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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms

The Denavit-Hartenberg parameters define the relative location of successive joint axis systems in a robot arm. A recent justifiable criticism is that one of these parameters becomes extremely large when two successive joints have near-parallel rotational axes. Geometrically, this parameter then locates a joint axis system at an excessive distance from the robot arm and, computationally, leads to an ill-conditioned transformation matrix. In this paper, a simple modification (which results from constraining a transverse vector between successive joint rotational axes to be normal to one of the rotational axes, instead of both) overcomes this criticism and favorably locates the joint axis system. An example is given for near-parallel rotational axes of the elbow and shoulder joints in a robot arm. The regular and modified parameters are extracted by an algebraic method with simulated measurement data. Unlike the modified parameters, extracted values of the regular parameters are very sensitive to measurement accuracy.

Barker, L. K.↗
NASA NTRS1987

Flexibility effects on tooth contact location in spiral bevel gear transmissions

An analytical method to predict the shift of the contact ellipse between the meshing teeth in a spiral bevel gear set is presented in this report. The contact ellipse shift of interest is the motion of the nominal tooth contact location on each tooth from the ideal pitch point to the point of contact between the two teeth considering the elastic motions of the gears and their supporting shafts. This is the shift of the pitch point from the ideal, unloaded position on each tooth to the nominal contact location on the tooth when the gears are fully loaded. It is assumed that the major contributors of this motion are the elastic deflections of the gear shafts, the slopes of the shafts under load and the radial deflections of the four gear shaft bearings. The motions of the two pitch point locations on the pinion and the gear tooth surfaces are calculated in a FORTRAN program which also calculates the size and orientation of the Hertzian contact ellipse on the tooth faces. Based on the curvatures of the two spiral bevel gear teeth and the size of the contact ellipse, the program also predicts the basic dynamic capacity of the tooth pair. A complete numerical example is given to illustrate the use of the program.

Altidis, P. C.↗
NASA NTRS1987

Lightning location relative to storm structure in a supercell storm and a multicell storm

Relationships between lightning location and storm structure are examined for one radar volume scan in each of two mature, severe storms. One of these storms had characteristics of a supercell storm, and the other was a multicell storm. Data were analyzed from dual-Doppler radar and dual-VHF lightning-mapping systems. The distributions of VHF impulse sources were compared with radar reflectivity, vertical air velocity, and their respective gradients. In the supercell storm, lightning tended to occur along streamlines above and down-shear of the updraft and reflectivity cores; VHF impulse sources were most concentrated in reflectivities between 30 and 40 dBZ and were distributed uniformly with respect to updraft speed. In the multicell storm, on the other hand, lightning tended to coincide with the vertical reflectivity and updraft core and with the diverging streamlines near the top of the storm. The results suggest that the location of lightning in these severe storms were most directly associated with the wind field structure relative to updraft and reflectivity cores. Since the magnitude and vertical shear of the environmental wind are fundamental in determining the reflectivity and wind field structure of a storm, it is suggested that these environmental parameters are also fundamental in determining lightning location.

Ray, Peter S.↗
NASA NTRS1989

Locating Damaged Members in a Truss Structure Using Modal Test Data: a Demonstration Experiment

On-orbit assessment of large flexible space truss structures can be accomplished, in principle, with dynamic response information, structural identification methods, and model correlation techniques which produce an adjusted mathematical model. In a previously developed approach for damage location, an optimal update of the structure model is formed using the response data, then examined to locate damaged members. An experiment designed to demonstrate and verify the performance of the on-orbit assessment approach uses a laboratory scale model truss structure which exhibits characteristics expected for large space truss structures. Vibration experiments were performed to generate response data for the damaged truss. The damage location approach, analytical work performed in support of the vibration tests, the measured response of the test article, and some preliminary results are described.

