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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Learning and Prediction of Slip from Visual Information

This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. This relationship is learned from previous experience, so slip can be predicted remotely from visual information only. The proposed method consists of terrain type recognition and nonlinear regression modeling. The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips. The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers.

rover↗
NASA NTRS1975

A similarity solution of the Navier-Stokes equations with wall catalysis and slip for hypersonic, low Reynolds number flow over spheres

The slip conditions for a multicomponent mixture with diffusion, wall-catalyzed atom recombination and thermal radiation are derived. The more realistic multicomponent species slip conditions are shown to be necessary for accurate merged shock layer solutions on a sphere. These slip conditions are used in a first-order similarity solution of the Navier-Stokes equations with nonequilibrium chemistry for the merged shock layer. Results of this quick numerical solution are compared with a time dependent solution around the sphere and with measured arc jet results at low Reynolds numbers. The similarity solution, unlike the time dependent solution, shows smooth radial profiles of the pressure and smooth variations of velocity slip, skin friction, temperature slip and heat transfer around the body. The present first-order similarity solution is valid up to 25 deg from the stagnation point and takes less than 1% of the computer time to run a time dependent scheme. The smaller stand-off distance obtained from the similarity solution is supported by experimental data. The measured heat flux is closer to the similarity solution than the time dependent method at the stagnation point and shows the proper variation with circumferential angle up to at least 40 deg.

Hendricks, W. L.↗
NASA NTRS1984

The role of water in slip casting

Slips and casting are considered in terms of physical and colloidal chemistry. Casting slips are polydisperse suspensions of lyophobic particles in water, whose degree of coagulation is controlled by interaction of flocculating and deflocculating agents. Slip casting rate and viscosity are functions of temperature. Slip rheology and response to deflocculating agents varies significantly as the kinds and amounts of colloid modifiers change. Water is considered as a raw material. Various concepts of water/clay interactions and structures are discussed. Casting is a de-watering operation in which water moves from slip to cast to mold in response to a potential energy termed moisture stress. Drying is an evaporative process from a free water surface.

Mccauley, R. A.↗
NASA NTRS1993

Improved ceramic slip casting technique

A primary concern in modern fluid dynamics research is the experimental verification of computational aerothermodynamic codes. This research requires high precision and detail in the test model employed. Ceramic materials are used for these models because of their low heat conductivity and their survivability at high temperatures. To fabricate such models, slip casting techniques were developed to provide net-form, precision casting capability for high-purity ceramic materials in aqueous solutions. In previous slip casting techniques, block, or flask molds made of plaster-of-paris were used to draw liquid from the slip material. Upon setting, parts were removed from the flask mold and cured in a kiln at high temperatures. Casting detail was usually limited with this technique -- detailed parts were frequently damaged upon separation from the flask mold, as the molded parts are extremely delicate in the uncured state, and the flask mold is inflexible. Ceramic surfaces were also marred by 'parting lines' caused by mold separation. This adversely affected the aerodynamic surface quality of the model as well. (Parting lines are invariably necessary on or near the leading edges of wings, nosetips, and fins for mold separation. These areas are also critical for flow boundary layer control.) Parting agents used in the casting process also affected surface quality. These agents eventually soaked into the mold, the model, or flaked off when releasing the case model. Different materials were tried, such as oils, paraffin, and even an algae. The algae released best, but some of it remained on the model and imparted an uneven texture and discoloration on the model surface when cured. According to the present invention, a wax pattern for a shell mold is provided, and an aqueous mixture of a calcium sulfate-bonded investment material is applied as a coating to the wax pattern. The coated wax pattern is then dried, followed by curing to vaporize the wax pattern and leave a shell mold of the calcium sulfate-bonded investment material. The shell mold is cooled to room temperature, and a ceramic slip is poured therein. After a ceramic shell of desired thickness has set up in the shell mold, excess ceramic slip is poured out. While still wet, the shell mold is peeled from the ceramic shell to expose any delicate or detailed parts, after which the ceramic shell is cured to provide a complete, detailed, precision ceramic article without parting lines.

