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At least 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Modeling and simulation of a Stewart platform type parallel structure robot

The kinematics and dynamics of a Stewart Platform type parallel structure robot (NASA's Dynamic Docking Test System) were modeled using the method of kinematic influence coefficients (KIC) and isomorphic transformations of system dependence from one set of generalized coordinates to another. By specifying the end-effector (platform) time trajectory, the required generalized input forces which would theoretically yield the desired motion were determined. It was found that the relationship between the platform motion and the actuators motion was nonlinear. In addition, the contribution to the total generalized forces, required at the actuators, from the acceleration related terms were found to be more significant than the velocity related terms. Hence, the curve representing the total required actuator force generally resembled the curve for the acceleration related force. Another observation revealed that the acceleration related effective inertia matrix I sub dd had the tendency to decouple, with the elements on the main diagonal of I sub dd being larger than the off-diagonal elements, while the velocity related inertia power array P sub ddd did not show such tendency. This tendency results in the acceleration related force curve of a given actuator resembling the acceleration profile of that particular actuator. Furthermore, it was indicated that the effective inertia matrix for the legs is more decoupled than that for the platform. These observations provide essential information for further research to develop an effective control strategy for real-time control of the Dynamic Docking Test System.

Lim, Gee Kwang↗
NASA NTRS1988

Random field estimation approach to multibody dynamics

The use of recursive techniques similar to random field models to factor and invert the inertia matrix of a multibody system is discussed. An equivalence is established between the composite multibody system inertia matrix and the covariance of the output of a described linear system model. Conditional mean estimation and sequential estimation problems are solved along with problems of filtering and smoothing. Formulas are developed to compute the covariance of several relevant quantities. The foregoing results are used to obtain the inverse of the composite multibody system inertia in closed form.

Rodriguez, G.↗
NASA NTRS1989

Simulation and control problems in elastic robots

Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.

Tadikonda, S. S. K.↗
NASA NTRS1989

Minimum weight design of helicopter rotor blades with frequency constraints

The minimum weight design of helicopter rotor blades subject to constraints on fundamental coupled flap-lag natural frequencies has been studied in this paper. A constraint has also been imposed on the minimum value of the blade autorotational inertia to ensure that the blade has sufficient inertia to autorotate in case of an engine failure. The program CAMRAD has been used for the blade modal analysis and the program CONMIN has been used for the optimization. In addition, a linear approximation analysis involving Taylor series expansion has been used to reduce the analysis effort. The procedure contains a sensitivity analysis which consists of analytical derivatives of the objective function and the autorotational inertia constraint and central finite difference derivatives of the frequency constraints. Optimum designs have been obtained for blades in vacuum with both rectangular and tapered box beam structures. Design variables include taper ratio, nonstructural segment weights and box beam dimensions. The paper shows that even when starting with an acceptable baseline design, a significant amount of weight reduction is possible while satisfying all the constraints for blades with rectangular and tapered box beams.

Chattopadhyay, Aditi↗
NASA NTRS1990

A rough-surface thermophysical model for airless planets

A model for determining diurnal temperatures in spherical-section depressions and which encompasses both subsurface heat-flow and direct and scattered sunlight effects is presently applied to the disk-integrated thermal emission of a rough planetary surface with nonzero thermal inertia. Attention is given to the variation with roughness and thermal inertia of the beaming parameter eta, which characterizes zero-phase thermal emission by comparison with a smooth, nonrotating body and is almost independent of albedo for a given surface roughness. The thermal phase curve of Ceres is noted to be well matched by the model features of (1) prograde rotation, (2) 44-deg rms surface slope, and (3) a thermal inertia that is 30 percent of the lunar value.

Spencer, John R.↗
NASA NTRS1990

Effects of stick dynamics on helicopter flying qualities

An experiment that investigated the influence of typical helicopter force-feel system dynamics on roll-axis handling qualities was conducted in concurrent ground and inflight simulations. Variations in lateral control natural frequency and damping ratio, effected by changes in inertia and damping, were evaluated in a disturbance-rejection task. Pilot ratings indicated a preference for low-inertia feel systems, although measured performance was relatively constant over the range of stick characteristics. Force-sensing was compared with position sensing as the input to the control system. Force-sensing improved performance but did not improve pilot ratings. Overall, the results indicated that control-stick dynamics, at least within a reasonable range, did not have a significant effect on pilot-vehicle performance. However, the physical effort required to maintain a desired pilot/manipulator bandwidth became objectionable as the stick inertia increased beyond 5-7 lbm, which was reflected in the pilot ratings and comments.

