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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Derivation of the Data Reduction Equations for the Calibration of the Six-component Thrust Stand in the CE-22 Advanced Nozzle Test Facility

This paper documents the derivation of the data reduction equations for the calibration of the six-component thrust stand located in the CE-22 Advanced Nozzle Test Facility. The purpose of the calibration is to determine the first-order interactions between the axial, lateral, and vertical load cells (second-order interactions are assumed to be negligible). In an ideal system, the measurements made by the thrust stand along the three coordinate axes should be independent. For example, when a test article applies an axial force on the thrust stand, the axial load cells should measure the full magnitude of the force, while the off-axis load cells (lateral and vertical) should read zero. Likewise, if a lateral force is applied, the lateral load cells should measure the entire force, while the axial and vertical load cells should read zero. However, in real-world systems, there may be interactions between the load cells. Through proper design of the thrust stand, these interactions can be minimized, but are hard to eliminate entirely. Therefore, the purpose of the thrust stand calibration is to account for these interactions, so that necessary corrections can be made during testing. These corrections can be expressed in the form of an interaction matrix, and this paper shows the derivation of the equations used to obtain the coefficients in this matrix.

Wong, Kin C.↗
NASA NTRS1947

Knock-Limited Power Outputs from a CFR Engine Using Internal Coolants: Four Alkyl Amines, Three Alkanolamines, Six Amides, and Eight Heterocyclic Compounds - 3

An investigation of the antiknock effectiveness of various additive-water solutions when used as internal coolants has been conducted at the NACA Cleveland laboratory. Nine compounds have been previously run in a CFR engine and the results are presented. In an effort to find a good anti-knock-coolant additive with more desirable physical properties than those of the nine compounds previously investigated, water solutions of four alkyl amines, three alkanolamines, six amides, and eight heterocyclic compounds were investigated and the results are presented.

Imming, Harry S.↗
NASA NTRS2003

Mars Exploration Rover Six-Degree-Of-Freedom Entry Trajectory Analysis

The Mars Exploration Rover mission will be the next opportunity for surface exploration of Mars in January 2004. Two rovers will be delivered to the surface of Mars using the same entry, descent, and landing scenario that was developed and successfully implemented by Mars Pathfinder. This investigation describes the trajectory analysis that was performed for the hypersonic portion of the MER entry. In this analysis, a six-degree-of-freedom trajectory simulation of the entry is performed to determine the entry characteristics of the capsules. In addition, a Monte Carlo analysis is also performed to statistically assess the robustness of the entry design to off-nominal conditions to assure that all entry requirements are satisfied. The results show that the attitude at peak heating and parachute deployment are well within entry limits. In addition, the parachute deployment dynamics pressure and Mach number are also well within the design requirements.

Desai, Prasun N.↗
NASA NTRS1995

Asymmetric structure of five and six membered DNA hairpin loops

The tertiary structure of nucleic acid hairpins was elucidated by means of the accessibility of the single-strand-specific nuclease from mung bean. This molecular probe has proven especially useful in determining details of the structural arrangement of the nucleotides within a loop. In this study 3'-labeling is introduced to complement previously used 5'-labeling in order to assess and to exclude possible artifacts of the method. Both labeling procedures result in mutually consistent cleavage patterns. Therefore, methodological artifacts can be excluded and the potential of the nuclease as structural probe is increased. DNA hairpins with five and six membered loops reveal an asymmetric loop structure with a sharp bend of the phosphate-ribose backbone between the second and third nucleotide on the 3'-side of a loop. These hairpin structures differ from smaller loops with 3 or 4 members, which reveal this type of bend between the first and second 3' nucleotide, and resemble with respect to the asymmetry anticodon loops of tRNA.

