Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Motion Planning”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1967

Concepts for a theoretical and experimental study of lifting rotor random loads and vibrations, Phase 1

A number of lifting rotor conditions with random inputs are discussed. The present state of random process theory, applicable to lifting rotor problems is sketched. Possible theories of random blade flapping and random blade flap-bending are outlined and their limitations discussed. A plan for preliminary experiments to study random flapping motions of a see-saw rotor is developed.

Hohenemser, K. H.↗
NASA NTRS1984

The Shuttle Mission Simulator computer generated imagery

Equipment available in the primary training facility for the Space Transportation System (STS) flight crews includes the Fixed Base Simulator, the Motion Base Simulator, the Spacelab Simulator, and the Guidance and Navigation Simulator. The Shuttle Mission Simulator (SMS) consists of the Fixed Base Simulator and the Motion Base Simulator. The SMS utilizes four visual Computer Generated Image (CGI) systems. The Motion Base Simulator has a forward crew station with six-degrees of freedom motion simulation. Operation of the Spacelab Simulator is planned for the spring of 1983. The Guidance and Navigation Simulator went into operation in 1982. Aspects of orbital visual simulation are discussed, taking into account the earth scene, payload simulation, the generation and display of 1079 stars, the simulation of sun glare, and Reaction Control System jet firing plumes. Attention is also given to landing site visual simulation, and night launch and landing simulation.

Henderson, T. H.↗
NASA NTRS1988

Physical phenomena in containerless glass processing

Flight experiments are planned on drops containing bubbles. The experiments involve stimulating the drop via non-uniform heating and rotation. The resulting trajectories of the bubbles as well as the shapes of the drops and bubble will be videotaped and analyzed later frame-by-frame on the ground. Supporting ground based experiments are planned in the area of surface tension driven motion of bubbles, the behavior of compound drops settling in an immiscible liquid and the shapes and trajectories of large bubbles and drops in a rotating liquid. Theoretical efforts will be directed at thermocapillary migration of drops and bubbles, surfactant effects on such migration, and the behavior of compound drops.

Subramanian, R. Shankar↗
NASA NTRS1993

Planning Robot-Control Parameters With Qualitative Reasoning

Qualitative-reasoning planning algorithm helps to determine quantitative parameters controlling motion of robot. Algorithm regarded as performing search in multidimensional space of control parameters from starting point to goal region in which desired result of robotic manipulation achieved. Makes use of directed graph representing qualitative physical equations describing task, and interacts, at each sampling period, with history of quantitative control parameters and sensory data, to narrow search for reliable values of quantitative control parameters.

Peters, Stephen F.↗
NASA NTRS1952

Air forces and moments on triangular and related wings with subsonic leading edges oscillating in supersonic potential flow

This analysis treats the air forces and moments in supersonic potential flow on oscillating triangular wings and a series of sweptback and arrow wings with subsonic leading edges and supersonic trailing edges. For the wings undergoing sinusoidal torsional oscillations simultaneously with vertical translations, the linearized velocity potential is derived in the form of a power series in terms of a frequency parameter. This method can be useful for treatment of similar problems for other plan forms and for wings undergoing other sinusoidal motions. For triangular wings, as many terms of such a series expansion as may be derived can be determined; however, the terms after the first few become very cumbersome. Closed expressions that include the reduced frequency to the fifth power, an order which is sufficient for a large class of practical application, are given for the velocity potential and for the components of chordwise section force and moment coefficients. These wings are found to exhibit the possibility of undamped torsional oscillations for certain ranges of Mach number and locations of the axis of rotation. The ranges of these parameters are delineated for triangular wings.

