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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Impact Forces From Artificial and Real Birds on a Large Diameter Hopkinson Bar

Forces were measured from normal impacts with two different artificial bird recipes and two species of real birds on a very rigid flat surface. The tests were conducted by launching the soft body projectiles axially into a Hopkinson bar in accordance with the SAE AS6940 test standard at three different nominal impact conditions: (a) a 1 kg projectile at an impact velocity of 49 m/sec; (b) a 1.8 kg projectile at an impact velocity of 110 m/sec; and (c) a 1.8 kg projectile at an impact velocity of 310 m/sec. At each condition two artificial birds and one real bird projectile were tested with at least three test repeats. Simulations were conducted to assess the effects of projectile orientation and velocity on predicted forces. The Hopkinson bar consisted of an Aluminum 6061 solid cylindrical bar with a diameter of 305 mm and a length of 7.31 m, made up of two 3.66 m long sections that were in axial contact with each other. The bar was instrumented for strain measurement at two locations, 457.2 mm and 609.6 mm (1.5 and 2 diameters) from the impacted face. Forces were calculated from the measured strain. In addition, digital image correlation (DIC) was used to measure the velocity of the free end of the bar. The real bird projectiles were 1 kg Mallard ducks and 1.8 kg Golden Comet chickens that were prepared per ASTM F330-21. Prior to testing, the real birds were placed in muslin bags to minimize tumbling during flight. Two artificial bird formulations were tested, one produced by the University of Dayton Research Institute (UDRI) and the other by the German Aerospace Center, DLR. The UDRI projectile was a homogeneous, relatively soft solid, formulated with a mixture of water, gelatin and phenolic micro-balloons to achieve a nominal density of 0.95 g/cc. The DLR projectile consisted of a printed plastic shell with internal plastic ribs and filled with a gel material. The projectiles were designed such that the overall average density was the desired value of 0.95 g/cc. Initial testing showed that contact between the two Hopkinson bar segments was not sufficient to allow full transmission of the waves through the interface. For the 49 m/sec and 110 m/sec tests this resulted in reflections returning to the strain measurement site prior to the end of the impact. For these tests only a portion of the force pulse could be accurately measured. For the highest velocity tests at 310 m/sec the force pulse was complete by the time reflected waves interfered with the response. Despite this limitation, useful force data were obtained for all velocities. Impact forces were very sensitive to the impact orientation and velocity. The force history generally consisted of an initial region with varying amplitude followed by a relatively constant amplitude response. The steady state region was similar among all projectiles and similar to what would be predicted for an inviscid fluid with a density of 0.95 g/cc. The initial part of the force response exhibited varying degrees of test-to-test repeatability associated with each projectile type. Forces calculated from DIC velocity measurements of the free end of the bar compared favorably those from the strain measurements. In general, the artificial projectile impact forces were quite repeatable from test to test, with some exceptions which could be explained by issues associated with either the projectile itself or with how the projectile exited the gun barrel. For all impact velocities the initial portion of the impact force from the bird projectiles exhibited large test-to-test variability. In this paper, impact forces for three types of projectiles at three impact velocities will be presented with an emphasis on the test-to-test repeatability of the results. Based on test and simulation results a proposed method for normalizing the impact force to minimize effects of differences in projectile orientation, impact velocity and density will also be discussed.

