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NASA NTRS2013

Basic Operational Robotics Instructional System

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Todd, Brian Keith↗

NASA NTRS1976

Kinematic stability of roller pairs in free rolling contact

A set of generalized stability equations was developed for roller pairs in free rolling contact. A symmetric, dual contact model was used. Four possible external contact profiles that possess continuous contacting surfaces were studied. It was found that kinematic stability would be insured if the larger radius of transverse curvature, in absolute value, and the smaller rolling radius both exist on the roller that has the apex of its conical surface outboard of its main body. The stability criteria developed are considered to be useful for assessing axial restraint requirements for a variety of roller mechanisms and in the selection of roller contact geometry for traction drive devices.

Savage, M.↗

NASA NTRS1979

A rheological model for elastohydrodynamic contacts based on primary laboratory data

A shear rheological model based on primary laboratory data is proposed for concentrated contact lubrication. The model is a Maxwell model modified with a limiting shear stress. Three material properties are required: Low shear stress viscosity, limiting elastic shear modulus, and the limiting shear stress the material can withstand. All three are functions of temperature and pressure. In applying the model to EHD contacts the predicted response possesses the characteristics expected from several experiments reported in the literature and, in one specific case where direct comparison could be made, good numerical agreement is shown.

Bair, S.↗

NASA NTRS1994

Fourth order difference methods for hyperbolic IBVP's

Fourth order difference approximations of initial-boundary value problems for hyperbolic partial differential equations are considered. We use the method of lines approach with both explicit and compact implicit difference operators in space. The explicit operator satisfies an energy estimate leading to strict stability. For the implicit operator we develop boundary conditions and give a complete proof of strong stability using the Laplace transform technique. We also present numerical experiments for the linear advection equation and Burgers' equation with discontinuities in the solution or in its derivative. The first equation is used for modeling contact discontinuities in fluid dynamics, the second one for modeling shocks and rarefaction waves. The time discretization is done with a third order Runge-Kutta TVD method. For solutions with discontinuities in the solution itself we add a filter based on second order viscosity. In case of the non-linear Burger's equation we use a flux splitting technique that results in an energy estimate for certain different approximations, in which case also an entropy condition is fulfilled. In particular we shall demonstrate that the unsplit conservative form produces a non-physical shock instead of the physically correct rarefaction wave. In the numerical experiments we compare our fourth order methods with a standard second order one and with a third order TVD-method. The results show that the fourth order methods are the only ones that give good results for all the considered test problems.

Gustafsson, Bertil↗

NASA NTRS1988

Contact regrowth technique for low-resistance nonalloyed contacts to the hot-electron transistor

A novel contact regrowth technique for the formation of extremely low nonalloyed ohmic contacts is reported. The successful demonstration of this technique is reported on an InGaAs/InAlAs hot-electron transistor device. For the investigated InGaAs-based structure, the regrown contacting scheme reported includes an In(0.53)Ga(0.47)As layer, an InAs/GaAs strained-layer superlattice, and an InAs cap, all heavily doped n type with Si. A very low specific contact resistance of 1.8 x 10 to the -7th ohm sq cm to the base layer is obtained. The higher current densities achieved in the transistor characteristics are in close agreement with calculations, and a contact model is presented explaining the poor results of conventional nonalloyed contacts.

Peng, C. K.↗

NASA NTRS2010

On the Effective Thermal Conductivity of Porous Packed Beds with Uniform Spherical Particles

Point contact models for the effective thermal conductivity of porous media with uniform spherical inclusions have been briefly reviewed. The model of Zehner and Schlunder (1970) has been further validated with recent experimental data over a broad range of conductivity ratio from 8 to 1200 and over a range of solids fraction up to about 0.8. The comparisons further confirm the validity of Zehner-Schlunder model, known to be applicable for conductivity ratios less than about 2000, above which area contact between the particles becomes significant. This validation of the Zehner-Schlunder model has implications for its use in the prediction of the effective thermal conductivity of water frost (with conductivity ratio around 100) which arises in many important areas of technology.