Watkins, Charles E↗
NASA NTRS2007

NASA Tech Briefs, September 2007

Topics covered include; Rapid Fabrication of Carbide Matrix/Carbon Fiber Composites; Coating Thermoelectric Devices To Suppress Sublimation; Ultrahigh-Temperature Ceramics; Improved C/SiC Ceramic Composites Made Using PIP; Coating Carbon Fibers With Platinum; Two-Band, Low-Loss Microwave Window; MCM Polarimetric Radiometers for Planar Arrays; Aperture-Coupled Thin-Membrane L-Band Antenna; WGM-Based Photonic Local Oscillators and Modulators; Focal-Plane Arrays of Quantum-Dot Infrared Photodetectors; Laser Range and Bearing Finder With No Moving Parts; Microrectenna: A Terahertz Antenna and Rectifier on a Chip; Miniature L-Band Radar Transceiver; Robotic Vision-Based Localization in an Urban Environment; Programs for Testing an SSME-Monitoring System; Cathodoluminescent Source of Intense White Light; Displaying and Analyzing Antenna Radiation Patterns; Payload Operations Support Team Tools; Space-Shuttle Emulator Software; Soft Real-Time PID Control on a VME Computer; Analyzing Radio-Frequency Coverage for the ISS; Nanorod-Based Fast-Response Pressure-Sensitive Paints; Capacitors Would Help Protect Against Hypervelocity Impacts; Diaphragm Pump With Resonant Piezoelectric Drive; Improved Quick-Release Pin Mechanism; Designing Rolling-Element Bearings; Reverse-Tangent Injection in a Centrifugal Compressor; Inertial Measurements for Aero-assisted Navigation (IMAN); Analysis of Complex Valve and Feed Systems; Improved Path Planning Onboard the Mars Exploration Rovers; Robust, Flexible Motion Control for the Mars Explorer Rovers; Solar Sail Spaceflight Simulation; Fluorine-Based DRIE of Fused Silica; Mechanical Alloying for Making Thermoelectric Compounds; Process for High-Rate Fabrication of Alumina Nanotemplates; Electroform/Plasma-Spray Laminates for X-Ray Optics; An Automated Flying-Insect Detection System; Calligraphic Poling of Ferroelectric Material; Blackbody Cavity for Calibrations at 200 to 273 K; KML Super Overlay to WMS Translator; High-Performance Tiled WMS and KML Web Server; Modeling of Radiative Transfer in Protostellar Disks; Composite Pulse Tube; Photometric Calibration of Consumer Video Cameras; Criterion for Identifying Vortices in High- Pressure Flows; Amplified Thermionic Cooling Using Arrays of Nanowires; Delamination-Indicating Thermal Barrier Coatings; Preventing Raman Lasing in High-Q WGM Resonators; Procedures for Tuning a Multiresonator Photonic Filter; Robust Mapping of Incoherent Fiber-Optic Bundles; Extended-Range Ultrarefractive 1D Photonic Crystal Prisms; Rapid Analysis of Mass Distribution of Radiation Shielding; Modeling Magnetic Properties in EZTB; Deep Space Network Antenna Logic Controller; Modeling Carbon and Hydrocarbon Molecular Structures in EZTB; BigView Image Viewing on Tiled Displays; and Imaging Sensor Flight and Test Equipment Software.

Source record↗
NASA NTRS2012

Light Curve Observations of Upper Stages in the Low Earth Orbit Environment

Active debris removal (ADR) is a potential means to remediate the orbital debris environment in low Earth orbit (LEO). Massive intact objects, including spent upper stages and retired payloads, with high collision probabilities have been suggested as potential targets for ADR. The challenges to remove such objects on a routine basis are truly monumental. A key piece of information needed for any ADR operations is the tumble motion of the targets. Rapid tumble motion (in excess of one degree per second) of a multiple-ton intact object could be a major problem for proximity and docking operations. Therefore, there is a need to characterize the general tumble motion of the potential ADR targets for future ADR planning. The NASA Orbital Debris Program Office has initiated an effort to identify the global tumble behavior of potential ADR targets in LEO. The activities include optical light curve observations, imaging radar data collection, and laboratory light curve simulations and modeling. This paper provides a preliminary summary of light curve data of more than 100 upper stages collected by two telescope facilities in Colorado and New Mexico between 2011 and 2012. Analyses of the data and implications for the tumble motions of the objects are also discussed in the paper.