Bird strike↗
DOE OSTI2016

Force law in material media, hidden momentum and quantum phases

We address to the force law in classical electrodynamics of material media, paying attention on the force term due to time variation of hidden momentum of magnetic dipoles. We highlight that the emergence of this force component is required by the general theorem, deriving zero total momentum for any static configuration of charges/currents. At the same time, we disclose the impossibility to add this force term covariantly to the Lorentz force law in material media. We further show that the adoption of the Einstein–Laub force law does not resolve the issue, because for a small electric/magnetic dipole, the density of Einstein–Laub force integrates exactly to the same equation, like the Lorentz force with the inclusion of hidden momentum contribution. Thus, none of the available expressions for the force on a moving dipole is compatible with the relativistic transformation of force, and we support this statement with a number of particular examples. In this respect, we suggest applying the Lagrangian approach to the derivation of the force law in a magnetized/polarized medium. In the framework of this approach we obtain the novel expression for the force on a small electric/magnetic dipole, with the novel expression for its generalized momentum. The latter expression implies two novel quantum effects with non-topological phases, when an electric dipole is moving in an electric field, and when a magnetic dipole is moving in a magnetic field. These phases, in general, are not related to dynamical effects, because they are not equal to zero, when the classical force on a dipole is vanishing. The implications of the obtained results are discussed.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2023

Range and strength of mechanical interactions of force dipoles in elastic fiber networks

Mechanical forces generated by myosin II molecular motors drive diverse cellular processes, most notably shape change, division and locomotion. These forces may be transmitted over long range through the cytoskeletal medium – a disordered, viscoelastic network of biopolymers. The resulting cell size scale force chains can in principle mediate mechanical interactions between distant actomyosin units, leading to self-organized structural order in the cell cytoskeleton. Inspired by such force transmission through elastic structures in the cytoskeleton, we consider a percolated fiber lattice network, where fibers are represented as linear elastic elements that can both bend and stretch, and the contractile activity of myosin motors is represented by force dipoles. Then, by using a variety of metrics, we show how two such contractile force dipoles interact with each other through their mutual mechanical deformations of the elastic fiber network. As a prelude to two-dipole interactions, we quantify how forces propagate through the network from a single anisotropic force dipole by analyzing clusters of nodes connected by highly strained bonds, as well as through the decay rate of strain energy with distance from a force dipole. We show that predominant fiber bending screens out force propagation, resulting in reduced and strongly network configuration-dependent dipole interactions. On the other hand, stretching-dominated networks support longer-ranged inter-dipole interactions that recapitulate the predictions of linear elasticity theory. By characterizing the differences between tensile and compressive force propagation in the fiber network, we show how inter-dipole interaction depends on the dipoles’ mutual separation and orientation. The resulting elastic interaction energy may mediate a force between multiple distant dipoles, leading to their self-organization into ordered configurations. In conclusion, this provides a potential pathway for active mechanical force-driven structural order in elastic biopolymer networks.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2019

Simulating noncontact atomic force microscopy images

A scanning probe with an atomically sharp tip is used in atomic force microscopy. As the probe is rastered over the specimen of interest, changes in its vibration mode can be ascribed to changes in the interatomic forces between the specimen and the tip. Various modes for implementing atomic force measures exist. One of the most successful modes is frequency-modulation noncontact atomic force microscopy. Here we address the role of replicating accurate forces on the probe tip to simulate images within this mode. In this work, we examine several approaches. One involves the use of classical force fields based on interatomic potentials, where the potentials are often fit to experiment. Other approaches center on the use of forces generated from quantum-based calculations. We consider the development of a “virtual tip” approximation wherein the probe tip senses electrostatic forces generated by the specimen. This approach treats the specimen quantum mechanically, while the tip is treated as a classical object. We also consider the use of an embedding approximation to avoid direct computations of the specimen in the presence of the tip. In this method, the tip and specimen are treated quantum mechanically. However, the electronic structure of the specimen is computed in the absence of the probe tip. The electronic density of the specimen is then fixed and the electronic structure of the tip is then computed in the presence of the fixed density. As a general approach, we outline new methods for the full computation of quantum forces between the tip and specimen. We note that quantum-based forces are particularly important as they directly contain the chemical nature of the forces present without the use of any adjustable parameters. We illustrate recent algorithmic developments to computing quantum forces that can produce accurate simulations of atomic force microscopy images for large and complex molecular species. We also suggest new pathways to overcome current challenges in this rapidly evolving field.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Strong Red Noise Ocean Forcing on Atlantic Multidecadal Variability Assessed from Surface Heat Flux: Theory and Application