Buck, Gregory M.↗
NASA NTRS2000

Distribution of Slip at the Northern Sumatran Fault System

We model spatial variations in horizontal displacements of 117 geodetic sites measured during annual surveys in 1989-1996 with the Global Positioning System (GPS) as elastic strain across a locked strike-slip fault to infer the contemporary slip rate, locking depth, and location of the Sumatran fault (SF) in northern Sumatra (1 S-3 N). GPS-derived slip rate estimates increase slightly northward from 23 plus or minus 3 mm/yr at 0.8 deg S to 26 plus or minus 2mm/yr at 2.7 N. They agree with geologic estimates north of the Equator, but at 0.5 S they are about 10 mm/yr higher. Strain appears to be distributed asymmetrically about the fault. South of 2 N, about 5 mm/yr of shear is required within the offshore forearc, west of the fault, to achieve a closer agreement of fault locations inferred from GPS velocities with geologically identified traces of the SF. Locking depth estimates are on the order of 10-20 km. The western branch of the major fault bifurcation near 1 N slips at a rate five times higher than the eastern branch. The two main strands of the fault at the northwestern tip of Sumatra (5.5 N) appear to be nearly free of horizontal strain; significant slip must occur away from the two strands, probably further east at two other geologically active branches. The Banda Aceh embayment is extruded to the northwest at a rate of 5 plus or minus 2 mm/yr. Within the estimated velocity uncertainties of several mm/yr, fault-normal deformation along the SF is insignificant. Almost strain free, the northern part of the back-arc basin is part of a rigid Sunda shelf, while the northern forearc is subjected to 8 plus or minus 5 x 10 (exp -8)/yr of extension nearly parallel to the arc.

Genrich, J. F.↗
NASA NTRS2002

Three-Dimensional Stress Fields and Slip Systems for Single Crystal Superalloy Notched Specimens

Single crystal superalloys have become increasingly popular for turbine blade and vane applications due to their high strength, and creep and fatigue resistance at elevated temperatures. The crystallographic orientation of a single crystal material greatly affects its material properties, including elastic modulus, shear modulus, and ductility. These directional properties, along with the type of loading and temperature, dictate an anisotropic response in the yield strength, creep resistance, creep rupture ductility, fatigue resistance, etc. A significant amount of research has been conducted to determine the material properties in the <001> orientation, yet the material properties deviating from the <001> orientation have not been assessed for all cases. Based on the desired application and design criteria, a crystal orientation is selected to yield the maximum properties. Currently, single crystal manufacturing is able to control the primary crystallographic orientation within 15 of the target orientation, which is an acceptable deviation to meet both performance and cost guidelines; the secondary orientation is rarely specified. A common experiment is the standard load-controlled tensile test, in which specimens with different orientations can be loaded to observe the material response. The deformation behavior of single-crystal materials under tension and compression is known to be a function of not only material orientation, but also of varying microdeformation (i.e. dislocation) mechanisms. The underlying dislocation motion causes deformation via slip, and affects the activation of specific slip systems based on load and orientation. The slip can be analyzed by observing the visible traces left on the surface of the specimen from the slip activity within the single crystal material. The goal of this thesis was to predict the slip systems activated in three-dimensional stress fields of a notched tensile specimen, as a function of crystal orientation, using finite element analysis without addressing microstructural deformation mechanisms that govern their activation. Out of three orientations tested, the specimen with a [110] load orientation and a [001] growth direction had the lowest maximum resolved shear stress; this specimen orientation appears to be the best design candidate for a tensile application.

Magnan, Shannon M.↗
NASA NTRS2002

[Evaporating Droplet and Imaging Slip Flows]

In this report, we summarize work on Evaporating Droplet and Imaging Slip Flows. The work was primarily performed by post-doc Hue Hu, and partially by grad students Lei Li and Danish Chopra. The work includes studies on droplet evaporation and its effects on temperature and velocity fields in an evaporating droplet, new 3-D microscopic particle image velocimetry and direct visualization on wall slip in a surfactant solution. With the exception of the slip measurements, these projects were those proposed in the grant application. Instead of slip flow, the original grant proposed imaging electro-osmotic flows. However, shortly after the grant was issued, the PI became aware of work on electro-osmotic flows by the group of Saville in Princeton that was similar to that proposed, and we therefore elected to carry out work on imaging slip flows rather than electro-osmotic flows.

Larson, R. G.↗
NASA NTRS1998

Minimization of Retinal Slip Cannot Explain Human Smooth-Pursuit Eye Movements

Existing models assume that pursuit attempts a direct minimization of retinal image motion or "slip" (e.g. Robinson et al., 1986; Krauzlis & Weisberger, 1989). Using occluded line-figure stimuli, we have previously shown that humans can accurately pursue stimuli for which perfect tracking does not zero retinal slip (Neurologic ARCO). These findings are inconsistent with the standard control strategy of matching eye motion to a target-motion signal reconstructed by adding retinal slip and eye motion, but consistent with a visual front-end which estimates target motion via a global spatio-temporal integration for pursuit and perception. Another possible explanation is that pursuit simply attempts to minimize slip perpendicular to the segments (and neglects parallel "sliding" motion). To resolve this, 4 observers (3 naive) were asked to pursue the center of 2 types of stimuli with identical velocity-space descriptions and matched motion energy. The line-figure "diamond" stimulus was viewed through 2 invisible 3 deg-wide vertical apertures (38 cd/m2 equal to background) such that only the sinusoidal motion of 4 oblique line segments (44 cd/m2 was visible. The "cross" was identical except that the segments exchanged positions. Two trajectories (8's and infinity's) with 4 possible initial directions were randomly interleaved (1.25 cycles, 2.5s period, Ax = Ay = 1.4 deg). In 91% of trials, the diamond appeared rigid. Correspondingly, pursuit was vigorous (mean Again: 0.74) with a V/H aspect ratio approx. 1 (mean: 0.9). Despite a valid rigid solution, the cross however appeared rigid in 8% of trials. Correspondingly, pursuit was weaker (mean Hgain: 0.38) with an incorrect aspect ratio (mean: 1.5). If pursuit were just minimizing perpendicular slip, performance would be the same in both conditions.