NASA Discipline Exobiology↗
NASA NTRS1993

Echocardiograms during six hours of bedrest at head-down and head-up tilt and during space flight

Left ventricular end-diastolic volume increased after 4 1/2 to 6 hours of space flight, but was significantly decreased after 5 to 6 days of space flight. To determine the role of acute gravitational effects in this phenomenon, responses to a 6-hour bedrest model of 0 gravity (G; 5 degrees head-down tilt) were compared with those of fractional gravity loads of 1/6 G, 1/3 G, and 2/3 G by using head-up tilts of 10 degrees, 20 degrees, and 42 degrees, respectively. On 4 different days, six healthy male subjects were tilted at one of the four angles for 6 hours. Cardiac dimensions and volumes were determined from two-dimensional and M-mode echocardiograms in the left lateral decubitus position at control (0), 2, 4, and 6 hours. Stroke volume decreased with time (P < .05) for all tilt angles when compared with control. Ejection fraction (EF) at -5 degrees was greater than at +20 degrees and +42 degrees (not significant); EF at +10 degrees was greater than at +42 degrees (not significant). For the tilt angles of -5 degrees, +10 degrees, and +20 degrees, mean heart rate decreased during the first 2 hours, and returned to control or was slightly elevated above control (+20 degrees) by 6 hours (not significant). At the +42 degrees angle of tilt, heart rate was increased above control at hours 2, 4, and 6. There were no significant differences in cardiac output at any time point for any tilt angle.(ABSTRACT TRUNCATED AT 250 WORDS).

Flight Experiment↗
NASA NTRS1993

[Determination of six main components in compound theophylline tablet by convolution curve method after prior separation by column partition chromatography]

On a partition chromatographic column in which the support is Kieselguhr and the stationary phase is sulfuric acid solution (2 mol/L), three components of compound theophylline tablet were simultaneously eluted by chloroform and three other components were simultaneously eluted by ammonia-saturated chloroform. The two mixtures were determined by computer-aided convolution curve method separately. The corresponding average recovery and relative standard deviation of the six components were as follows: 101.6, 1.46% for caffeine; 99.7, 0.10% for phenacetin; 100.9, 1.31% for phenobarbitone; 100.2, 0.81% for theophylline; 99.9, 0.81% for theobromine and 100.8, 0.48% for aminopyrine.

NASA Program Flight↗
NASA NTRS2005

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

A generic control system framework for both real-time and batch six-degree-of-freedom (6-DOF) simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle 6-DOF performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

Cox, Timothy H.↗
NASA NTRS2005

Trailing Edge Blowing on a Two-Dimensional Six-Percent Thick Elliptical Circulation Control Airfoil Up to Transonic Conditions

A wind tunnel test was conducted in the NASA Langley Transonic Dynamics Tunnel (TDT) on a six percent thick slightly cambered elliptical circulation control airfoil with both upper and lower surface blowing capability. Parametric evaluations of jet slot heights and Coanda surface shapes were conducted at momentum coefficients (Cm) from 0.0 to 0.12. Test data were acquired at Mach numbers of 0.3, 0.5, 0.7, 0.8, and 0.84 at Reynolds numbers per foot of 2.43 x 105 to 1.05 x 106. For a transonic condition, (Mach = 0.8 at alpha = 3 degrees), it was generally found the smaller slot and larger Coanda surface combination was overall more effective than other slot/Coanda surface combinations. Lower surface blowing was not as effective as the upper surface blowing over the same range of momentum coefficients. No appreciable Coanda surface, slot height, or slot blowing position preference was indicated transonically with the dual slot blowing.

Alexander, Michael G.↗
NASA NTRS2005

Six-Degree-of-Freedom Trajectory Optimization Utilizing a Two-Timescale Collocation Architecture

Six-degree-of-freedom (6DOF) trajectory optimization of a reentry vehicle is solved using a two-timescale collocation methodology. This class of 6DOF trajectory problems are characterized by two distinct timescales in their governing equations, where a subset of the states have high-frequency dynamics (the rotational equations of motion) while the remaining states (the translational equations of motion) vary comparatively slowly. With conventional collocation methods, the 6DOF problem size becomes extraordinarily large and difficult to solve. Utilizing the two-timescale collocation architecture, the problem size is reduced significantly. The converged solution shows a realistic landing profile and captures the appropriate high-frequency rotational dynamics. A large reduction in the overall problem size (by 55%) is attained with the two-timescale architecture as compared to the conventional single-timescale collocation method. Consequently, optimum 6DOF trajectory problems can now be solved efficiently using collocation, which was not previously possible for a system with two distinct timescales in the governing states.