Liou, J.-C.↗
NASA NTRS2005

Perturbed Equations of Motion for Formation Flight Near the Sun-Earth L2 Point

NASA is planning missions to the vicinity of the Sun-Earth L(sub 2) point, some involving a distributed system of telescope spacecraft, configured in a plane about a hub. Several sets of differential equations are written for the formation flight of such telescopes relative to the hub, with varying levels of fidelity. Effects are cast as additive perturbations to the circular restricted three-body problem, expanded in terms of the system distanced, to an accuracy of 10-20 m. These include Earth's orbital eccentricity, lunar motion, solar radiation pressure, and small thrusting forces. Simulations validating the expanded differential equations are presented.

Luquette, Richard↗
NASA NTRS1993

Autonomous vehicle motion control, approximate maps, and fuzzy logic

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Ruspini, Enrique H.↗
NASA NTRS2003

Characterization of the Test Section Walls at the 14- by 22-Foot Subsonic Tunnel

The test section walls of the NASA Langley Research Center 14- by 22-Foot Subsonic Tunnel are known to move under thermal and pressure loads. Videogrammetry was used to measure wall motion during the summer of 2002. In addition, a laser distancemeter was used to measure the relative distance between the test section walls at a single point. Distancemeter and videogrammetry results were consistent. Data were analyzed as a function of temperature and pressure to determine their effects on wall motion. Data were collected between 50 and 100 F, 0 and 0.315 Mach, and dynamic pressures of 0 and 120 psf. The overall motion of each wall was found to be less than 0.25 in. and less than facility personnel anticipated. The results show how motion depends on the temperature and pressure inside the test section as well is the position of the boundary layer vane. The repeatability of the measurements was +/-0.06 in. This report describes the methods used to record the motion of the test section walls and the results of the data analysis. Future facility plans include the development of a suitable wall restraint system and the determination of the effects of the wall motion on tunnel calibration.

Lunsford, Charles B.↗
DOE OSTI2022

Controls and process planning strategies for 5-axis laser directed energy deposition of Ti-6Al-4V using an 8-axis industrial robot and rotary motion

Interest in multi-axis additive manufacturing has grown significantly in recent years due to associated benefits that range from improved quality to support for greater geometric complexity. A method of 5-axis Laser Hot-Wire Directed Energy Deposition is developed and demonstrated in this study using an 8-axis industrial robot, comprised of a 6-axis serial link robot and a 2 degree-of-freedom positioner. Coordinated 5-axis motion is used to print Ti-6Al-4V objects predominantly through build plate rotation. Methods of slicing and toolpath generation are presented, including the use of an alternating toolpath direction philosophy and the manipulation of the CAD model surface normal vectors for determining the required build plate tilt angles for maintaining consistent deposition orientations relative to gravity. Another objective of the study was to determine the limits of conventional slicing and layer height control techniques for printing geometries with significant unsupported overhangs. A comparison is made between the behavior of normal and conformal bead alignment in this regard, and the performance of the layer height controller is reported as it relates to process stability and the limits of printing overhang geometries. Unsupported overhangs were successfully printed at 35° without build plate tilt and 45° with build plate tilt. Toolpath velocity and net-shape printing performance are reported as well, with 3D scans of the printed surfaces used for net-shape characterization. In all, the printing of three geometries is presented, including the overhang geometry, a 5-axis toolpath geometry, and a large-scale, multi-bead demonstrator part, which exceeded 500 mm in height and weighed 44 kg (97 lbs).