The role of ocean forcing on Atlantic multidecadal variability (AMV) is assessed from the (downward) heat flux–SST relation in the framework of a new stochastic climate theory forced by red noise ocean forcing. Previous studies suggested that atmospheric forcing drives SST variability from monthly to interannual time scales, with a positive heat flux–SST correlation, while heat flux induced by ocean processes can drive SST variability at decadal and longer time scales, with a negative heat flux–SST correlation. Here, first, we develop a theory to show how the sign of heat flux–SST correlation is affected by atmospheric and oceanic forcing with time scale. In particular, a red noise ocean forcing is necessary for the sign reversal of heat flux–SST correlation. Furthermore, this sign reversal can be detected equivalently in three approaches: the low-pass correlation at lag zero, the unfiltered correlation at long (heat flux) lead, and the real part of the heat flux–SST coherence. Second, we develop a new scheme in combination with the theory to assess the magnitude and time scale of the red noise ocean forcing for AMV in the GFDL SPEAR model (Seamless System for Prediction and Earth System Research) and observations. In both the model and observations, the ocean forcing on AMV is in general comparable with the atmospheric forcing, with a 90% probability greater than the atmospheric forcing in observations. In contrast to the white noise atmospheric forcing, the ocean forcing has a persistence time comparable or longer than a year, much longer than the SST persistence of ~3 months. This slow ocean forcing is associated implicitly with slow subsurface ocean dynamics.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1993

Capaciflector-based virtual force control and centering

This report presents a novel concept of force control, called virtual force control. The virtual force concept avoids sudden step transition of position control to contact force control resulting in contact force disturbance when a robot end-effector makes contact with the environment. A virtual force/position control scheme consists of two loops: the force control loop and the position control loop. While the position control loop regulates the free motion, the force control loop regulates the contact force after making contact with the environment and the virtual force measured by a range sensor called capaciflector in the virtual environment. After presenting the concept of virtual force control, the report introduces a centering scheme in which the virtual force controller is employed to measure three points on a cone so that its center can be located. Experimental results of a one-degree-of-freedom virtual force control scheme applied in berthing an orbital replaceable unit are reported and compared with those of conventional pure contact force control cases.

Nguyen, Charles C.↗
NASA NTRS2003

Infrared Aerosol Radiative Forcing at the Surface and the Top of the Atmosphere

We study the clear-sky aerosol radiative forcing at infrared wavelengths using data from the Aerosol Characterization Experiment (ACE-Asia) cruise of the NOAA R/V Ronald H. Brown. Limited number of data points is analyzed mostly from ship and collocated satellite values. An optical model is derived from chemical measurements, lidar profiles, and visible extinction measurements which is used to and estimate the infrared aerosol optical thickness and the single scattering albedo. The IR model results are compared to detailed Fourier Transform Interferometer based infrared aerosol forcing estimates, pyrgeometer based infrared downward fluxes, and against the direct solar forcing observations. This combined approach attests for the self-consistency of the optical model and allows to derive quantities such as the infrared forcing at the top of the atmosphere or the infrared optical thickness. The mean infrared aerosol optical thickness at 10 microns is 0.08 and the single scattering albedo is 0.55. The modeled infrared aerosol forcing reaches 10 W/sq m during the cruise, which is a significant contribution to the total direct aerosol forcing. The surface infrared aerosol radiative forcing is between 10 to 25% of the shortwave aerosol forcing. The infrared aerosol forcing at the top of the atmosphere can go up to 19% of the solar aerosol forcing. We show good agreement between satellite (CERES instrument) retrievals and model results at the top of the atmosphere. Over the Sea of Japan, the average infrared radiative forcing is 4.6 W/sq m in the window region at the surface and it is 1.5 W/sq m at top of the atmosphere. The top of the atmosphere IR forcing efficiency is a strong function of aerosol temperature while the surface IR forcing efficiency varies between 37 and 55 W/sq m (per infrared optical depth unit). and changes between 10 to 18 W/sq m (per infrared optical depth unit).