Smith, Suzanne Weaver↗
NASA NTRS1987

Location of planar targets in three space from monocular images

Many pieces of existing and proposed space hardware that would be targets of interest for a telerobot can be represented as planar or near-planar surfaces. Examples include the biostack modules on the Long Duration Exposure Facility, the panels on Solar Max, large diameter struts, and refueling receptacles. Robust and temporally efficient methods for locating such objects with sufficient accuracy are therefore worth developing. Two techniques that derive the orientation and location of an object from its monocular image are discussed and the results of experiments performed to determine translational and rotational accuracy are presented. Both the quadrangle projection and elastic matching techniques extract three-space information using a minimum of four identifiable target points and the principles of the perspective transformation. The selected points must describe a convex polygon whose geometric characteristics are prespecified in a data base. The rotational and translational accuracy of both techniques was tested at various ranges. This experiment is representative of the sensing requirements involved in a typical telerobot target acquisition task. Both techniques determined target location to an accuracy sufficient for consistent and efficient acquisition by the telerobot.

Cornils, Karin↗
NASA NTRS1990

On the variation in crack-opening stresses at different locations in a three-dimensional body

Crack propagation and closure behavior of thin, and thick middle crack tension specimens under constant amplitude loading were investigated using a three dimensional elastic plastic finite element analysis of fatigue crack propagation and closure. In the thin specimens the crack front closed first on the exterior (free) surface and closed last in the interior during the unloading portion of cyclic loading; a load reduced displacement technique was used to determine crack opening stresses at specified locations in the plate from the displacements calculated after the seven cycle. All the locations were on the plate external surface and were located near the crack tip, behind the crack tip, at the centerline of the crack. With this technique, the opening stresses at the specified points were found to be 0.52, 0.42, and 0.39 times the maximum applied stress.

Chermahini, R. G.↗
NASA NTRS1991

Lightning location system supervising Swedish power transmission network

For electric utilities, the ability to prevent or minimize lightning damage on personnel and power systems is of great importance. Therefore, the Swedish State Power Board, has been using data since 1983 from a nationwide lightning location system (LLS) for accurately locating lightning ground strikes. Lightning data is distributed and presented on color graphic displays at regional power network control centers as well as at the national power system control center for optimal data use. The main objectives for use of LLS data are: supervising the power system for optimal and safe use of the transmission and generating capacity during periods of thunderstorms; warning service to maintenance and service crews at power line and substations to end operations hazardous when lightning; rapid positioning of emergency crews to locate network damage at areas of detected lightning; and post analysis of power outages and transmission faults in relation to lightning, using archived lightning data for determination of appropriate design and insulation levels of equipment. Staff have found LLS data useful and economically justified since the availability of power system has increased as well as level of personnel safety.

Melin, Stefan A.↗
NASA NTRS1991

Experience gained in operation of the VLF ATD lightning location system

The United Kingdom (UK) Meteorological Office's Very Low Frequency (VLF) Arrival Time Difference (ATD) System for long-range location of lightning flashes started automatic international issue of lightning-location products on 17 Jun. 1988. Data from before and after this formal start-date were carefully scrutinized to judge performance. Techniques for estimating location accuracy include internal consistency and comparisons against other systems. Other areas studied were range (up to several thousand km); detection efficiency, saturation effects in active situations, and communication difficulties (for this redundant system); and spurious fix rate. Care was taken to assess the potential of the system, in addition to identifying the operational difficulties of the present implementation.

Lee, Anthony C. L.↗
NASA NTRS1991

An iterative method for obtaining the optimum lightning location on a spherical surface

A brief introduction to the basic principles of an eigen method used to obtain the optimum source location of lightning is presented. The location of the optimum source is obtained by using multiple direction finders (DF's) on a spherical surface. An improvement of this method, which takes the distance of source-DF's as a constant, is presented. It is pointed out that using a weight factor of signal strength is not the most ideal method because of the inexact inverse signal strength-distance relation and the inaccurate signal amplitude. An iterative calculation method is presented using the distance from the source to the DF as a weight factor. This improved method has higher accuracy and needs only a little more calculation time. Some computer simulations for a 4DF system are presented to show the improvement of location through use of the iterative method.

