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At least 397 records · Page 22

Recursive calculation of geared robot manipulator dynamics

A recursive formulation is presented for the calculation of the inverse and forward dynamics of rigid robot manipulators with gear systems on each joint. The complete effects of the gear ratios and the gyroscopic effects of the spinning motor/gear are included in the recursive formulation. The forward dynamics solution recursively calculates the joint accelerations when given motor torques, and the number of computations grows linearly with the number of links.

Murphy, Steve H.↗

Navier-Stokes analysis of an oxidizer turbine blade with tip clearance

The Gas Generator Oxidizer Turbine (GGOT) Blade is being analyzed by various investigators under the NASA MSFC sponsored Turbine Stage Technology Team design effort. The present work concentrates on the tip clearance region flow and associated losses; however, flow details for the passage region are also obtained in the simulations. The present calculations simulate the rotor blade row in a rotating reference frame with the appropriate coriolis and centrifugal acceleration terms included in the momentum equation. The upstream computational boundary is located about one axial chord from the blade leading edge. The boundary conditions at this location were determined by using a Euler analysis without the vanes to obtain approximately the same flow profiles at the rotor as were obtained with the Euler stage analysis including the vanes. Inflow boundary layer profiles are then constructed assuming the skin friction coefficient at both the hub and the casing. The downstream computational boundary is located about one axial chord from the blade trailing edge, and the circumferentially averaged static pressure at this location was also obtained from the Euler analysis. Results were obtained for the 3-D baseline GGOT geometry at the full scale design Reynolds number. Details of the clearance region flow behavior and blade pressure distributions were computed. The spanwise variation in blade loading distributions are shown, and circumferentially averaged spanwise distributions of total pressure, total temperature, Mach number, and flow angle are shown at several axial stations. The spanwise variation of relative total pressure loss shows a region of high loss in the region near the casing. Particle traces in the near tip region show vortical behavior of the fluid which passes through the clearance region and exits at the downstream edge of the gap.

Gibeling, Howard J.↗

Unique life sciences research facilities at NASA Ames Research Center

The Life Science Division at NASA's Ames Research Center has a suite of specialized facilities that enable scientists to study the effects of gravity on living systems. This paper describes some of these facilities and their use in research. Seven centrifuges, each with its own unique abilities, allow testing of a variety of parameters on test subjects ranging from single cells through hardware to humans. The Vestibular Research Facility allows the study of both centrifugation and linear acceleration on animals and humans. The Biocomputation Center uses computers for 3D reconstruction of physiological systems, and interactive research tools for virtual reality modeling. Psycophysiological, cardiovascular, exercise physiology, and biomechanical studies are conducted in the 12 bed Human Research Facility and samples are analyzed in the certified Central Clinical Laboratory and other laboratories at Ames. Human bedrest, water immersion and lower body negative pressure equipment are also available to study physiological changes associated with weightlessness. These and other weightlessness models are used in specialized laboratories for the study of basic physiological mechanisms, metabolism and cell biology. Visual-motor performance, perception, and adaptation are studied using ground-based models as well as short term weightlessness experiments (parabolic flights). The unique combination of Life Science research facilities, laboratories, and equipment at Ames Research Center are described in detail in relation to their research contributions.

Mulenburg, G. M.↗

Navier-Stokes analysis of an oxidizer turbine blade with tip clearance with and without a mini-shroud

The Gas Generator Oxidizer Turbine (GGOT) Blade is being analyzed by various investigators under the NASA MSFC-sponsored Turbine Stage Technology Team design effort. The present work concentrates on the tip clearance region flow and associated losses; however, flow details for the passage region are also obtained in the simulations. The present calculations simulate the rotor blade row in a rotating reference frame with the appropriate coriolis and centrifugal acceleration term included in the momentum equations. The upstream computational boundary is located about one axial chord from the blade leading edge. The boundary conditions at this location have been determined by Pratt & Whitney using an Euler analysis without the vanes to obtain approximately the same flow profiles at the rotor as were obtained with the Euler stage analysis including the vanes. Inflow boundary layer profiles are then constructed assuming the skin friction coefficient at both the hub and the casing. The downstream computational boundary is located about one axial chord from the blade trailing edge, and the circumferentially averaged static pressure at this location was also obtained from the P&W Euler analysis. Results obtained for the 3-D baseline GGOT geometry at the full scale design Reynolds number show a region of high loss in the region near the casing. Particle traces in the near tip region show vortical flow behavior of the fluid which passes through the clearance region and exits at the downstream edge of the gap. In an effort to reduce clearance flow losses, the mini-shroud concept was proposed by the Pratt & Whitney design team. Calculations were performed on the GGO geometry with the mini-shroud. Results of these calculations indicate that the mini-shroud does not significantly affect the flow in the passage region, and although the tip clearance flow is different, the mini-shroud does not seem to prevent the above-mentioned vortical flow behavior. Since both flow distortion and total pressure losses are similar for both geometries, the addition of the mini-shroud does not seem to reduce the tip clearance flow effects.

Chan, Tony↗

A Conforming Multigrid Method for the Pure Traction Problem of Linear Elasticity: Mixed Formulation

A multigrid method using conforming P-1 finite element is developed for the two-dimensional pure traction boundary value problem of linear elasticity. The convergence is uniform even as the material becomes nearly incompressible. A heuristic argument for acceleration of the multigrid method is discussed as well. Numerical results with and without this acceleration as well as performance estimates on a parallel computer are included.

