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At least 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Non-NASA Center↗
NASA NTRS1996

Micro and Macro Segregation in Alloys Solidifying with Equiaxed Morphology

To understand macro segregation formation in Al-Cu alloys, experiments were run under terrestrial gravity (1g) and under low gravity during parabolic flights (10(exp -2) g). Alloys of two different compositions (2% and 5% Cu) were solidified at two different cooling rates. Systematic microscopic and SEM observations produced microstructural and segregation maps for all samples. These maps may be used as benchmark experiments for validation of microstructure evolution and segregation models. As expected, the macro segregation maps are very complex. When segregation was measured along the central axis of the sample, the highest macro segregation for samples solidified at 1g was obtained for the lowest cooling rate. This behavior is attributed to the longer time available for natural convection and shrinkage flow to affect solute redistribution. In samples solidified under low-g, the highest macro-segregation was obtained at the highest cooling rate. In general, low-gravity solidification resulted in less segregation. To explain the experimental findings, an analytical (Flemings-Nereo) and a numerical model were used. For the numerical model, the continuum formulation was employed to describe the macroscopic transports of mass, energy, and momentum, associated with the microscopic transport phenomena, for a two-phase system. The model proposed considers that liquid flow is driven by thermal and solutal buoyancy, and by solidification shrinkage. The Flemings-Nereo model explains well macro segregation in the initial stages of low-gravity segregation. The numerical model can describe the complex macro segregation pattern and the differences between low- and high-gravity solidification.

Stefanescu, Doru M.↗
NASA NTRSDate not supplied

Sensitivity of Single-Scattering Properties to Precipitation Particle Meltwater Geometry for GPM Passive Microwave and Radar Remote Sensing Applications

The objective of the current work is to describe the microwave single-scattering properties of partially melted ice-phase precipitation particles using physically-based computational methods, taking into full account the varied geometries of the initially “dry” ice particles and the distributions of liquid water that develop during the melting process. Ultimately, the bulk properties of ensembles of these partially-melted particles will be included in “scattering tables” to support radar and combined radar-radiometer remote sensing of precipitation. A meshless Lagrangian melting procedure (snowMELT) based on smoothed-particle hydrodynamics is applied to both spherical and finely-structured ice particle models to describe the full evolution of the particles from dry ice particles to liquid drops. The melting of spherical ice particles using snowMELT is compared to an alternative continuum physics model to validate melt times and internal thermodynamics. The discrete dipole approximation is then utilized to calculate the single-scattering properties of different mixed-phase particles throughout the melting process. The sensitivities of particle single-scattering properties to thermodynamic and hydrodynamic assumptions in snowMELT are explored, and the implications for combined radar-radiometer precipitation remote sensing from GPM are discussed.

William S Olson↗
NASA NTRS1999

The Role of Self-Organized Criticality in the Substorm Phenomenon and its Relation to Localized Reconnection in the Plasma Sheet

Recent observations of the magnetotail plasma sheet have shown it to be a dynamic and turbulent region. Research has found strong turbulence in the plasma sheet at approximately 20 Earth's Radius tailward of Earth; the turbulence is observed at all activity levels. The existence of strong turbulence in the plasma sheet in the region associated with substorm onset might be thought difficult to reconcile with the coherence and repeatability of the substorm cycle. We review a variety of evidence that strongly suggests the magnetotail is driven, through magnetic flux transfer, into a state of "self-organized criticality" (SOC). It is an important property of physical systems that evolve into SOC that they self-organize into a unique, global dynamic state. This global state is inevitable, and repeatable. In this state, however, small-spatiotemporal-scale system fluctuations are unpredictable and can be only described statistically. This is the basis, we think, for the global coherence and repeatability of the substorm phenomenon in the turbulent plasma sheet. At, or near, substorm onset the plasma sheet can be described by a global SOC state containing significant small scale turbulence. In several recent studies, "sandpile" models were driven into SOC and then shown to reproduce various measures of substorm activity. We discuss the plasma physical foundation of these sandpile models. The evolution of simple continuum plasma sheet models into SOC-like states of many small reconnection events in the turbulent plasma sheet under the will be demonstrated. We view the substorm phenomenon as an avalanche assumption that the plasma sheet is in a SOC state.

