to consist mainly of bright red dust, with small amounts of dark dust. Dark dust, perhaps similar to the magnetic material found at the Viking Lander sites, may preferentially form filamentary residue particles upon weathering of the deposits. Once eroded, these particles may saltate to form the dark dunes found in both polar regions. This scenario for the origin and evolution of the dark material within the polar layered deposits is consistent with the available imaging and thermal data. Further experimental measurements of the thermophysical properties of magnetite and maghemite under Martian conditions are needed to better test this hypothesis.

Herkenhoff, K. E.↗
NASA NTRS1993

The effects on the ionosphere of inertia in the high latitude neutral thermosphere

High-latitude ionospheric currents, plasma temperatures, densities, and composition are all affected by the time-dependent response of the neutral thermosphere to ion drag and Joule heating through a variety of complex feedback processes. These processes can best be studied numerically using the appropriate nonlinear numerical modeling techniques in conjunction with experimental case studies. In particular, the basic physics of these processes can be understood using a model, and these concepts can then be applied to more complex realistic situations by developing the appropriate simulations of real events. Finally, these model results can be compared with satellite-derived data from the thermosphere. We used numerical simulations from the National Center of Atmospheric Research Thermosphere/Ionosphere General Circulation Model (NCAR TIGCM) and data from the Dynamic Explorer 2 (DE 2) satellite to study the time-dependent effects of the inertia of the neutral thermosphere on ionospheric currents, plasma temperatures, densities, and composition. One particular case of these inertial effects is the so-called 'fly-wheel effect'. This effect occurs when the neutral gas, that has been spun-up by the large ionospheric winds associated with a geomagnetic storm, moves faster than the ions in the period after the end of the main phase of the storm. In these circumstances, the neutral gas can drag the ions along with them. It is this last effect, which is described in the next section, that we have studied under this grant.

Burns, Alan↗
NASA NTRS1992

The influence of thermal inertia on temperatures and frost stability on Triton

It is presently argued, in view of (1) a thermal inertia model for the surface of Triton which (like previous ones) predicts a monotonic recession of permanent N2 deposits toward the poles and very little seasonal N2 frost in the southern hemisphere, and (2) new spectroscopic evidence for nonvolatile CO2 on Triton's bright southern hemisphere, that much of that bright southern material is not N2. Such bright southern hemisphere volatiles may allow the formation of seasonal frosts, thereby helping to explain the observed spectroscopic changes of Triton during the last decade.

Spencer, John R.↗
NASA NTRS1993

Robust stabilization of the Space Station in the presence of inertia matrix uncertainty

This paper presents a robust H-infinity full-state feedback control synthesis method for uncertain systems with D11 not equal to 0. The method is applied to the robust stabilization problem of the Space Station in the face of inertia matrix uncertainty. The control design objective is to find a robust controller that yields the largest stable hypercube in uncertain parameter space, while satisfying the nominal performance requirements. The significance of employing an uncertain plant model with D11 not equal 0 is demonstrated.

Wie, Bong↗
NASA NTRS1930

An accurate method of measuring the moments of inertia of airplanes

This note contains a description of an improved apparatus and procedure used by the NACA for determining the moments of inertia of airplanes. The method used, based on the pendulum theory, is similar to that previously used, but a recent investigation of its accuracy has resulted in the improvements described herein. The error, when using the new apparatus and procedure, has been found to be of the order of 1 per cent.

Miller, M P↗
NASA NTRS1931

Moments of inertia of several airplanes

This paper, which is the first of a series presenting the results of such measurements, gives the momental ellipsoids of ten army and naval biplanes and one commercial monoplane. The data were obtained by the use of a pendulum method, previously described. The moments of inertia are expressed in coefficient as well as in dimensional form, so that those for airplanes of widely different weights and dimensions can be compared.