Watson, Douglas C.↗
NASA NTRS1990

A radar-echo model for Mars

Researchers developed a radar-echo model for Mars based on 12.6 cm continuous wave radio transmissions backscattered from the planet. The model broadly matches the variations in depolarized and polarized total radar cross sections with longitude observed by Goldstone in 1986 along 7 degrees S. and yields echo spectra that are generally similiar to the observed spectra. Radar map units in the model include an extensive cratered uplands unit with weak depolarized echo cross sections, average thermal inertias, moderate normal refelectivities, and moderate rms slopes; the volcanic units of Tharsis, Elysium, and Amazonis regions with strong depolarized echo cross sections, low thermal inertia, low normal reflectivities, and large rms slopes; and the northern planes units with moderate to strong depolarized echo cross sections, moderate to very high thermal inertias, moderate to large normal reflectivities, and moderate rms slopes. The relevance of the model to the interpretation of radar echoes from Mars is discussed.

Thompson, T. W.↗
NASA NTRS1989

A restricted signature normal form for Hermitian matrices, quasi-spectral decompositions, and applications

In recent years, a number of results on the relationships between the inertias of Hermitian matrices and the inertias of their principal submatrices appeared in the literature. We study restricted congruence transformation of Hermitian matrices M which, at the same time, induce a congruence transformation of a given principal submatrix A of M. Such transformations lead to concept of the restricted signature normal form of M. In particular, by means of this normal form, we obtain short proofs of most of the known inertia theorems and also derive some new results of this type. For some applications, a special class of almost unitary restricted congruence transformations turns out to be useful. We show that, with such transformations, M can be reduced to a quasi-diagonal form which, in particular, displays the eigenvalues of A. Finally, applications of this quasi-spectral decomposition to generalize inverses and Hermitian matrix pencils are discussed.

Freund, Roland W.↗
NASA NTRS1992

Physical properties of Oxia/Lunae Planum and Arabia-type units in the central equatorial region of Mars

Classification and mapping of surficial units in the central equatorial region of Mars Consortium data identified the relatively dark but 'red' materials that cover Lunae Planum and surround the Meridiani materials of Oxia Palus inertia region of Arabia. Oxia Province consists of the regions dominated by the characteristically dark 'red' Oxia materials, but it includes darker streaks and splotches of relatively 'blue' Meridiani materials and brighter 'red' deposits of dust belonging to Eos Province (the bright 'red' border between Oxia and regional Meridiani deposits to the south) and Xanthe Province (the moderately bright 'red' dust deposits in western Chryse Planitia and its vicinity, including the VL-1 landing site). Two Oxia units were recognized: a darker unit present on Lunae Planum and east of Oxia Palus that have intermediate to high inertias. Oxia Province surrounds the extremely low thermal inertia Arabia Province in the east part of the study area, and occurs as isolated patches within Arabia (often including splotches of Meridiani materials within the Oxia patches). Arabia Province's materials have been widely interpreted as unconsolidated dust deposits which are currently forming at this stage of Mars' precessional climate cycle, although the persistence of stable, moderately strong albedo contracts among Arabia materials has not been addressed in those models. A systematic interpretation of Oxia and Arabia Province materials based on currently available remote sensing data is given.

Strickland, Edwin L., III↗
NASA NTRS1992

Adaptive control applied to Space Station attitude control system

This paper presents an adaptive control approach to enhance the performance of current attitude control system used by the Space Station Freedom. The proposed control law was developed based on the direct adaptive control or model reference adaptive control scheme. Performance comparisons, subject to inertia variation, of the adaptive controller and the fixed-gain linear quadratic regulator currently implemented for the Space Station are conducted. Both the fixed-gain and the adaptive gain controllers are able to maintain the Station stability for inertia variations of up to 35 percent. However, when a 50 percent inertia variation is applied to the Station, only the adaptive controller is able to maintain the Station attitude.