36 MATERIALS SCIENCE↗
DOE OSTI2021

Collisionless losses of fast ions in the Divertor Tokamak Test due to toroidal field ripple

In this paper we analyze fast ion motion in the Divertor Tokamak Test device. DTT is planned to be heated through a mix of 45 MW heating power, including 15 MW negative-ion-based Neutral Beam heating (NNBI) which is currently being developed by Consorzio RFX in Padova, Italy. An issue for DTT is that a Toroidal Field (TF) ripple with a maximum value of about 0.42% (with respect to the on-axis magnetic field $B_0$) is expected on the low-field side (LFS), and this ripple interacts with fast ions through rather well-known phenomena of ripple-precession resonances, in addition to prompt losses of ions which do not complete a full orbit in the poloidal plane. We will show that, with the planned geometry of NNBI, prompt losses are negligible, and ripple-precession losses amount to a maximum 0.15%. The calculations are performed with the guiding center code ORBIT using two different equilibria, and a beam with energy 400 keV and injection angle $\alpha_{inj} = 40^{\circ}$ (measured w.r.t. the first wall), which corresponds to a pitch of injected particles $\lambda = v_{\parallel}/v \approx \sin{\alpha_{inj}} = 0.65$. Main resonances are of the form $\omega_b - n N \omega_d = 0$, $\omega_b$ and $\omega_d$ being the bounce and precession frequency, respectively, $N=18$ the ripple periodicity and $3 \le n \le 6$ are the toroidal wavenumbers of the resonances. Although collisionless interaction with the TF ripple does not pose a serious threat to the NNBI project, an open question remains whether the presence of these resonances will interact with fast particles accelerated by \alfven eigenmodes, and if stochastization of the resonances is possible in DTT, as it was observed in the past in TORE SUPRA.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

Updated Seismic Shake Table Test Plan

This report documents the updated seismic shake table test plan. The report describes the shake table inputs (ground motions), test hardware, shake table facility, friction experiment, and proposed instrumentation.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
NASA NTRS1988

The eivaN: A forward-looking interactive orbital trajectory plotting tool for use with proximity operations (PROX OPS) and other maneuvers: Description and user's manual

The results of vehicle burns on-orbit are very difficult to anticipate because of nonlinearities in the equations of motion governing orbiting bodies. This confusion was noticed firsthand in prior experimentation. Out of plane motion is relatively simple as it is uncoupled from the other two degrees of freedom. However, in plane thrusts are more complex because the motions resulting from these inputs are coupled. An interactive planning device, eivaN, was developed to plot resulting trajectories, to provide a better comprehension of orbital mechanics effects, and to help the user to develop heuristics for on-orbit mission planning. The eivaN runs with Microsoft Excel on a Macintosh computer. It provides a forward looking display: burn parameters in the three orthogonal axes in addition to time inputted, and the resultant trajectory is then plotted. Position and velocity components for any burn at any user specified time are readily available. A new area of research related to the human factors of real time, on-orbit mission planning was identified and is currently being investigated.

Brody, Adam R.↗
NASA NTRS1989

Manipulation strategies for massive space payloads

Control for the bracing strategy is being examined. It was concluded earlier that trajectory planning must be improved to best achieve the bracing motion. Very interesting results were achieved which enable the inverse dynamics of flexible arms to be calculated for linearized motion in a more efficient manner than previously published. The desired motion of the end point beginning at t=0 and ending at t=t sub f is used to calculate the required torque at the joint. The solution is separated into a causal function that is zero for t is less than 0 and an accusal function which is zero for t is greater than t sub f. A number of alternative end point trajectories were explored in terms of the peak torque required, the amount of anticipatory action, and other issues. The single link case is the immediate subject and an experimental verification of that case is being performed. Modeling with experimental verification of closed chain dynamics continues. Modeling effort has pointed out inaccuracies that result from the choice of numerical techniques used to incorporate the closed chain constraints when modeling our experimental prototype RALF (Robotic Arm Large and Flexible). Results were compared to TREETOPS, a multi body code. The experimental verification work is suggesting new ways to make comparisons with systems having structural linearity and joint and geometric nonlinearity. The generation of inertial forces was studied with a small arm that will damp the large arm's vibration.