Desai, Prasun N.↗
NASA NTRS2006

Modeling and Classifying Six-Dimensional Trajectories for Teleoperation Under a Time Delay

Within the context of teleoperating the JSC Robonaut humanoid robot under 2-10 second time delays, this paper explores the technical problem of modeling and classifying human motions represented as six-dimensional (position and orientation) trajectories. A dual path research agenda is reviewed which explored both deterministic approaches and stochastic approaches using Hidden Markov Models. Finally, recent results are shown from a new model which represents the fusion of these two research paths. Questions are also raised about the possibility of automatically generating autonomous actions by reusing the same predictive models of human behavior to be the source of autonomous control. This approach changes the role of teleoperation from being a stand-in for autonomy into the first data collection step for developing generative models capable of autonomous control of the robot.

SunSpiral, Vytas↗
NASA NTRS2007

Electromagnetic Radial Forces in a Hybrid Eight-Stator-Pole, Six-Rotor-Pole Bearingless Switched-Reluctance Motor

Analysis and experimental measurement of the electromagnet force loads on the hybrid rotor in a novel bearingless switched-reluctance motor (BSRM) have been performed. A BSRM has the combined characteristics of a switched-reluctance motor and a magnetic bearing. The BSRM has an eight-pole stator and a six-pole hybrid rotor, which is composed of circular and scalloped lamination segments. The hybrid rotor is levitated using only one set of stator poles. A second set of stator poles imparts torque to the scalloped portion of the rotor, which is driven in a traditional switched reluctance manner by a processor. Analysis was done for nonrotating rotor poles that were oriented to achieve maximum and minimum radial force loads on the rotor. The objective is to assess whether simple one-dimensional magnetic circuit analysis is sufficient for preliminary evaluation of this machine, which may exhibit strong three-dimensional electromagnetic field behavior. Two magnetic circuit geometries, approximating the complex topology of the magnetic fields in and around the hybrid rotor, were employed in formulating the electromagnetic radial force equations. Reasonable agreement between the experimental results and the theoretical predictions was obtained with typical magnetic bearing derating factors applied to the predictions.

Morrison, Carlos R.↗
NASA NTRS2008

Integrated Docking Simulation and Testing with the Johnson Space Center Six-Degree of Freedom Dynamic Test System

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Constellation Program; this is carried as one of the CEV Project top risks. The Exploration Technology Development Program (ETDP) AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation. One of the project activities is a series of "pathfinder" testing and simulation activities to integrate relative navigation sensors with the Johnson Space Center Six-Degree-of-Freedom Test System (SDTS). The SDTS will be the primary testing location for the Orion spacecraft s Low Impact Docking System (LIDS). Project team members have integrated the Orion simulation with the SDTS computer system so that real-time closed loop testing can be performed with relative navigation sensors and the docking system in the loop during docking and undocking scenarios. Two relative navigation sensors are being used as part of a "pathfinder" activity in order to pave the way for future testing with the actual Orion sensors. This paper describes the test configuration and test results.

Mitchell, Jennifer D.↗
NASA NTRS1998

Six axis force feedback input device

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Ohm, Timothy↗
NASA NTRS2007

The X-43A Six Degree of Freedom Monte Carlo Analysis

This report provides an overview of the Hyper-X research vehicle Monte Carlo analysis conducted with the six-degree-of-freedom simulation. The methodology and model uncertainties used for the Monte Carlo analysis are presented as permitted. In addition, the process used to select hardware validation test cases from the Monte Carlo data is described. The preflight Monte Carlo analysis indicated that the X-43A control system was robust to the preflight uncertainties and provided the Hyper-X project an important indication that the vehicle would likely be successful in accomplishing the mission objectives. The X-43A in-flight performance is compared to the preflight Monte Carlo predictions and shown to exceed the Monte Carlo bounds in several instances. Possible modeling shortfalls are presented that may account for these discrepancies. The flight control laws and guidance algorithms were robust enough as a result of the preflight Monte Carlo analysis that the unexpected in-flight performance did not have undue consequences. Modeling and Monte Carlo analysis lessons learned are presented.

