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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1983

Numerical modeling of turbulent flow in a channel

Two-dimensional incompressible turbulent flow in a channel with a backward-facing step was studied numerically by Chorin's Random Vortex Method (RVM), an algorithm capable of tracing the action of elementary turbulent eddies and their cumulative effects without imposing any restrictions upon their motions. The step occurs in one side of a channel with otherwise flat, parallel walls; its height equals 1/3, 1/4 or 1/5 the width of the channel downstream. The main objective was to investigate the behavior of the large-scale turbulent eddies in a flow and the flow characteristics in the separated shear layer, the reattached zone, and the rebuilding boundary layer after reattachment. The unsteady vorticity field and the distribution of time-averaged turbulent statistics were obtained. The effects of expansion step height and initial boundary layer state were also studied. Comparisons were made with the available experimental results. The agreement is satisfactory in the velocity profiles and in the reattachment length, and fairly good in the turbulence profiles. Also a mechanism of the development of the reattaching turbulent flow was suggested by the numerical results.

Dai, Y. W.↗
NASA NTRS1984

Aerodynamic features of flames in premixed gases

A variety of experimentally established flame phenomena in premixed gases are interpreted by relating them to basic aerodynamic properties of the flow field. On this basis the essential mechanism of some well known characteristic features of flames stabilized in the wake of a bluff-body or propagating in ducts are revealed. Elementary components of the flame propagation process are shown to be: rotary motion, self-advancement, and expansion. Their consequences are analyzed under a most strict set of idealizations that permit the flow field to be treated as potential in character, while the flame is modelled as a Stefan-like interface capable of exerting a feed-back effect upon the flow field. The results provide an insight into the fundamental fluid-mechanical reasons for the experimentally observed distortions of the flame front, rationalizing in particular its ability to sustain relatively high flow velocities at amazingly low normal burning speeds.

Oppenheim, A. K.↗
NASA NTRS1984

Formation and inflammation of a turbulent jet

The formation and inflammation of a planar, turbulent jet in an incompressible medium is modeled numerically by the use of the random vortex method amended by a flame propagation algorithm. The results demonstrate the dominant influence of turbulent eddies and their interactions upon the development of the jet. Its growth is shown to consist of three stages: formation of small eddies, pairing of eddies with the same sign of circulation, and pairing of eddies of opposite signs. On this basis a number of features of the jet mechanism are revealed, namely penetration, engulfment, entrainment, and intermittency. Two cases of inflammation are considered. In one, the jet is ignited at the center of the orifice, the solution tracing its own inflammation. In the other, combustion is initiated across its full cross section, the results modeling the action of a turbulent torch as it spreads the flame into the combustible surroundings. In both cases the flow field is still dominated by the turbulent eddies and their interactions. However, the coherence among them is encumbered as a consequence of expansion due to the exothermicity of the combustion process.

Ghoniem, A. F.↗
NASA NTRS1983

Self-similar blast waves incorporating deflagrations of variable speed

The present investigation is concerned with the development of a systematic approach to the problem of self-similar blast waves incorporating nonsteady flames. The regime covered by the presented solutions is bounded on one side by an adiabatic strong explosion and, on the other, by deflagration propagating at an infinite acceleration. Results for a representative set of accelerations are displayed, taking into account the full range of propagation speeds from zero to velocities corresponding to the Chapman-Jouguet deflagration. It is found that the distribution of stored energy in the undisturbed medium determines the acceleration of the deflagration-shock wave system. The obtained results reveal the existence of a simple relation between the location of the deflagration and its Mach number.

Guirguis, R. H.↗
NASA NTRS1982

Dynamic effects of combustion

The dynamic effects of combustion are due to the evolution of exothermic energy and its deposition in the compressible medium where the process takes place. The paper examines the dynamics of combustion phenomena, including ignition, turbulent flame propagation (inflammation), explosion, and detonation, with emphasis on their exothermic characteristics. Ignition and explosion are treated as problems of nonlinear mechanics, and their dynamic behavior is described in terms of phase space models and cinematographic laser shear interferograms. The results of a numerical random vortex model of turbulent flame propagation are confirmed in a combustion tunnel experiment, where it was observed that a fresh mixture of burnt and unburnt gases can sustain combustion with a relatively small expenditure of overall mass flow, due to the increasing specific volume of burnt gases inside the flame front. An isentropic pressure wave is found to precede the accelerating flame in the process of detonation, and components of this presssure wave are shown to propagate at local sonic velocities.