Klimas, A. J.↗
NASA NTRS2012

Simulating the Response of a Composite Honeycomb Energy Absorber: Dynamic Crushing of Components and Multi-Terrain Impacts - Part 1

This paper describes the experimental and analytical evaluation of an externally deployable composite honeycomb structure that is designed to attenuate impact energy during helicopter crashes. The concept, designated the Deployable Energy Absorber (DEA), utilizes an expandable Kevlar (Registered Trademark) honeycomb to dissipate kinetic energy through crushing. The DEA incorporates a unique flexible hinge design that allows the honeycomb to be packaged and stowed until needed for deployment. Experimental evaluation of the DEA included dynamic crush tests of multi-cell components and vertical drop tests of a composite fuselage section, retrofitted with DEA blocks, onto multi-terrain. Finite element models of the test articles were developed and simulations were performed using the transient dynamic code, LSDYNA (Registered Trademark). In each simulation, the DEA was represented using shell elements assigned two different material properties: Mat 24, an isotropic piecewise linear plasticity model, and Mat 58, a continuum damage mechanics model used to represent laminated composite fabrics. DEA model development and test-analysis comparisons are presented.

Jackson, Karen E.↗
NASA NTRS2014

Simulating the Impact Response of Composite Airframe Components

In 2010, NASA Langley Research Center obtained residual hardware from the US Army's Survivable Affordable Repairable Airframe Program (SARAP). The hardware consisted of a composite fuselage section that was representative of the center section of a Black Hawk helicopter. The section was fabricated by Sikorsky Aircraft Corporation and designated the Test Validation Article (TVA). The TVA was subjected to a vertical drop test in 2008 to evaluate a tilting roof concept to limit the intrusion of overhead mass items, such as the rotor transmission, into the fuselage cabin. As a result of the 2008 test, damage to the hardware was limited primarily to the roof. Consequently, when the post-test article was obtained in 2010, the roof area was removed and the remaining structure was cut into six different types of test specimens including: (1) tension and compression coupons for material property characterization, (2) I-beam sections, (3) T-sections, (4) cruciform sections, (5) a large subfloor section, and (6) a forward framed fuselage section. In 2011, NASA and Sikorsky entered into a cooperative research agreement to study the impact responses of composite airframe structures and to evaluate the capabilities of the explicit transient dynamic finite element code, LS-DYNA®, to simulate these responses including damage initiation and progressive failure. Finite element models of the composite specimens were developed and impact simulations were performed. The properties of the composite material were represented using both a progressive in-plane damage model (Mat 54) and a continuum damage mechanics model (Mat 58) in LS-DYNA. This paper provides test-analysis comparisons of time history responses and the location and type of damage for representative I-beam, T-section, and cruciform section components.

Jackson, Karen E.↗
NASA NTRS2010

Study of Plume Impingement Effects in the Lunar Lander Environment

Plume impingement effects from the descent and ascent engine firings of the Lunar Lander were analyzed in support of the Lunar Architecture Team under the Constellation Program. The descent stage analysis was performed to obtain shear and pressure forces on the lunar surface as well as velocity and density profiles in the flow field in an effort to understand lunar soil erosion and ejected soil impact damage which was analyzed as part of a separate study. A CFD/DSMC decoupled methodology was used with the Bird continuum breakdown parameter to distinguish the continuum flow from the rarefied flow. The ascent stage analysis was performed to ascertain the forces and moments acting on the Lunar Lander Ascent Module due to the firing of the main engine on take-off. The Reacting and Multiphase Program (RAMP) method of characteristics (MOC) code was used to model the continuum region of the nozzle plume, and the Direct Simulation Monte Carlo (DSMC) Analysis Code (DAC) was used to model the impingement results in the rarefied region. The ascent module (AM) was analyzed for various pitch and yaw rotations and for various heights in relation to the descent module (DM). For the ascent stage analysis, the plume inflow boundary was located near the nozzle exit plane in a region where the flow number density was large enough to make the DSMC solution computationally expensive. Therefore, a scaling coefficient was used to make the DSMC solution more computationally manageable. An analysis of the effectiveness of this scaling technique was performed by investigating various scaling parameters for a single height and rotation of the AM. Because the inflow boundary was near the nozzle exit plane, another analysis was performed investigating three different inflow contours to determine the effects of the flow expansion around the nozzle lip on the final plume impingement results.

Marichalar, Jeremiah↗
NASA NTRS1992

Decoupled predictions of radiative heating in air using a particle simulation method

A particle simulation technique with decoupled radiation is used to estimate the radiative emission along the stagnation streamline and the radiative heating at the stagnation point of a blunt-nosed vehicle entering the earth's atmosphere at hypersonic speed. The direct simulation Monte Carlo (DSMC) method is used to compute the fluid mechanics of the weakly ionized flow. The radiative emission is computed using the NEQAIR computer code with the radiation decoupled from the flowfield solution. It is concluded that the new models make it possible to decrease the predicted total radiative heating at the stagnation point of the vehicle by a factor of 15. A comparison of the DSMC approach with a continuum flow model shows that the total predicted radiative heating estimates agree within a factor of 2.