Lam, Quang M.↗
NASA NTRS1940

A study of unsymmetrical-loading conditions

The force variation along the wing span under combined normal and angular accelerations is considered. Non dimensional curves of section load, shear, and moment are given for: (1) the air load that produces a normal acceleration; (2) the accompanying wing weight and normal inertia loads; (3) aileron and gust air loads that produce angular acceleration; (4) the angular inertia load of the wing. The required aerodynamic load distributions have been obtained by use of wing theory, and the wing inertia distributions are based on an analysis of wing-weight data. Several examples are included to illustrate the effect of wing taper and aileron span on the total shears and moments at any section along the span.

Pearson, Henry A↗
NASA NTRS1952

An Impulse-Momentum Method for Calculating Landing-Gear Contact Conditions in Eccentric Landings

An impulse-momentum method for determining impact conditions for landing gears in eccentric landings is presented. The analysis is primarily concerned with the determination of contact velocities for impacts subsequent to initial touchdown in eccentric landings and with the determination of the effective mass acting on each landing gear. These parameters determine the energy-absorption requirements for the landing gear and, in conjunction with the particular characteristics of the landing gear, govern the magnitude of the ground loads. Changes in airplane angular and linear velocities and the magnitude of landing-gear vertical, drag, and side impulses resulting from a landing impact are determined by means of impulse-momentum relationships without the necessity for considering detailed force-time variations. The effective mass acting on each gear is also determined from the calculated landing-gear impulses. General equations applicable to any type of eccentric landing are written and solutions are obtained for the particular cases of an impact on one gear, a simultaneous impact on any two gears, and a symmetrical impact. In addition a solution is presented for a simplified two-degree-of-freedom system which allows rapid qualitative evaluation of the effects of certain principal parameters. The general analysis permits evaluation of the importance of such initial conditions at ground contact as vertical, horizontal, and side drift velocities, wing lift, roll and pitch angles, and rolling and pitching velocities, as well as the effects of such factors as landing gear location, airplane inertia, landing-gear length, energy-absorption efficiency, and wheel angular inertia on the severity of landing impacts. -A brief supplementary study which permits a limited evaluation of variable aerodynamic effects neglected in the analysis is presented in the appendix. Application of the analysis indicates that landing-gear impacts in eccentric landings can be appreciably more severe than impacts in symmetrical landings with the same sinking speed. The results also indicate the effects of landing-gear location, airplane inertia, initial wing lift, side drift velocity, attitude, and initial rolling velocity on the severity of both initial and subsequent landing-gear impacts. A comparison of the severity of impacts on auxiliary gears for tricycle and quadricycle configurations is also presented.

Yntema, Robert T↗
NASA NTRS1993

Thermal studies of Martian channels and valleys using Termoskan data

The Termoskan instrument on board the Phobos '88 spacecraft acquired the highest spatial resolution thermal data ever obtained for Mars. Included in the thermal images are 2 km per pixel observations of 4 major channel and valley systems: Shalbatana Vallis; Simud Vallis, Hydraotes Chaos, and the associated outflow channel connecting it with the eastern end of Vallis Marineris; Al-Qahira Vallis; and Ma'adim Vallis. Simultaneous broad band visible channel data were obtained for all but Ma'adim Vallis. We find that all 4 valley systems have higher inertias than their surroundings, consistent with previous thermal studies of Martian channels. We conclude that the higher inertia is likely due to some intrinsic difference associated with the channel floors, rather than due only to dark aeolian deposits as suggested by some previous studies. Our conclusion is based largely upon the localized nature of the dark deposits in contrast with the thermal homogeneity of the channel floors. Thus, these channels and valleys show an uncommon (for Mars) connection between morphology and inertia.