Kandula, Max↗

NASA NTRS2005

Partial Model of Insulator/Insulator Contact Charging

Two papers present a two-phase equilibrium model that partly explains insulator/ insulator contact charging. In this model, a vapor of ions within a gas is in equilibrium with a submonolayer of ions of the same species that have been adsorbed on the surface of an insulator. The surface is modeled as having localized states, each with a certain energy of adsorption for an ion. In an earlier version of the model described in the first paper, the ions do not interact with each other. Using the grand canonical ensemble, the chemical potentials of both vapor and absorbed phases are derived and equated to determine the vapor pressure. If a charge is assigned to the vapor particles (in particular, if single ionization is assumed), then the surface charge density associated with adsorbed ions can be calculated as a function of pressure. In a later version of the model presented in the second paper, the submodel of the vapor phase is extended to include electrostatic interactions between vapor ions and adsorbed ones as well as the screening effect, at a given distance from the surface, of ions closer to the surface. Theoretical values of this model closely match preliminary experimental data on the discharge of insulators as a function of pressure.

Hogue, Michael↗

NASA NTRS1999

Structure Damage Simulations Accounting for Inertial Effects and Impact and Optimization of Grid-Stiffened Non-Circular Shells

The goal of this research project is to develop modelling and analysis strategy for the penetration of aluminium plates impacted by titanium impactors. Finite element analysis is used to study the penetration of aluminium plates impacted by titanium impactors in order to study the effect of such uncontained engine debris impacts on aircraft-like skin panels. LS-DYNA3D) is used in the simulations to model the impactor, test fixture frame and target barrier plate. The effects of mesh refinement, contact modeling, and impactor initial velocity and orientation were studied. The research project also includes development of a design tool for optimum design of grid-stiffened non-circular shells or panels subjected to buckling.

Mei, Chuh↗

NASA NTRS2003

A Study of Fan Stage/Casing Interaction Models

The purpose of the present study is to investigate the performance of several existing and new, blade-case interactions modeling capabilities that are compatible with the large system simulations used to capture structural response during blade-out events. Three contact models are examined for simulating the interactions between a rotor bladed disk and a case: a radial and linear gap element and a new element based on a hydrodynamic formulation. The first two models are currently available in commercial finite element codes such as NASTRAN and have been showed to perform adequately for simulating rotor-case interactions. The hydrodynamic model, although not readily available in commercial codes, may prove to be better able to characterize rotor-case interactions.

Lawrence, Charles↗

NASA NTRS1979

Development and validation of a piloted simulation of a helicopter and external sling load

A generalized, real time, piloted, visual simulation of a single rotor helicopter, suspension system, and external load is described and validated for the full flight envelope of the U.S. Army CH-54 helicopter and cargo container as an example. The mathematical model described uses modified nonlinear classical rotor theory for both the main rotor and tail rotor, nonlinear fuselage aerodynamics, an elastic suspension system, nonlinear load aerodynamics, and a loadground contact model. The implementation of the mathematical model on a large digital computing system is described, and validation of the simulation is discussed. The mathematical model is validated by comparing measured flight data with simulated data, by comparing linearized system matrices, eigenvalues, and eigenvectors with manufacturers' data, and by the subjective comparison of handling characteristics by experienced pilots. A visual landing display system for use in simulation which generates the pilot's forward looking real world display was examined and a special head up, down looking load/landing zone display is described.

Shaughnessy, J. D.↗

NASA NTRS2001

Challenges Facing Design and Analysis Tools

The design and analysis of future aerospace systems will strongly rely on advanced engineering analysis tools used in combination with risk mitigation procedures. The implications of such a trend place increased demands on these tools to assess off-nominal conditions, residual strength, damage propagation, and extreme loading conditions in order to understand and quantify these effects as they affect mission success. Advances in computer hardware such as CPU processing speed, memory, secondary storage, and visualization provide significant resources for the engineer to exploit in engineering design. The challenges facing design and analysis tools fall into three primary areas. The first area involves mechanics needs such as constitutive modeling, contact and penetration simulation, crack growth prediction, damage initiation and progression prediction, transient dynamics and deployment simulations, and solution algorithms. The second area involves computational needs such as fast, robust solvers, adaptivity for model and solution strategies, control processes for concurrent, distributed computing for uncertainty assessments, and immersive technology. Traditional finite element codes still require fast direct solvers which when coupled to current CPU power enables new insight as a result of high-fidelity modeling. The third area involves decision making by the analyst. This area involves the integration and interrogation of vast amounts of information - some global in character while local details are critical and often drive the design. The proposed presentation will describe and illustrate these areas using composite structures, energy-absorbing structures, and inflatable space structures. While certain engineering approximations within the finite element model may be adequate for global response prediction, they generally are inadequate in a design setting or when local response prediction is critical. Pitfalls to be avoided and trends for emerging analysis tools will be described.