Boyd, Iain D.↗
NASA NTRS2001

The Constitutive Modeling of Thin Films with Randon Material Wrinkles

Material wrinkles drastically alter the structural constitutive properties of thin films. Normally linear elastic materials, when wrinkled, become highly nonlinear and initially inelastic. Stiffness' reduced by 99% and negative Poisson's ratios are typically observed. This paper presents an effective continuum constitutive model for the elastic effects of material wrinkles in thin films. The model considers general two-dimensional stress and strain states (simultaneous bi-axial and shear stress/strain) and neglects out of plane bending. The constitutive model is derived from a traditional mechanics analysis of an idealized physical model of random material wrinkles. Model parameters are the directly measurable wrinkle characteristics of amplitude and wavelength. For these reasons, the equations are mechanistic and deterministic. The model is compared with bi-axial tensile test data for wrinkled Kaptong(Registered Trademark) HN and is shown to deterministically predict strain as a function of stress with an average RMS error of 22%. On average, fitting the model to test data yields an RMS error of 1.2%

Murphey, Thomas W.↗
NASA NTRS1995

Multiwavelength monitoring of the BL Lacertae object PKS 2155-304. 4: Multiwavelength analysis

Simultaneous X-ray, ultraviolet, optical, infrared, and radio monitoring data were used to test and constrain models of continuum emission from the BL Lacertae object PKS 2155-304. Intensively sampled ultraviolet and soft X-ray light curves showed a clear temporal correlation with the X-rays leading the ultraviolet by 2-3 hr. This lag was found to be significantly different from zero after an exhaustive comparison of four different techniques for measuring temporal correlations. Variations in the ultraviolet trough optical wave bands were also strongly correlated, with no measurable lag down to limiting timescales of approximately less than 1-2 hr. This strong correlation extends to the near-infrared, but the less intensive sampling precludes measurement of any lag beyomnd an upper limit of approximately less than 1 day. These lags and limits of the order of hours are much shorter than most rapid observed single-band variations. Because of the very sparse radio sampling, it was not possible to measure quantitatively the correlation and lag with shorter wavelengths, but the data do suggest that the radio may lag the optical/ultraviolet by approximately 1 week, with longer delays and weaker variations to longer radio wavelengths. The epoch-folding Q(exp 2) statistic was used to test for periodicity, and no evidence for strict or quasi-periodicity was found in any of the light curves. Because they lead the lower frequencies, the soft X-rays (approximately less than 1 keV) cannot arise from synchrotron self-Compton scattering. These results also rule out the accretion disk model, which predicts a measurable lag between ultraviolet/optical wavelength bands and a correlation between hardness and brightness, neither of which were seen. They are consistent with the entire radio through X-ray continuum arising from direct synchrotron emission from a relativistic jet. However, the tapered jet model, in which the X-ray emission is produced closer in, has problems explaining the magnitude of the ultraviolet/X-ray lag, because the X-ray-emitting electrons have very short lifetimes (t(sub 1/2) much less than 1 s). The result that the lag is much smaller than the variability timescale suggests instead that the radiation may be produced in a flattened region such as a shock front.

Edelson, R.↗
NASA NTRS1980

Comments on stellar boundary cooling and the reality of supermetallicity

The paper discusses the 'super-metal-rich' (SMR) stars and reexamines Peterson's analysis of the SMR prototype mu Leo (1978) with regard to a postulated error in continuum error. Model atmospheres are used to compute theoretical equivalent widths and to explore the sensitivity of these widths to metallicity, temperature, surface gravity, and microturbulence. It is shown that Peterson's results are sensitive to continuum placement, and that her data does not indicate that the temperature gradient is steeper in mu Leo than in normal giants. It is concluded that the SMR stars are very metal rich and are also somewhat boundary cooled, possibly due to high metallicity.

Deming, D.↗
NASA NTRS1993

Airborne spectrophotometry of SN 1987A from 1.7 to 12.6 microns - Time history of the dust continuum and line emission

Spectrophotometric observations of SN 1987A from the Kuiper Airborne Observatory are presented for five epochs at 60, 260, 415, 615, and 775 days after the explosion. The low-resolution (lambda/Delta lambda = 50-100) spectra of SN 1987A are combined with data from other wavelengths to model the continuum, subtract the continuum from the spectra to determine line strengths and reveal molecular bands, separate the atomic continuum radiation from the dust continuum, and derive constraints on the grain temperatures and optical depths. A scenario for the evolution of SN 1987A and that of the ejecta from which it arises is obtained on the basis of the analysis of the continuum emission.