Stone, Leland S.↗
NASA NTRS2005

Path Following with Slip Compensation for a Mars Rover

A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.

Helmick, Daniel↗
NASA NTRS2011

Strike-Slip Fault Patterns on Europa: Obliquity or Polar Wander?

Variations in diurnal tidal stress due to Europa's eccentric orbit have been considered as the driver of strike-slip motion along pre-existing faults, but obliquity and physical libration have not been taken into account. The first objective of this work is to examine the effects of obliquity on the predicted global pattern of fault slip directions based on a tidal-tectonic formation model. Our second objective is to test the hypothesis that incorporating obliquity can reconcile theory and observations without requiring polar wander, which was previously invoked to explain the mismatch found between the slip directions of 192 faults on Europa and the global pattern predicted using the eccentricity-only model. We compute predictions for individual, observed faults at their current latitude, longitude, and azimuth with four different tidal models: eccentricity only, eccentricity plus obliquity, eccentricity plus physical libration, and a combination of all three effects. We then determine whether longitude migration, presumably due to non-synchronous rotation, is indicated in observed faults by repeating the comparisons with and without obliquity, this time also allowing longitude translation. We find that a tidal model including an obliquity of 1.2?, along with longitude migration, can predict the slip directions of all observed features in the survey. However, all but four faults can be fit with only 1? of obliquity so the value we find may represent the maximum departure from a lower time-averaged obliquity value. Adding physical libration to the obliquity model improves the accuracy of predictions at the current locations of the faults, but fails to predict the slip directions of six faults and requires additional degrees of freedom. The obliquity model with longitude migration is therefore our preferred model. Although the polar wander interpretation cannot be ruled out from these results alone, the obliquity model accounts for all observations with a value consistent with theoretical expectations and cycloid modeling.

Rhoden, Alyssa Rose↗
NASA NTRS2004

Path following using visual odometry for Mars Rover in high-slip environments.

An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system). These technologies include: visual odometry, full vehicle kinematics, a Kalman filter, and a slop compensation/path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs using a maximum likelihood motion estimation algorithm. The full vehicle kinematics for a rocker-bogie suspension system estimates motion, with a no-slip assumption, by measuring wheel, rates, and rocker, bogie, and steering angles. The Kalman filter merges data from an Inertial Measurement Unit (IMU) and visual odometry. This merged estimate is then compared to the kinematic estimate to determining (tracking into account estimate uncertainties) if and how much slippage has occurred then a slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.

Roumeliotis, Stergios I.↗
NASA NTRS1972

Design study for a liquid metal slip ring solar array orientation mechanism

The design of a single axis orientation mechanism for solar arrays on high power synchronous satellites is studied primarily with respect to providing 116 liquid metal slip rings for reduced friction and improved electrical characteristics. Designs and tradeoff studies for the slip rings and other components are presented. An assembly containing 33 slip rings of three design approaches was designed, fabricated, and vacuum tested to 30 amperes and 30,000 volts. Containment of the liquid metal gallium in large diameter slip rings was difficult. A design approach is presented which is expected to provide improved retention of the liquid metal.

Clark, R. B.↗
NASA NTRS1972

Development of a liquid metal slip ring

A liquid metal slip ring/solar orientation mechanism was designed and a model tested. This was a follow-up of previous efforts for the development of a gallium liquid metal slip ring in which the major problem was the formation and ejection of debris. A number of slip ring design approaches were studied. The probe design concept was fully implemented with detail drawings and a model was successfully tested for dielectric strength, shock vibration, acceleration and operation. The conclusions are that a gallium liquid metal slip ring/solar orientation mechanism is feasible and that the problem of debris formation and ejection has been successfully solved.