Knight, Norman F., Jr.↗

NASA NTRS2011

NASA Tech Briefs, October 2011

Topics covered include: Laser Truss Sensor for Segmented Telescope Phasing; Qualifications of Bonding Process of Temperature Sensors to Deep-Space Missions; Optical Sensors for Monitoring Gamma and Neutron Radiation; Compliant Tactile Sensors; Cytometer on a Chip; Measuring Input Thresholds on an Existing Board; Scanning and Defocusing Properties of Microstrip Reflectarray Antennas; Cable Tester Box; Programmable Oscillator; Fault-Tolerant, Radiation-Hard DSP; Sub-Shot Noise Power Source for Microelectronics; Asynchronous Message Service Reference Implementation; Zero-Copy Objects System; Delay and Disruption Tolerant Networking MACHETE Model; Contact Graph Routing; Parallel Eclipse Project Checkout; Technique for Configuring an Actively Cooled Thermal Shield in a Flight System; Use of Additives to Improve Performance of Methyl Butyrate-Based Lithium-Ion Electrolytes; Li-Ion Cells Employing Electrolytes with Methyl Propionate and Ethyl Butyrate Co-Solvents; Improved Devices for Collecting Sweat for Chemical Analysis; Tissue Photolithography; Method for Impeding Degradation of Porous Silicon Structures; External Cooling Coupled to Reduced Extremity Pressure Device; A Zero-Gravity Cup for Drinking Beverages in Microgravity; Co-Flow Hollow Cathode Technology; Programmable Aperture with MEMS Microshutter Arrays; Polished Panel Optical Receiver for Simultaneous RF/Optical Telemetry with Large DSN Antennas; Adaptive System Modeling for Spacecraft Simulation; Lidar-Based Navigation Algorithm for Safe Lunar Landing; Tracking Object Existence From an Autonomous Patrol Vehicle; Rad-Hard, Miniaturized, Scalable, High-Voltage Switching Module for Power Applications; and Architecture for a 1-GHz Digital RADAR.

Source record↗

NASA NTRS1983

Finite element methods for nonlinear elastostatic problems in rubber elasticity

A number of finite element methods for the analysis of nonlinear problems in rubber elasticity are outlined. Several different finite element schemes are discussed. These include the augmented Lagrangian method, continuation or incremental loading methods, and associated Riks-type methods which have the capability of incorporating limit point behavior and bifurcations. Algorithms for the analysis of limit point behavior and bifurcations are described and the results of several numerical experiments are presented. In addition, a brief survey of some recent work on modelling contact and friction in elasticity problems is given. These results pertain to the use of new nonlocal and nonlinear friction laws.

Oden, J. T.↗

NASA NTRS1984

Real Surface Effects in Elastohydrodynamic Lubrication

Following a general discussion of real effects in EHL, consideration is given in detail to the role played by stochastic roughness superimposed on the nominal solid boundaries. Particular attention is given to the full-film EHL regime where incipient asperity contact bears a negligible fraction of the load. Flow, from which an averaged Reynolds equation can be formed, is nonetheless modified by the amplitude and texture of the roughness patterns. In describing these effects by means of certain well-defined flow factors, it is found that only two extra parameters are needed - the rms surface height and the ratio of the correlation lengths in the two principal roughness directions. In a lowest order perturbation expansion of these flow factors in powers of the ratio of rms roughness to nominal film thickness, no other properties of the roughness appear. In most cases of practical interest, the factors describing Poiseuille flow are separable into the sum of two single-surface flow factors which means that a combination of a single equivalent rough surface versus an ideal smooth surface can always be found. For flow entrained by slip velocity the factors separate instead into a difference of single-surface factors and it becomes significant which of the two surfaces carries the equivalent roughness. Results are discussed of some applications of the averaged Reynolds equation based on the flow factor method to the EHL line contact problem. Finally, the partial EHL regime is considered where comparable load fractions are carried by the hydrodynamic film and by incipient mechanical contact. An extension of the method into this regime by combining it with asperity contact models appears most encouraging.