Oppenheim, A. K.↗
NASA NTRS1982

Random element method for numerical modeling of diffusional processes

The random element method is a generalization of the random vortex method that was developed for the numerical modeling of momentum transport processes as expressed in terms of the Navier-Stokes equations. The method is based on the concept that random walk, as exemplified by Brownian motion, is the stochastic manifestation of diffusional processes. The algorithm based on this method is grid-free and does not require the diffusion equation to be discritized over a mesh, it is thus devoid of numerical diffusion associated with finite difference methods. Moreover, the algorithm is self-adaptive in space and explicit in time, resulting in an improved numerical resolution of gradients as well as a simple and efficient computational procedure. The method is applied here to an assortment of problems of diffusion of momentum and energy in one-dimension as well as heat conduction in two-dimensions in order to assess its validity and accuracy. The numerical solutions obtained are found to be in good agreement with exact solution except for a statistical error introduced by using a finite number of elements, the error can be reduced by increasing the number of elements or by using ensemble averaging over a number of solutions.

Ghoniem, A. F.↗
NASA NTRS1984

Recent advances in methods for numerical solution of O.D.E. initial value problems

In the mathematical modeling of physical systems, it is often necessary to solve an initial value problem (IVP), consisting of a system of ordinary differential equations (ODE). A typical program produces approximate solutions at certain mesh points. Almost all existing codes try to control the local truncation error, while the user is really interested in controlling the true or global error. The present investigation provides a review of recent advances regarding the solution of the IVP, giving particular attention to stiff systems. Stiff phenomena are customarily defined in terms of the eigenvalues of the Jacobian. There are, however, some difficulties connected with this approach. It is pointed out that an estimate of the Lipschitz constant proves to be a very practical way to determine the stiffness of a problem.

Bui, T. D.↗
NASA NTRS1985

Aerodynamic properties of turbulent combustion fields

Flow fields involving turbulent flames in premixed gases under a variety of conditions are modeled by the use of a numerical technique based on the random vortex method to solve the Navier-Stokes equations and a flame propagation algorithm to trace the motion of the front and implement the Huygens principle, both due to Chorin. A successive over-relaxation hybrid method is applied to solve the Euler equation for flows in an arbitrarily shaped domain. The method of images, conformal transformation, and the integral-equation technique are also used to treat flows in special cases, according to their particular requirements. Salient features of turbulent flame propagation in premixed gases are interpreted by relating them to the aerodynamic properties of the flow field. Included among them is the well-known cellular structure of flames stabilized by bluff bodies, as well as the formation of the characteristic tulip shape of flames propagating in ducts. In its rudimentary form, the mechanism of propagation of a turbulent flame is shown to consist of: (1) rotary motion of eddies at the flame front, (2) self-advancement of the front at an appropriate normal burning speed, and (3) dynamic effects of expansion due to exothermicity of the combustion reaction. An idealized model is used to illustrate these fundamental mechanisms and to investigate basic aerodynamic features of flames in premixed gases. The case of a confined flame stabilized behind a rearward-facing step is given particular care and attention. Solutions are shown to be in satisfactory agreement with experimental results, especially with respect to global properties such as the average velocity profiles and reattachment length.

Hsiao, C. C.↗
NASA NTRS1985

Dynamic features of combustion

The dynamic features of combustion are discussed for four important cases: ignition, inflammation, explosion, and detonation. Ignition, the initiation of a self-sustained exothermic process, is considered in the simplest case of a closed thermodynamic system and its stochastic distribution. Inflammation, the initiation and propagation of self-sustained flames, is presented for turbulent flow. Explosion, the dynamic effects caused by the deposition of exothermic energy in a compressible medium, is illustrated by self-similar blast waves with energy deposition at the front and the adiabatic non-self-similar wave. Detonation, the most comprehensive illustration of all the dynamic effects of combustion, is discussed with a phenomenological account of the development and structure of the wave.