Weinberger, S. M.↗
NASA NTRS1974

Viscous reacting flows with wall slip and catalysis applied to spheres in arc jets and flight

The influence of wall slip and catalytic atom-recombination on the flow field and wall heat flux are calculated for high altitude flight and arc jet flow conditions. Boundary equations, which include velocity slip, temperature jump, and wall catalytic atom recombination, are coupled to the viscous reacting multicomponent Navier-Stokes equations. These equations are solved using a time-dependent finite difference technique applied to spheres in an arc jet flow (Reynolds number of 550) and a high altitude flight case representative of the Space Shuttle Orbiter (Reynolds number of 450). The results indicate that catalysis strongly influences the temperature jump, but not the velocity slip. Slip increases the atom fraction and temperature at both the wall and the flow field. Likewise, the shock stand-off distance, the wall heat flux, and friction coefficient are increased over the nonslip cases. The reacting gas calculations confirm the chemically frozen nature of the shock layer in arc jet flows.

Scott, C. D.↗
NASA NTRS1976

Micromechanics of slip bands on a free surface

A micromechanics analysis for the formation and propagation of slip bands on the free surface of a polycrystal under monotonic loading is presented. For the growth of slip bands, the analysis satisfies the conditions of both equilibrium and displacement continuity, as well as the relation between slip and the resolved shear stress throughout the polycrystal. Numerical calculations show how the microstress field causes the concentration of plastic deformation in discrete sliding bands and give results which are in good qualitative agreement with known slip band observations on aluminum single crystals.

Lin, S. R.↗
NASA NTRS1982

Postseismic deformation due to subcrustal viscoelastic relaxation following dip-slip earthquakes

The deformation of the Earth following a dip-slip earthquake is calculated using a three layer rheological model and finite element techniques. The three layers are an elastic upper lithosphere, a standard linear solid lower lithosphere, and a Maxwell viscoelastic asthenosphere-a model previously analyzed in the strike-clip case (Cohen, 1981, 1982). Attention is focused on the magnitude of the postseismic subsidence and the width of the subsidence zone that can develop due to the viscoelastic response to coseismic reverse slip. Detailed analysis for a fault extending from the surface to 15 km with a 45 deg dip reveals that postseismic subsidence is sensitive to the depth to the asthenosphere but is only weakly dependent on lower lithosphere depth. The greatest subsidence occurs when the elastic lithosphere is about 30 km thick and the asthenosphere lies just below this layer (asthenosphere depth = 2 times the fault depth). The extremum in the subsidence pattern occurs at about 5 km from the surface trace of the fault and lies over the slip plane. In a typical case after a time t = 30 tau (tau = Maxwell time) following the earthquake the subsidence at this point is 60% of the coseismic uplift. Unlike the horizontal deformation following a strike slip earthquake, significant vertical deformation due to asthenosphere flow persists for many times tau and the magnitude of the vertical deformation is not necessarily enhanced by having a partially relaxing lower lithosphere.

Cohen, S. C.↗
NASA NTRS1984

Postseismic deformation due to subcrustal viscoelastic relaxation following dip-slip earthquakes

The deformation of the earth following a dip-slip earthquake is calculated using a three layer rheological model and finite element techniques. The three layers are an elastic upper lithosphere, a standard linear solid lower lithosphere, and a Maxwell viscoelastic asthenosphere - a model previously analyzed in the strike-clip case (Cohen, 1981, 1982). Attention is focused on the magnitude of the postseismic subsidence and the width of the subsidence zone that can develop due to the viscoelastic response to coseismic reverse slip. Detailed analysis for a fault extending from the surface to 15 km with a 45 deg dip reveals that postseismic subsidence is sensitive to the depth to the asthenosphere but is only weakly dependent on lower lithosphere depth. The greatest subsidence occurs when the elastic lithosphere is about 30 km thick and the asthenosphere lies just below this layer (asthenosphere depth = 2 times the fault depth). The extremum in the subsidence pattern occurs at about 5 km from the surface trace of the fault and lies over the slip plane. In a typical case after a time t = 30 tau (tau = Maxwell time) following the earthquake, the subsidence at this point is 60 percent of the coseismic uplift. Unlike the horizontal deformation following a strike slip earthquake, significant vertical deformation due to asthenosphere flow persists for many times tau and the magnitude of the vertical deformation is not necessarily enhanced by having a partially relaxing lower lithosphere. Previously announced in STAR as N83-13683

Cohen, S. C.↗
NASA NTRS1986

Slip ring experience in long duration space applications

Ball Aerospace experience with slip rings in space extends back to 1962. Over 40 multi-ring assemblies have been flown and continuous operating lifetimes greater than 8 years at up to 60 rpm have been demonstrated. Slip rings provide multi-channel transfer of electrical power and signals in assemblies that are small in size and weight, and low in cost. By use of multiple brushes and sufficient copper within the assembly, power transfer efficiency better than 99.95 percent for high voltage circuits can be achieved. A low slip ring failure rate based on actual space operation totalling billions of ring revolutions has been established. Well qualified suppliers who have been making slip rings for space use for over 25 years are available. It is hoped that the suspected problem in SEASAT will not be allowed to prejudice space system designer against these very useful mechanisms.

Phinney, Damon D.↗