John H Tripp↗

NASA NTRS1992

Status and future directions of InP solar cell research

An overview of the current status and future directions of InP space solar cell research is provided. The scope of the paper does not allow us to discuss other recent major developments in InP cell modeling, contacts, and characterization, or developments in other solar cell materials. Solar cells made from InP and related materials are not expected to be used in the near future for terrestrial applications, but significant Air-Mass1.5 (AM1.5) cell efficiencies are given for comparison. This paper deals with the developments in single-junction cells, multijunction tandem cells, and space flight testing, including radiation effects. Concentrator InP solar cells are also discussed, since they offer the possibility of simultaneous thermal and current injection annealing. These cells also promise cost effectiveness and the concentrator elements may provide cells with extra protection from space radiation. The concluding section addresses the steps to be taken in the future and provides guidelines for further research and development.

Jain, R. K.↗

NASA NTRS1992

Fracture mechanics; Proceedings of the 22nd National Symposium, Atlanta, GA, June 26-28, 1990. Vols. 1 & 2

Current research on fracture mechanics is reviewed, focusing on ductile fracture; high-temperature and time-dependent fracture; 3D problems; interface fracture; microstructural aspects of fatigue and fracture; and fracture predictions and applications. Particular attention is given to the determination and comparison of crack resistance curves from wide plates and fracture mechanics specimens; a relationship between R-curves in contained and uncontained yield; the creep crack growth behavior of titanium alloy Ti-6242; a crack growth response in three heat resistant materials at elevated temperature; a crack-surface-contact model for determining effective-stress-intensity factors; interfacial dislocations in anisotropic bimaterials; an effect of intergranular crack branching on fracture toughness evaluation; the fracture toughness behavior of exservice chromium-molybdenum steels; the application of fracture mechanics to assess the significance of proof loading; and a load ratio method for estimating crack extension.

Ernst, Hugo A.↗

NASA NTRS2002

New Geometry of Worm Face Gear Drives with Conical and Cylindrical Worms: Generation, Simulation of Meshing, and Stress Analysis

New geometry of face worm gear drives with conical and cylindrical worms is proposed. The generation of the face worm-gear is based on application of a tilted head-cutter (grinding tool) instead of application of a hob applied at present. The generation of a conjugated worm is based on application of a tilted head-cutter (grinding tool) as well. The bearing contact of the gear drive is localized and is oriented longitudinally. A predesigned parabolic function of transmission errors for reduction of noise and vibration is provided. The stress analysis of the gear drive is performed using a three-dimensional finite element analysis. The contacting model is automatically generated. The developed theory is illustrated with numerical examples.

Litvin, Faydor L.↗

NASA NTRS1999

Delamination and Stitched Failure in Stitched Composite Joints

The effect of stitches on the failure of a single lap joint configuration was determined in a combined experimental and finite element study. The experimental program was conducted to determine debond growth under static monotonic loading. The stitches were shown to delay the initiation of the debond and provide load transfer beyond the load necessary to completely debond the stitched lap joint. The experimentally determined debond length vs. applied load was used as an input parameter in the finite element analysis of both configurations. The strain energy release rates at the debond from were calculated using plate finite elements. Nonlinear fastener elements were used to model the stitches and multipoint constraints were used to model the contact problem. Models of the unstitched configuration showed significant values of modes I and II across the width of the joint and showed that mode III is zero at the centerline but increases near the free edge. Models of the stitched configuration showed that the stitches were effective in reducing mode I to zero, but had less of an effect on modes II and III.

Glaessgen, E. H.↗