Betts, B. H.↗
NASA NTRS1993

Porosity and the ecology of icy satellites

The case for a significant role for porosity in the structure and evolution of icy bodies in the Solar System has been difficult to establish. We present a relevant new data set and a series of structure models including a mechanical compression, not thermal creep, model for porosity that accounts satisfactorily for observed densities, moments of inertia, geologic activity, and sizes of tectonic features on icy satellites. Several types of observational data sets have been used to infer significant porosity, but until recently, alternative explanations have been preferred. Our first area of concern is the occurrence of cryovolcanism as a function of satellite radius; simple radiogenic heating models of icy satellites suggest minimum radii for melting and surface cryovolcanism to be 400 to 500 km, yet inferred melt deposits are seen on satellites half that size. One possible explanation is a deep, low conductivity regolith which lowers conductivity and raises internal temperatures, but other possibilities include tidal heating or crustal compositions of low conductivity. Our second area of concern is the occurrence and magnitude of tectonic strain; tectonic structures have been seen on icy satellites as small as Mimas and Proteus. The structures are almost exclusively extensional, with only a few possible compression Al features, and inferred global strains are on the order of 1 percent expansion. Expansions of this order in small bodies like Mimas and prevention of late compressional tectonics due to formation of ice mantles in larger bodies like Rhea are attained only in structure models including low-conductivity, and thus possibly high porosity, crusts. Thirdly, inferred moments of inertia less than 0.4 in Mimas and Tethys can be explained by high-porosity crusts, but also by differentiation of a high density core. Finally, the relatively low densities of smaller satellites like Mimas and Miranda relative to larger neighbors can be explained by deep porosity, but also by bulk compositional differences. Recent work has strengthened the case for significant porosity. Halley's nucleus was found to have a density near 0.6 g/cu cm, Janus and Epimethus were proposed to have densities near 0.7 g/cu cm, densities almost certainly due to high porosity. The irregular-spherical shape transition of icy satellites was quantitatively explained by low conductivity regoliths. A creative structure/thermal history model for Mimas simultaneously accounts quantitatively for Mimas' low density and moment of inertia by invoking initial high-porosity and subsequent compaction in the deep interior by thermal creep. The main problem with this promising model is that approximately 7 percent predicts a reduction in Mimas' radius, implying significant compressional failure and prevention of extensional tectonics, in contradiction to the observed extensional features and inferred 1 percent expansion in radius.

Croft, Steven K.↗
NASA NTRS1993

Deucalionis Regio, Mars: Evidence for a unique mineralogic endmember and a crusted surface

A small equatorial region south of Sinus Meridiani, Deucalionis Regio, has been found spectrally distinct from other regions as seen in a high spectral resolution telescopic image of the meridian hemisphere of Mars. Analysis of Viking IRTM and other related data suggest that Deucalionis Regio has a crusted surface. The crust-bonding minerals may contribute to the spectral uniqueness of this region. Two independent analyses of spectral images, linear spectral mixing and supervised classification based on the spectral shapes, showed that in addition to the well-known spectral endmember regions in this image (western Arabia, south Acidalia, and Sinus Meridiani), Deucalionis Regio has spectral properties that are unique enough to make it a principle endmember unit. In those earlier works, Deucalionis Regio was referred to as 'Meridiani Border.' Analysis of thermal inertia, rock abundance, and albedo information derived from Viking images and Infrared Thermal Mapper (IRTM) data obtained 1977-80 also indicate that Deucalionis Regio has a surface of distinctly different physical properties when compared to Arabia, Sinus Meridiani, and Acidalia. Deucalionis Regio has a thermal inertia equivalent to the Martian average, a low rock abundance (less than 5 percent), and an intermediate albedo and color. Considerable effort by previous investigators has revealed a consistent model for the surface (upper few cm) properties of the endmember reigons Arabia, Sinus Meridiani, and Acidalia. Compared with these regions, we consider that Deucalionis Regio is not a region of either (1) unconsolidated, fine bright dust like Arabia, (2) considerable windblown unconsolidated sand like Sinus Meridiani, or (3) a rocky-and-sandy surface like Acidalia. Thus, we are forced to consider that either the surface of Deucalionis Regio is made of unconsolidated fine to medium sand (about 250 microns) of an unusual and previously unreported color and albedo, or that the surface is crusted, fine-grained weathered soil, and the thermal inertia is an indicator of the degree to which the surface sediments have become indurated. We favor the latter.