Oppenheim, A. K.↗
NASA NTRS1985

Numerical simulation of a turbulent flame stabilized behind a rearward-facing step

Flow of combustible mixtures in a plane channel past a smooth contraction followed by an abrupt expansion, in a typical dump combustor configuration, is modeled by a two-dimensional numerical technique based on the random vortex method. Both the inert and the reacting case are considered. In the latter, the flame is treated as an interface, self-advancing at a prescribed normal burning speed, while the dynamic effects of expansion due to the exothermicity of combustion are expressed by volumetric source lines delineated by its front. Solutions are shown to be in satisfactory agreement with experimental results, especially with respect to global properties such as the average velocity profiles and the reattachment length. The stochastic turbulent velocity components manifest interesting differences, especially near the walls where three-dimensional effects of turbulence are expected to be of importance.

Hsiao, C. C.↗
NASA NTRS1987

Measurement of opaque film thickness

The theoretical and experimental framework for thickness measurements of thin metal films by low frequency thermal waves is described. Although it is assumed that the films are opaque and the substrates are comparatively poor thermal conductors, the theory is easily extended to other cases of technological interest. A brief description is given of the thermal waves and the experimental arrangement and parameters. The usefulness of the technique is illustrated for making absolute measurements of the thermal diffusivities of isotropic substrate materials. This measurement on pure elemental solids provides a check on the three dimensional theory in the limiting case of zero film thickness. The theoretical framework is then presented, along with numerical calculations and corresponding experimental results for the case of copper films on a glass substrate.

Thomas, R. L.↗
NASA NTRS1988

Application of model based control to robotic manipulators

A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.

Petrosky, Lyman J.↗
NASA NTRS1987

Geometric reasoning

Cognitive robot systems are ones in which sensing and representation occur, from which task plans and tactics are determined. Such a robot system accomplishes a task after being told what to do, but determines for itself how to do it. Cognition is required when the work environment is uncontrolled, when contingencies are prevalent, or when task complexity is large; it is useful in any robotic mission. A number of distinguishing features can be associated with cognitive robotics, and one emphasized here is the role of artificial intelligence in knowledge representation and in planning. While space telerobotics may elude some of the problems driving cognitive robotics, it shares many of the same demands, and it can be assumed that capabilities developed for cognitive robotics can be employed advantageously for telerobotics in general. The top level problem is task planning, and it is appropriate to introduce a hierarchical view of control. Presented with certain mission objectives, the system must generate plans (typically) at the strategic, tactical, and reflexive levels. The structure by which knowledge is used to construct and update these plans endows the system with its cognitive attributes, and with the ability to deal with contingencies, changes, unknowns, and so on. Issues of representation and reasoning which are absolutely fundamental to robot manipulation, decisions based upon geometry, are discussed here, not AI task planning per se.

Woodbury, R. F.↗
NASA NTRS1989

Flexible robot control: Modeling and experiments

Described here is a model and its use in experimental studies of flexible manipulators. The analytical model uses the equivalent of Rayleigh's method to approximate the displaced shape of a flexible link as the static elastic displacement which would occur under end rotations as applied at the joints. The generalized coordinates are thereby expressly compatible with joint motions and rotations in serial link manipulators, because the amplitude variables are simply the end rotations between the flexible link and the chord connecting the end points. The equations for the system dynamics are quite simple and can readily be formulated for the multi-link, three-dimensional case. When the flexible links possess mass and (polar moment of) inertia which are small compared to the concentrated mass and inertia at the joints, the analytical model is exact and displays the additional advantage of reduction in system dimension for the governing equations. Four series of pilot tests have been completed. Studies on a planar single-link system were conducted at Carnegie-Mellon University, and tests conducted at Toshiba Corporation on a planar two-link system were then incorporated into the study. A single link system under three-dimensional motion, displaying biaxial flexure, was then tested at Carnegie-Mellon.

Oppenheim, Irving J.↗
NASA NTRS1989

Manipulators with flexible links: A simple model and experiments

A simple dynamic model proposed for flexible links is briefly reviewed and experimental control results are presented for different flexible systems. A simple dynamic model is useful for rapid prototyping of manipulators and their control systems, for possible application to manipulator design decisions, and for real time computation as might be applied in model based or feedforward control. Such a model is proposed, with the further advantage that clear physical arguments and explanations can be associated with its simplifying features and with its resulting analytical properties. The model is mathematically equivalent to Rayleigh's method. Taking the example of planar bending, the approach originates in its choice of two amplitude variables, typically chosen as the link end rotations referenced to the chord (or the tangent) motion of the link. This particular choice is key in establishing the advantageous features of the model, and it was used to support the series of experiments reported.

Shimoyama, Isao↗