Miller, Marvel P↗
NASA NTRS1926

Inertia Factors of Ellipsoids for Use in Airship Design

This report is based on a study made by the writer as a member of the Special Committee on Design of Army Semirigid Airship RS-1 appointed by the National Advisory Committee for Aeronautics. The increasing interest in airships has made the problem of the potential flow of a fluid about an ellipsoid of considerable practical importance. In 1833 George Green, in discussing the effect of the surrounding medium upon the period of a pendulum, derived three elliptic integrals, in terms of which practically all the characteristics of this type of motion can be expressed. The theory of this type of motion is very fully given by Horace Lamb in his "Hydrodynamics," and applications to the theory of airships by many other writers. Tables of the inertia coefficients derived from these integrals are available for the most important special cases. These tables are adequate for most purposes, but occasionally it is desirable to know the values of these integrals in other cases where tabulated values are not available. For this reason it seems worth while to assemble a collection of formulae which would enable them to be computed directly from standard tables of elliptic integrals, circular and hyperbolic functions and logarithms without the need of intermediate transformations. Some of the formulae for special cases (elliptic cylinder, prolate spheroid, oblate spheroid, etc.) have been published before, but the general forms and some special cases have not been found in previous publications. (author)

Tuckerman, L. B.↗
NASA NTRS1953

Dynamics of mechanical feedback-type hydraulic servomotors under inertia loads

An analysis of the dynamics of mechanical feedback-type hydraulic servomotors under inertia loads is developed and experimental verification is presented. The analysis, which is developed in terms of two physical parameters, yields direct expressions for the following dynamic responses: (1) the transient response to a step input and the maximum cylinder pressure during the transient and (2) the variation of amplitude attenuation and phase shift with the frequency of a sinusoidally varying input. The validity of the analysis is demonstrated by means of recorded transient and frequency responses obtained on two servomotors. The calculated responses are in close agreement with the measured responses. The relations presented are readily applicable to the design as well as to the analysis of hydraulic servomotors.

Gold, Harold↗
NASA NTRS1996

Decoupling the Role of Inertia and Gravity on Particle Dispersion

Turbulent gas flows laden with small, dense particles are encountered in a wide number of important applications in both industrial settings and aerodynamics applications. Particle interactions with the underlying turbulent flow are exceedingly complex and, consequently, difficult to accurately model. The difficulty arises primarily due to the fact that response of a particle to the local environment is dictated by turbulence properties in the reference frame moving with the particle (particle-Lagrangian). The particle-Lagrangian reference frame is in turn dependent upon the particle relaxation time (time constant) as well as gravitational drift. The combination of inertial and gravitational effects in this frame complicates our ability to accurately predict particle-laden flows since measurements in the particle-Lagrangian reference frame are difficult to obtain. Therefore, in this work we will examine separately the effects of inertia and gravitational drift on particle dispersion through a combination of physical and numerical experiments. In this study, particle-Lagrangian measurements will be obtained in physical experiments using stereo image velocimetry. Gravitational drift will be varied in the variable-g environments of the NASA DC-9 and in the zero-g environment at the drop tower at NASA-Lewis. Direct numerical simulations will be used to corroborate the measurements from the variable-g experiments. We expect that this work will generate new insight into the underlying physics of particle dispersion and will, in turn, lead to more accurate models of particle transport in turbulent flows.

Rogers, Chris↗
NASA NTRS1996

Vibrating Systems with Singular Mass-Inertia Matrices

Vibrating systems with singular mass-inertia matrices arise in recent continuum models of Smart Structures (beams with PZT strips) in assessing the damping attainable with rate feedback. While they do not quite yield 'distributed' controls, we show that they can provide a fixed nonzero lower bound for the damping coefficient at all mode frequencies. The mathematical machinery for modelling the motion involves the theory of Semigroups of Operators. We consider a Timoshenko model for torsion only, a 'smart string,' where the damping coefficient turns out to be a constant at all frequencies. We also observe that the damping increases initially with the feedback gain but decreases to zero eventually as the gain increases without limit.

Balakrishnan, A. V.↗