Markowicz, Krzysztof M.↗
DOE OSTI2018

Influence of the tensor force on the microscopic heavy-ion interaction potential

The tensor interaction is known to play an important role in the nuclear structure studies of exotic nuclei. However, most microscopic studies of low-energy nuclear reactions neglect the tensor force, resulting in a lack of knowledge concerning the effect of the tensor force on heavy-ion collisions. An accurate description of the heavy-ion interaction potential is crucial for understanding the microscopic mechanisms of heavy-ion fusion dynamics. Furthermore, the building blocks of the heavy-ion interaction potential in terms of the ingredients of the effective nucleon-nucleon interaction provides the physical underpinnings for connecting the theoretical results with experiment. The tensor force has never been incorporated for calculating the nucleus-nucleus interaction potential. The theoretical study of the influence of the tensor force on heavy-ion interaction potentials is required to further our understanding of the microscopic mechanisms entailed in fusion dynamics. The full Skyrme tensor force is implemented into the static Hartree-Fock and dynamic density-constrained time-dependent Hartree-Fock (DC-TDHF) theory to calculate both static (frozen density) and dynamic microscopic interaction potentials for reactions involving exotic and stable nuclei. The static potentials are found to be systematically higher than the dynamical results, which are attributed to the microscopic dynamical effects included in TDHF. We also show that the dynamical potential barriers vary more significantly by the inclusion of tensor force than the static barriers. The influence of isoscalar and isovector tensor terms is also investigated with the TIJ set of forces. For light systems, the tensor force is found to have an imperceptible effect on the nucleus-nucleus potential. However, for medium and heavy spin-unsaturated reactions, the potentials may change from a fraction of an MeV to almost 2 MeV by the inclusion of tensor force, indicating a strong impact of the tensor force on subbarrier fusion. The tensor force could indeed play a large role in the fusion of nuclei, with spin-unsaturated systems seeing a systematic increase in ion-ion barrier height and width. Furthermore, this fusion hindrance is partly due to static, ground-state effects from the inclusion of the tensor force, though additional hindrance appears when studying nuclear dynamics.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2024

FORCE Regression Testing

Via programs including the Light Water Reactor Sustainability and Integrated Energy Systems, the U.S. Department of Energy has invested in the Framework for Optimization of ResourCes and Economics (FORCE) software framework (Idaho National Laboratory 2024a) for the technical and economic analysis of nuclear-integrated energy systems (IES). Nuclear IES expand the use of nuclear from traditional baseload electricity generation to a flexible and adaptive source of combined heat and power. Nuclear heat can be used in the production of a variety of energy currencies such as hydrogen and ammonia as well as other heat applications including water desalination and district heating. FORCE is designed with the intent to provide interconnected analysis tools that enable the accurate technical and economic assessment of specific nuclear IES configurations for individual energy markets. FORCE consists of three main analysis pathways: HYBRID (Idaho National Laboratory 2024b), which contains high-resolution physical models for IES; Holistic Energy Resource Optimization Network (HERON) (Idaho National Laboratory 2024c), which analyzes IES long-term economic viability; and Optimization of Real-time Capacity Allocation (ORCA) (Idaho National Laboratory 2024d), designed for real-time control of IES via digital twins and optimal decision making, including autonomous and remote operation research. Development of the FORCE ecosystem is guided by three pillars: capability, which assures that the computational requirements of IES analysis are met by the software tools; reliability, which provides for consistent code performance and expected behaviors; and accessibility, which lowers the barrier to entry for using the software and accelerates analysis by users beyond the FORCE primary developers. Reliability of the FORCE ecosystem is established according to the American Nuclear Society?s Nuclear Quality Assurance (NQA-1) program [American Society of Mechanical Engineers 1982], with specific levels of software quality assurance (SQA) within NQA-1 applied to each software tool in FORCE. As the tools within FORCE have matured, some integration algorithms to accurately connect the software tools for holistic analysis have been developed and deployed within the FORCE software repository. In accordance with NQA-1 standards, regression tests are required to guarantee the software performs consistently even when new capabilities are added to the software. In this report, we document the deployment of both unit tests, which test the consistent behavior of small pieces of the FORCE code base, as well as integration tests, which test the consistent performance of full use cases for the FORCE integration algorithms. We further document the encapsulation of these tests within a test harness, which collectively checks for each successful test completion on demand. Finally, we document the automation of the test harness using GitHub Actions [GitHub 2024], which require all tests succeed before any new capability or other changes can be added to the FORCE integration software