Chao, Gao↗
NASA NTRS1992

Location of the radio emitting regions of interplanetary shocks

Twenty interplanetary type II radio bursts are analyzed to determine the location of the type II source region relative to the interplanetary shock. The first determination of a density-distance relationship (density model) appropriate for interplanetary type II source regions is reported. To determine source location, densities in type II source regions, derived from observed type II emission frequencies, are compared to ambient solar wind densities to determine whether source regions are in the ambient, upstream solar wind or in the compressed plasma behind the shock. Densities in the ambient solar wind upstream of each shock are computed by using a simple model to extrapolate solar wind plasma densities measured at 1 AU back to the shock front. Densities in the type II source regions are found to be enhanced relative to densities in the ambient solar wind by a factor which is close to the average shock density compression ratio. The simplest interpretation of this result is that the source is located in the compressed plasma within or behind the shock. Although it is possible that the emission is produced in enhanced density regions of the upstream solar wind, it is argued that the weight of evidence favors the compressed postshock plasma as the source site.

Lengyel-Frey, D.↗
NASA NTRS1991

The application of high spectral and spatial resolution imaging spectrometers for locating downed aircraft

The utility of high-resolution imaging spectrometer data is examined as an aid in locating downed aircraft by using a unique spectral signature while not requiring the extremely high spatial resolution needed to identify an aircraft by shape. Ground spectral measurements of several airplane wings, overflight spectral measurements of aircraft scenes, and the rationale for the chosen spectral signature are presented. It is concluded that imaging spectrometers which can detect and spatially locate a narrow-band spectral signature filling only a few pixels appear to have a utility for search and rescue aircraft or satellite systems as a aid in locating small downed aircraft. This spectral feature would have to be added to the surface coatings applied to aircraft. Proposed for use as such a spectral signature is a significant negative reflectance slope, in the 520 to 580 nm interval.

Gatlin, James A.↗
NASA NTRS1992

Measurement of Attachment-Line Location in a Wind-Tunnel and in Supersonic Flight

As a part of the supersonic laminar flow control research program, experiments are being conducted to measure the attachment-line flow characteristics and its location on a highly swept aircraft wing. Initially, subsonic wind tunnel tests were performed on two-dimensional models to develop sensors and techniques for the flight application. The wind tunnel test results suggest that, under certain conditions at the leading edge there are low frequency streamwise velocity fluctuations present in the laminar boundary layer which undergo a phase change at the stagnation point Therefore, if present in flight, this distinct change in phase, i.e., time shift of signals from either side of the stagnation point, can be used to determine the stagnation-line or attachment-line location. The phase-reversal phenomenon was examined to determine the attachment-line location on a highly swept wing. Test results indicate that the phase-reversal phenomenon may not be applicable in flight. Additional data analyses is continuing to account for phase differences introduced by the recording system. A final determination on the existence of phase-reversal in flight will require the results of further analysis and possibly additional flight testing. Some representative attachment-line data are presented and discussed as well as the results from the wind tunnel investigation.

Flight Testing↗
NASA NTRS1993

Dipole and quadrupole tests of the isotropy of gamma-ray burst locations

Dipole and quadrupole tests of the isotropy of locations on the sphere are discussed. The statistics (cos theta), the dipole moment to the Galactic center, and mean (sin-squared b - 1/3), the quadrupole moment about the Galactic plane, can be used to search for significant anisotropies in galactic coordinates. Such coordinate-system-based tests are the most powerful tests of dipole and quadrupole anisotropies in the particular coordinate system. Two statistics which have not been previously applied to gamma-ray burst data are described. The Rayleigh-Watson statistic measures the size of the dipole moment of the locations and the Bingham statistic measures the deviation of the eigenvalues of a quadrupole-like matrix from the values expected for isotropy. Tests based upon these two statistics search for dipole and quadrupole moments in spherical location data in a coordinate-system-independent, and thus model-independent, manner. They can detect an anisotropy in any direction and yield an analytic statistical significance to any detected anisotropy. The statistical tests are demonstrated herein using a variety of data sets.

Briggs, Michael S.↗
NASA NTRS1992

Prediction of BVI noise patterns and correlation with wake interaction locations

High resolution fluctuating airloads data were acquired during a test of a contemporary design United Technologies model rotor in the Duits-Nederlandse Windtunnel (DNW). The airloads are used as input to the noise prediction program WOPWOP, in order to predict the blade-vortex interaction (BVI) noise field on a large plane below the rotor. Trends of predicted advancing and retreating side BVI noise levels and directionality as functions of flight condition are presented. The measured airloads have been analyzed to determine the BVI locations on the blade surface, and are used to interpret the predicted BVI noise radiation patterns. Predicted BVI locations are obtained using the free wake model in CAMRAD/JA, the UTRC Generalized Forward Flight Distorted Wake Model, and the UTRC FREEWAKE analysis. These predicted BVI locations are compared with those obtained from the measured pressure data.