Wooden, Diane H.↗
NASA NTRS2002

Micro-Mechanical Modeling of Ductile Fracture in Welded Aluminum-Lithium Alloys

This study describes a 3-D computational framework to model stable extension of a macroscopic crack under mode I conditions in ductile metals. Material separation occurs through a local fracture mechanism based on the growth and coalescence of micro voids dispersed in the material. The Gurson-Tvergaard plasticity model for void materials describes the eventual loss of material stress capacity under sustained loading. Fixed-sized computational cell elements defined on a thin layer adjacent to the crack plane provide an implicit length scale for continuum damage model. Outside this layer, the material remains undamaged by void growth, consistent with metallurgical observations. The key micro-mechanics parameters are D, the thickness of cell layer, and f 0 , the initial cell porosity.

Ahmed Ibrahim↗
NASA NTRS1987

X-ray spectra of PG quasars. II - The X-ray-ultraviolet excess of PG 1211 + 143

Observations of the quasar PG 1211 + 143 are presented and its continuum is modelled in terms of an accretion disk and an underlying power law. The X-ray spectrum in the Einstein imaging proportional counter band is well described by a power law with the very steep spectral index 2.2 + or - 0.4. The overall continuum spectral energy distribution can be described as a power law with alpha roughly 1.2 from the infrared to about 1 keV, with the optical, ultraviolet, and soft X-rays forming a large excess above this power law. If the soft X-ray excess is attributed to emission from a physically thin, optically thick accretion disk, then the implied accretion rate is super-Eddington, from which it is concluded that the application of this simple model is not valid. The observed broad-line ratios in PG 1211 + 143 imply broad-line cloud densities that are somewhat higher than those usually derived for quasars.

Bechtold, Jill↗
NASA NTRS1976

Fundamental analysis of the failure of polymer-based fiber reinforced composites

A mathematical model is described which will permit predictions of the strength of fiber reinforced composites containing known flaws to be made from the basic properties of their constituents. The approach was to embed a local heterogeneous region (LHR) surrounding the crack tip into an anisotropic elastic continuum. The model should (1) permit an explicit analysis of the micromechanical processes involved in the fracture process, and (2) remain simple enough to be useful in practical computations. Computations for arbitrary flaw size and orientation under arbitrary applied load combinations were performed from unidirectional composites with linear elastic-brittle constituent behavior. The mechanical properties were nominally those of graphite epoxy. With the rupture properties arbitrarily varied to test the capability of the model to reflect real fracture modes in fiber composites, it was shown that fiber breakage, matrix crazing, crack bridging, matrix-fiber debonding, and axial splitting can all occur during a period of (gradually) increasing load prior to catastrophic fracture. The computations reveal qualitatively the sequential nature of the stable crack process that precedes fracture.

Kanninen, M. F.↗
NASA NTRS1994

Physics of interplanetary dust capture via impact into organic polymer foams

The physics of hypervelocity impacts into foams is of interest because of the possible application to interplanetary dust particle (IDP) capture by spacecraft. We present a model for the phenomena occurring in such impacts into low-density organic polymer foams. Particles smaller than foam cells behave as if the foam is a series of solid slabs and are fragmented and, at higher velocities, thermally altered. Particles much larger than the foam cells behave as if the foam were a continuum, allowing the use of a continuum mechanics model to describe the effects of drag and ablation. Fragmentation is expected to be a major process, especially for aggregates of small grains. Calculations based on these arguments accurately predict experimental data and, for hypothetical IDPs, indicate that recovery of organic materials will be low for encounter velocities greater than 5 km/s. For an organic particle 100 micrometers in diameter, approx. 35% of the original mass would be collected in an impact at 5 km/s, dropping to approx. 10% at 10 km/s and approx. 0% at 15 km/s. For the same velocities the recovery ratios for troilite (FeS) are approx. 95%, 65%, and 50%, and for olivine (Mg2SiO4) they are approx. 98%, 80%, and 65%, demonstrating that inorganic materials are much more easily collected. The density of the collector material has only a second-order effect, changing the recovered mass by less than 10% of the original mass.

Anderson, William W.↗
NASA NTRSDate not supplied

Overview of Ablation Modeling at NASA

The ambitious scientific payload and crew delivery goals of imminent and future NASA missions are associated with challenging and complex vehicle entries. Advanced ablative Thermal Protection System (TPS) materials will be required for such missions, and, as such, a robust ablation modeling capability is critical to assessing performance by bridging the wide gap between ground testing and entry conditions. The traditional ablation modeling toolset - continuum thermal/materials response analysis - has grown recently to include high-fidelity, multi-scale, and multi-physics techniques that provide a more complete description of the rich physics and chemistry of ablation to better drive down risks related to extreme entries. The present talk provides a snapshot of ongoing NASA activities in ablation modeling, including a review of the current technical capabilities and tools at play within the Agency, the important role academia plays in supporting technical area advancements, and how such internal and external investments intersect with upcoming missions to drive down risks.

TPS↗