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2014

Non-Kyoto Radiative Forcing in Long-Run Greenhouse Gas Emissions and Climate Change Scenarios

Climate policies designed to achieve climate change objectives must consider radiative forcing from the Kyoto greenhouse gas, as well as other forcing constituents, such as aerosols and tropospheric ozone. Net positive forcing leads to global average temperature increases. Modeling of non-Kyoto forcing is a relatively new component of climate management scenarios. Five of the nineteen models in the EMF-27 Study model both Kyoto and non-Kyoto forcing. This paper describes and assesses current non-Kyoto radiative forcing modeling within these integrated assessment models. The study finds negative forcing from aerosols masking significant positive forcing in reference non-climate policy projections. There are however large differences across models in projected non-Kyoto emissions and forcing, with differences stemming from differences in relationships between Kyoto and non-Kyoto emissions and fundamental differences in modeling structure and assumptions. Air pollution and non-Kyoto forcing decline in the climate policy scenarios. However, non-Kyoto forcing appears to be influencing mitigation results, including allowable carbon dioxide emissions, and further evaluation is merited. Overall, there is substantial uncertainty related to non-Kyoto forcing that must be considered.

Rose, Steven K.↗
DOE OSTI2014

Measurements of the force fields within an acoustic standing wave using holographic optical tweezers

Direct measurement of the forces experienced by micro-spheres in an acoustic standing wave device have been obtained using calibrated optical traps generated with holographic optical tweezers. A micro-sphere, which is optically trapped in three dimensions, can be moved through the acoustic device to measure forces acting upon it. When the micro-sphere is subjected to acoustic forces, it's equilibrium position is displaced to a position where the acoustic forces and optical forces are balanced. Once the optical trapping stiffness has been calibrated, observation of this displacement enables a direct measurement of the forces acting upon the micro-sphere. The measured forces are separated into a spatially oscillating component, attributed to the acoustic radiation force, and a constant force, attributed to fluid streaming. As the drive conditions of the acoustic device were varied, oscillating forces (>2.5 pN{sub pp}) and streaming forces (<0.2 pN) were measured. A 5 μm silica micro-sphere was used to characterise a 6.8 MHz standing wave, λ = 220 μm, to a spatial resolution limited by the uncertainty in the positioning of the micro-sphere (here to within 2 nm) and with a force resolution on the order of 10 fN. The results have application in the design and testing of acoustic manipulation devices.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2024

A transferable classical force field to describe glyme based lithium solvate ionic liquids