Baumann, Ethan↗
NASA NTRS2008

The X-43A Six Degree of Freedom Monte Carlo Analysis

This report provides an overview of the Hyper-X research vehicle Monte Carlo analysis conducted with the six-degree-of-freedom simulation. The methodology and model uncertainties used for the Monte Carlo analysis are presented as permitted. In addition, the process used to select hardware validation test cases from the Monte Carlo data is described. The preflight Monte Carlo analysis indicated that the X-43A control system was robust to the preflight uncertainties and provided the Hyper-X project an important indication that the vehicle would likely be successful in accomplishing the mission objectives. The X-43A inflight performance is compared to the preflight Monte Carlo predictions and shown to exceed the Monte Carlo bounds in several instances. Possible modeling shortfalls are presented that may account for these discrepancies. The flight control laws and guidance algorithms were robust enough as a result of the preflight Monte Carlo analysis that the unexpected in-flight performance did not have undue consequences. Modeling and Monte Carlo analysis lessons learned are presented.

Baumann, Ethan↗
NASA NTRS2009

Suzaku View of the Swift/BAT Active Galactic Nuclei (I): Spectral Analysis of Six AGNs and Evidence for Two Types of Obscured Population

We present a systematic spectral analysis with Suzaku of six AGNs detected in the Swift/BAT hard X-ray (15-200 keV) survey, Swift J0138.6-4001, J0255.2-0011, J0350.1-5019, J0505.7-2348, J0601.9-8636, and J1628.1-5145. This is considered to be a representative sample of new AGNs without X-ray spectral information before the BAT survey. We find that the 0.5-200 keV spectra of these sources can be uniformly fit with a base model consisting of heavily absorbed (log NH >23.5/sq cm) transmitted components, scattered lights, a reflection component, and an iron-K emission line. There are two distinct groups, three "new type" AGNs (including the two sources reported by Ueda et al. 2007) with an extremely small scattered fraction (f(sub scat) < 0:5%) and strong reflection component (R = omega/2pi > or equal to 0.8 where omega is the solid angle of the reflector), and three "classical type" ones with f(sub scat > 0.5% and R < or approx. 0.8. The spectral parameters suggest that the new type has an optically thick torus for Thomson scattering (N(sub H) approx. 10(exp 25)/sq cm) with a small opening angle theta approx. 20deg viewed in a rather face-on geometry, while the classical type has a thin torus (N(sub H) approx. 10(exp 23-24)/sq cm) with theta > or approx. 30deg. We infer that a significant number of new type AGNs with an edge-on view is missing in the current all-sky hard X-ray surveys. Subject headings: galaxies: active . gamma rays: observations . X-rays: galaxies . X-rays: general

Eguchi, Satoshi↗
NASA NTRS2009

Miniature Six-Axis Load Sensor for Robotic Fingertip

A miniature load sensor has been developed as a prototype of tactile sensors that could fit within fingertips of anthropomorphic robot hands. The sensor includes a force-and-torque transducer in the form of a spring instrumented with at least six semiconductor strain gauges. The strain-gauge wires are secured to one side of an interface circuit board mounted at the base of the spring. This board protects the strain-gauge wires from damage that could otherwise occur as a result of finger motions. On the opposite side of the interface board, cables routed along the neutral axis of the finger route the strain-gauge output voltages to an analog-to-digital converter (A/D) board. The A/D board is mounted as close as possible to the strain gauges to minimize electromagnetic noise and other interference effects. The outputs of the A/D board are fed to a controller, wherein, by means of a predetermined calibration matrix, the digitized strain-gauge output voltages are converted to three vector components of force and three of torque exerted by or on the fingertip.

Diftler, Myron A.↗