Marcolini, Michael A.↗
NASA NTRS1936

Full-scale Wind-tunnel to Determine a Satisfactory Location for a Service Pitot-static Tube on a Low-wing Monoplane

Surveys of the air flow over the upper surface of four different airfoils were made in the full-scale wind tunnel to determine a satisfactory location for a fixed Pitot-static tube on a low-wing monoplane. The selection was based on small interference errors, less than 5 percent, and on a consideration of structural and ground handling problems. The most satisfactory location on the airfoils without flaps that were investigated was 10 percent of the chord aft and 25 percent of the chord above the trailing edge of a section approximately 40 percent of the semispan inboard of the wing tip. No satisfactory location was found near the wing when the flaps were deflected.

Parsons, John F↗
NASA NTRS1954

Effect of Horizontal-Tail Span and Vertical Location on the Aerodynamic Characteristics of an Unswept Tail Assembly in Sideslip

An investigation has been conducted in the Langley stability tunnel on a vertical-tail model with a stub fuselage in combination with various horizontal tails to determine the effect of horizontal-tail span and vertical location of the horizontal tail relative to the vertical tail on the aerodynamic characteristics of an unswept tail assembly in sideslip. The results of the investigation indicated that the induced loading carried by the horizontal tail produced a rolling moment about the point of attachment to the vertical tail which was strongly influenced by horizontal-tail span and vertical locations. The greatest effect of horizontal-tail span on the rolling-moment derivative of the complete tail assembly was obtained for horizontal-tail locations near the top of the vertical tail. Span loadings which were reduced to the static-stability derivatives were calculated for each configuration tested by applying the well-known finite-step method used for wings to the intersecting surfaces of the vertical and horizontal tails. The finite-step method provides a simple and effective means of investigating the span loadings of intersecting surfaces.

Riley, Donald R↗
NASA NTRS1993

A pattern recognition system for locating small volvanoes in Magellan SAR images of Venus

The Magellan data set constitutes an example of the large volumes of data that today's instruments can collect, providing more detail of Venus than was previously available from Pioneer Venus, Venera 15/16, or ground-based radar observations put together. However, data analysis technology has not kept pace with data collection and storage technology. Due to the sheer size of the data, complete and comprehensive scientific analysis of such large volumes of image data is no longer feasible without the use of computational aids. Our progress towards developing a pattern recognition system for aiding in the detection and cataloging of small-scale natural features in large collections of images is reported. Combining classical image processing, machine learning, and a graphical user interface, the detection of the 'small-shield' volcanoes (less than 15km in diameter) that constitute the most abundant visible geologic feature in the more that 30,000 synthetic aperture radar (SAR) images of the surface of Venus are initially targeted. Our eventual goal is to provide a general, trainable tool for locating small-scale features where scientists specify what to look for simply by providing examples and attributes of interest to measure. This contrasts with the traditional approach of developing problem specific programs for detecting Specific patterns. The approach and initial results in the specific context of locating small volcanoes is reported. It is estimated, based on extrapolating from previous studies and knowledge of the underlying geologic processes, that there should be on the order of 10(exp 5) to 10(exp 6) of these volcanoes visible in the Magellan data. Identifying and studying these volcanoes is fundamental to a proper understanding of the geologic evolution of Venus. However, locating and parameterizing them in a manual manner is forbiddingly time-consuming. Hence, the development of techniques to partially automate this task were undertaken. The primary constraints for this particular problem are that the method must be reasonably robust and fast. Unlike most geological features, the small volcanoes of Venus can be ascribed to a basic process that produces features with a short list of readily defined characteristics differing significantly from other surface features on Venus. For pattern recognition purposes the relevant criteria include (1) a circular planimetric outline, (2) known diameter frequency distribution from preliminary studies, (3) a limited number of basic morphological shapes, and (4) the common occurrence of a single, circular summit pit at the center of the edifice.

Burl, M. C.↗