A non-polarizable force field for lithium (Li + ) and bis(trifluoromethanesulfonyl)imide (TFSI – ) ions solvated in diglyme at around 0.2 mol fraction salt concentration was developed based on ab initio molecular dynamics (AIMD) simulations and a modified polymer consistent force field model. A force–torque matching based scheme, in conjunction with a genetic algorithm, was used to determine the Lennard-Jones (LJ) parameters of the ion–ion and ion–solvent interactions. This force field includes a partial charge scaling factor and a scaling factor for the 1–4 interactions. The resulting force field successfully reproduces the radial distribution function of the AIMD simulations and shows better agreement compared to the unmodified force field. The new force field was then used to simulate salt solutions with glymes of increasing chain lengths and different salt concentrations. The comparison of the MD simulations, using the new force field, with experimental data at different salt concentrations and AIMD simulations on equimolar concentrations of the triglyme system demonstrates the transferability of the force field parameters to longer glymes and higher salt concentrations. Furthermore, the force field appears to reproduce the features of the experimental x-ray structure factors, suggesting accuracy beyond the first solvation shell, for equimolar salt solutions using both triglyme and tetraglyme as the solvent. Altogether, the new force field was found to accurately reproduce the molecular descriptions of LiTFSI-glyme systems not only at various salt concentrations but also with glymes of different chain lengths. Thus, the new force field provides a useful and accurate tool to perform in silico studies of this family of systems at the atomistic level.

25 ENERGY STORAGE↗
DOE OSTI2022

On the additivity of climate responses to the volcanic and solar forcing in the early 19th century

The early 19th century was the coldest period over the past 500 years, when strong tropical volcanic events and a solar minimum coincided. The 1809 unidentified eruption and the 1815 Tambora eruption happened consecutively during the Dalton minimum of solar irradiance; however, the relative role of the two forcing (volcano and solar) agents is still unclear. In this study, we examine the responses from a set of early 19th century simulations with combined and separated volcanic and solar forcing agents, as suggested in the protocol for the past1000 experiment of the Paleoclimate Modelling Intercomparison Project – Phase 4 (PMIP4). From 20-member ensemble simulations with the Max Planck Institute Earth system model (MPI-ESM1.2-LR), we find that the volcano- and solar-induced surface cooling is additive in the global mean/large scale, regardless of combining or separating the forcing agents. The two solar reconstructions (SATIRE (Spectral and Total Irradiance REconstruction-Millennia model) and PMOD (Physikalisch-Meteorologisches Observatorium Davos)) contribute to a cooling before and after 1815 of ~0.05 and ~0.15 K monthly average near-surface air cooling, respectively, indicating a limited solar contribution to the early 19th century cold period. The volcanic events provide the main cooling contributions, inducing a surface cooling that peaks at ~0.82 K for the 1809 event and ~1.35 K for Tambora. After the Tambora eruption, the temperature in most regions increases toward climatology largely within 5 years, along with the reduction of volcanic forcing. In the northern extratropical oceans, the temperature increases slowly at a constant rate until 1830, which is related to the reduction of seasonality and the concurrent changes in Arctic sea-ice extent. The albedo feedback of Arctic sea ice is found to be the main contributor to the Arctic amplification of the cooling signal. Several non-additive responses to solar and volcanic forcing happen on regional scales. In the atmosphere, the stratospheric polar vortex tends to strengthen when combining both volcano and solar forcing, even though the two forcing agents separately induce opposite-sign changes in stratospheric temperatures and zonal winds. In the ocean, when combining the two forcings, additional surface cold water propagates to the northern extratropics from the additional solar cooling in the tropics, which results in regional cooling along the propagation. Overall, this study not only quantifies the surface responses from combinations of the volcano and solar forcing, but also highlights the components that cannot be simply added from the responses of the individual forcing agents, indicating that a relatively small forcing agent (such as solar in early 19th century) can impact the response from the large forcing (such as the 1815 Tambora eruption) when considering regional climates.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1987

Dynamic sensing of 6-axis external force and moment applied to a robot end

A dynamic force sensing method is proposed for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. A mathematical model is derived for the force sensing process and the separation of the force and moment as a nonlinear optimal state estimation problem formulated. Then an approximate solution is given using extended Kalman filtering techniques.