Book, Wayne J.↗
NASA NTRS2000

Reaching during virtual rotation: context specific compensations for expected coriolis forces

Subjects who are in an enclosed chamber rotating at constant velocity feel physically stationary but make errors when pointing to targets. Reaching paths and endpoints are deviated in the direction of the transient inertial Coriolis forces generated by their arm movements. By contrast, reaching movements made during natural, voluntary torso rotation seem to be accurate, and subjects are unaware of the Coriolis forces generated by their movements. This pattern suggests that the motor plan for reaching movements uses a representation of body motion to prepare compensations for impending self-generated accelerative loads on the arm. If so, stationary subjects who are experiencing illusory self-rotation should make reaching errors when pointing to a target. These errors should be in the direction opposite the Coriolis accelerations their arm movements would generate if they were actually rotating. To determine whether such compensations exist, we had subjects in four experiments make visually open-loop reaches to targets while they were experiencing compelling illusory self-rotation and displacement induced by rotation of a complex, natural visual scene. The paths and endpoints of their initial reaching movements were significantly displaced leftward during counterclockwise illusory rotary displacement and rightward during clockwise illusory self-displacement. Subjects reached in a curvilinear path to the wrong place. These reaching errors were opposite in direction to the Coriolis forces that would have been generated by their arm movements during actual torso rotation. The magnitude of path curvature and endpoint errors increased as the speed of illusory self-rotation increased. In successive reaches, movement paths became straighter and endpoints more accurate despite the absence of visual error feedback or tactile feedback about target location. When subjects were again presented a stationary scene, their initial reaches were indistinguishable from pre-exposure baseline, indicating a total absence of aftereffects. These experiments demonstrate that the nervous system automatically compensates in a context-specific fashion for the Coriolis forces associated with reaching movements.

Clinical Trial↗
NASA NTRSDate not supplied

Simplified Vehicle Control Concept for a Lift Plus Cruise eVTOL Vehicle

Electric Vertical Takeoff and Landing (eVTOL) vehicles have the potential to enable cost effective Urban Air Mobility (UAM) applications. These concepts may also pose several challenging handling and control problems, which must be addressed prior to safe and efficient urban operations. This paper investigates a simplified vehicle control concept that is designed to address some of these challenges for a conceptual Lift Plus Cruise vehicle. This concept also includes several variations of a transition-to-hover function, designed to assist pilots in capturing and maintaining a stabilized hover prior to landing. The different simplified control architectures for this concept are presented along with preliminary findings. Preliminary results show that the simplified control concept can be effective in assisting pilots to achieve safe and reliable hover landings, and that transition-to-hover functions have the potential of reducing workload while increasing accuracy. A follow on evaluation will be performed in the Vertical Motion Simulator (VMS) at NASA Ames Research Center. The planned tests will focus on more operationally representative scenarios, while building upon these operations with additional test cases exploring variations in glidepath angles and wind conditions.

simplified vehicle control↗
NASA NTRS1947

Scale effect and optimum relations for sea surface planning

From the general dimensional and mechanical similarity theory it follows that a condition of steady motion of a given shape\bottom with constant speed on the surface of water is determined by four nondimensional parameters. By considering the various systems of independent parameters which are applied in theory and practice and special tests, there is determined their mutual relations and their suitability as planning characteristics. In studying the scale effect on the basis of the Prnndtl formula for the friction coefficient for a turbulent condition the order of magnitude is given of the error in applying the model data to full scale in the case of a single-step bottom For a bottom of complicated shape it is shown how from the test data of the hydrodynamic characteristics for one speed with various loads, or one load with various speeds, there may be obtained by simple computation with good approximation the hydrodynamic characteristics for a different speed or for a different load. (These considerations may be of use in solving certain problems on the stability of planning.) This permits extrapolating the curve of resistance against speed for large speeds inaccessible in the tank tests or for other loads which were not tested. The data obtained by computation are in good agreement with the test results. Problems regarding the optimum trim angle or the optimum width in the case of planning of a flat plate are considered from the point of view of the minimum resistance for a given load on the water and planning speeds. Formulas and graphs are given for the optimum value of the planning coefficient and the corresponding values of the trim angle and width of the flat plate.

Sedov, L.↗