Merenyi, E.↗
NASA NTRS1993

Thermal conductivity measurements of particulate materials under Martian conditions

The mean particle diameter of surficial units on Mars has been approximated by applying thermal inertia determinations from the Mariner 9 Infrared Radiometer and the Viking Infrared Thermal Mapper data together with thermal conductivity measurement. Several studies have used this approximation to characterize surficial units and infer their nature and possible origin. Such interpretations are possible because previous measurements of the thermal conductivity of particulate materials have shown that particle size significantly affects thermal conductivity under martian atmospheric pressures. The transfer of thermal energy due to collisions of gas molecules is the predominant mechanism of thermal conductivity in porous systems for gas pressures above about 0.01 torr. At martian atmospheric pressures the mean free path of the gas molecules becomes greater than the effective distance over which conduction takes place between the particles. Gas particles are then more likely to collide with the solid particles than they are with each other. The average heat transfer distance between particles, which is related to particle size, shape and packing, thus determines how fast heat will flow through a particulate material.The derived one-to-one correspondence of thermal inertia to mean particle diameter implies a certain homogeneity in the materials analyzed. Yet the samples used were often characterized by fairly wide ranges of particle sizes with little information about the possible distribution of sizes within those ranges. Interpretation of thermal inertia data is further limited by the lack of data on other effects on the interparticle spacing relative to particle size, such as particle shape, bimodal or polymodal mixtures of grain sizes and formation of salt cements between grains. To address these limitations and to provide a more comprehensive set of thermal conductivities vs. particle size a linear heat source apparatus, similar to that of Cremers, was assembled to provide a means of measuring the thermal conductivity of particulate samples. In order to concentrate on the dependence of the thermal conductivity on particle size, initial runs will use spherical glass beads that are precision sieved into relatively small size ranges and thoroughly washed.

Presley, M. A.↗
NASA NTRS1994

Thermal and albedo mapping of the polar regions of Mars using Viking thermal mapper observations: 1. North polar region

We present the first maps of the apparent thermal inertia and albedo of the north polar region of Mars. The observations used to create these maps were acquired by the infrared thermal mapper (IRTM) instruments on the two Viking orbiters over a 50-day period in 1978 during the Martian early northern summer season. The maps cover the region from 60 deg N to the north pole at a spatial resolution of 1/2 deg of latitude. The analysis and interpretation of these maps is aided by the results of a one-dimensional radiative convective model, which is used to calculate diurnal variations in surface and atmospheric temperatures, and brightness temperatures at the top of the atmospphere for a wide range of assumptions concerning aerosol optical properties and aerosol optical depths. The results of these calculations show that the effects of the Martian atmosphere on remote determinations of surface thermal inertia are more significant than have been indicated in previous studies. The maps of apparent thermal inertia and albedo show a great deal of spatial structure that is well correlated with surface features.

Paige, David A.↗
NASA NTRS1991

Adaptation of Diaphyseal Structure With Aging and Increased Mechanical Usage in the Adult Rat: A Histomorphometrical and Biomechanical Study

The experimental increase in mechanical usage or overloading of the left hindlimb was produced by immobilization of the contralateral hindlimb. The right hindlimb was placed in a flexed position against the body and was immobilized using an elastic bandage. Some control animals were sacrificed initially at time zero and increased mechanical usage and age-matched control animals were sacrificed after 2, 10, 18, and 26 weeks of treatment. All animals received double bone fluorochrome labeling prior to sacrifice. Cortical bone histomorphometry and cross-sectional moments of inertia were determined. Marrow cavity enlargement and total cross-sectional area expansion represented the age-related cortical bone changes. Increased mechanical usage enhanced periosteal bone modeling in the formation mode and dampened endocortical bone remodeling and bone modeling in the resorption mode (resorption drift) to create a slight positive bone balance. These observations are in general agreement with Frost's postulate for mechanical effects on bone modeling and remodeling. The maximum moment of inertia did not change significantly in either control or overloaded tibial shafts. The minimum and polar moment of inertias in overloaded bones increases over those of controls at 18 and 26 weeks of the experiment.

Jee, Webster S. S.↗