Yokota, Masaru Uchiyama↗
NASA NTRS1989

Experimental investigation of the hydrodynamic forces on the shroud of a centrifugal pump impeller

Fluid-induced forces acting on a rotating impeller are known to cause rotor-dynamic problems in turbomachines. The forces generated by leakage flow along the front shroud surface of a centrifugal turbomachine impeller play an important role among these fluid-induced forces. The present research was aimed to gain a better understanding of these shroud forces. An experimental apparatus was designed and constructed to simulate the impeller shroud leakage flow. Hydrodynamic forces and steady and unsteady pressure distributions on the rotating shroud were measured as functions of eccentricity, width of shroud clearance, face seal clearance and shaft rotating speed. The forces measured from the dynamometer and manometers agreed well. The hydrodynamic force matrices were found skew-symmetric and statically unstable. This is qualitatively similar to the result of previous hydrodynamic volute force measurements. Nondimensionalized normal and tangential forces decrease slightly as Reynolds number increases. As the width of the shroud clearance decreases and/or the eccentricity increases, the hydrodynamic forces increase nonlinearly. There was some evidence found that increased front seal clearance could reduce the radial shroud forces and the relative magnitude of the destabilizing tangential force. Subharmonic pressure fluctuations were also observed which may adversely affect the behavior of the rotor system.

Zhuang, Fei↗
NASA NTRS1989

Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.

Wiker, Steven F.↗
NASA NTRS1994

Tactility as a function of grasp force: Effects of glove, orientation, pressure, load, and handle

One of the reasons for reduction in performance when gloves are donned is the lack of tactile sensitivity. It was argued that grasping force for a weight to be grasped will be a function of the weight to be lifted and the hand conditions. It was further reasoned that the differences in grasping force for various hand conditions will be a correlate of the tactile sensitivity of the corresponding hand conditions. The objective of this experiment, therefore, was to determine the effects of glove type, pressure, and weight of load on the initial grasping force and stable grasping force. It was hypothesized that when a person grasps an object, he/she grasps very firmly initially and then releases the grasp slightly after realizing what force is needed to maintain a steady grasp. This would seem to be particularly true when a person is wearing a glove and has lost some tactile sensitivity and force feedback during the grasp. Therefore, the ratio of initial force and stable force and the stable force itself would represent the amount of tactile adjustment that is made when picking up an object, and this adjustment should vary with the use of gloves. A dynamometer was fabricated to measure the grasping force; the tests were performed inside a glove box. Four female and four male subjects participated in the study, which measured the effects of four variables: load effect, gender effect, glove type, and pressure variance. The only significant effects on the peak and stable force were caused by gender and the weight of the load lifted. Neither gloves nor pressure altered these forces when compared to a bare-handed condition, as was suspected before the test. It is possible that gloves facilitate in holding due to coefficient of friction while they deter in peak grasp strength.

Bishu, Ram R.↗
NASA NTRS1994

Experimental investigation of turbine blade-tip excitation forces

Results of a program to investigate the magnitude and parametric variations of rotordynamic forces which arise in high power turbines due to blade-tip leakage effects are presented. Five different unshrouded turbine configurations and one configuration shrouded with a labyrinth seal were tested with static offsets of the turbine shaft. The forces along and perpendicular to the offset were measured directly with a rotating dynometer. Exploration of casing pressure and flow velocity distributions was used to investigate the force-generating mechanisms. For unshrouded turbines, the cross-forces originate mainly from the classical Alford mechanisms while the direct forces arise mainly from a slightly skewed pressure pattern. The Alford coefficient for cross-force was found to vary between 2.4 and 4.0, while the similar direct force coefficient varied from 1.5 to 3.5. The cross-forces are found to increase substantially when the gap is reduced from 3.0 to 1.9% of blade height, probably due to viscous blade-tip effects. The forces also increase when the hub gap between stator and rotor decreases. The force coefficient decreased with operating flow coefficient. In the case of the shrouded turbine, most of the forces arise from nonuniform seal pressures. This includes about 80% for the transverse forces. The rest appears to come from uneven work extraction. Their level is about 50% higher in the shrouded case.

Martinez-Sanchez, Manuel↗