Lee, Chang-Ock↗

Attitude/attitude-rate estimation from GPS differential phase measurements using integrated-rate parameters

A sequential filtering algorithm is presented for attitude and attitude-rate estimation from Global Positioning System (GPS) differential carrier phase measurements. A third-order, minimal-parameter method for solving the attitude matrix kinematic equation is used to parameterize the filter's state, which renders the resulting estimator computationally efficient. Borrowing from tracking theory concepts, the angular acceleration is modeled as an exponentially autocorrelated stochastic process, thus avoiding the use of the uncertain spacecraft dynamic model. The new formulation facilitates the use of aiding vector observations in a unified filtering algorithm, which can enhance the method's robustness and accuracy. Numerical examples are used to demonstrate the performance of the method.

Oshman, Yaakov↗

Vector Observation-Aided/Attitude-Rate Estimation Using Global Positioning System Signals

A sequential filtering algorithm is presented for attitude and attitude-rate estimation from Global Positioning System (GPS) differential carrier phase measurements. A third-order, minimal-parameter method for solving the attitude matrix kinematic equation is used to parameterize the filter's state, which renders the resulting estimator computationally efficient. Borrowing from tracking theory concepts, the angular acceleration is modeled as an exponentially autocorrelated stochastic process, thus avoiding the use of the uncertain spacecraft dynamic model. The new formulation facilitates the use of aiding vector observations in a unified filtering algorithm, which can enhance the method's robustness and accuracy. Numerical examples are used to demonstrate the performance of the method.

Oshman, Yaakov↗

Numerical Simulation of 3-D Supersonic Viscous Flow in an Experimental MHD Channel

The 3-D supersonic viscous flow in an experimental MHD channel has been numerically simulated. The experimental MHD channel is currently in operation at NASA Ames Research Center. The channel contains a nozzle section, a center section, and an accelerator section where magnetic and electric fields can be imposed on the flow. In recent tests, velocity increases of up to 40% have been achieved in the accelerator section. The flow in the channel is numerically computed using a new 3-D parabolized Navier-Stokes (PNS) algorithm that has been developed to efficiently compute MHD flows in the low magnetic Reynolds number regime. The MHD effects are modeled by introducing source terms into the PNS equations which can then be solved in a very e5uent manner. To account for upstream (elliptic) effects, the flowfield can be computed using multiple streamwise sweeps with an iterated PNS algorithm. The new algorithm has been used to compute two test cases that match the experimental conditions. In both cases, magnetic and electric fields are applied to the flow. The computed results are in good agreement with the available experimental data.

Kato, Hiromasa↗

Simulation of 3-D Nonequilibrium Seeded Air Flow in the NASA-Ames MHD Channel

The 3-D nonequilibrium seeded air flow in the NASA-Ames experimental MHD channel has been numerically simulated. The channel contains a nozzle section, a center section, and an accelerator section where magnetic and electric fields can be imposed on the flow. In recent tests, velocity increases of up to 40% have been achieved in the accelerator section. The flow in the channel is numerically computed us ing a 3-D parabolized Navier-Stokes (PNS) algorithm that has been developed to efficiently compute MHD flows in the low magnetic Reynolds number regime: The MHD effects are modeled by introducing source terms into the PNS equations which can then be solved in a very efficient manner. The algorithm has been extended in the present study to account for nonequilibrium seeded air flows. The electrical conductivity of the flow is determined using the program of Park. The new algorithm has been used to compute two test cases that match the experimental conditions. In both cases, magnetic and electric fields are applied to the seeded flow. The computed results are in good agreement with the experimental data.

Gupta, Sumeet↗

Numerical Study Comparing RANS and LES Approaches on a Circulation Control Airfoil

A numerical study over a nominally two-dimensional circulation control airfoil is performed using a large-eddy simulation code and two Reynolds-averaged Navier-Stokes codes. Different Coanda jet blowing conditions are investigated. In addition to investigating the influence of grid density, a comparison is made between incompressible and compressible flow solvers. The incompressible equations are found to yield negligible differences from the compressible equations up to at least a jet exit Mach number of 0.64. The effects of different turbulence models are also studied. Models that do not account for streamline curvature effects tend to predict jet separation from the Coanda surface too late, and can produce non-physical solutions at high blowing rates. Three different turbulence models that account for streamline curvature are compared with each other and with large eddy simulation solutions. All three models are found to predict the Coanda jet separation location reasonably well, but one of the models predicts specific flow field details near the Coanda surface prior to separation much better than the other two. All Reynolds-averaged Navier-Stokes computations produce higher circulation than large eddy simulation computations, with different stagnation point location and greater flow acceleration around the nose onto the upper surface. The precise reasons for the higher circulation are not clear, although it is not solely a function of predicting the jet separation location correctly.

Rumsey, Christopher L.↗

NASA’s Advance Information Systems Technology (AIST) Program

NASA’s Earth Science Technology Office (ESTO) develops early-stage technologies to enhance scientific understanding. ESTO’s technologies can be reliably and confidently applied to a broad range of science measurements and missions, as well as facilitate practical applications to benefit society at large. As the lead technology office within the Earth Science Division of the NASA Science Mission Directorate, ESTO is focused on the technological challenges inherent to space-based investigations of our planet's dynamic, interrelated systems. Through flexible, science-driven technology strategies and a competitive selection process, ESTO-funded technologies have supported numerous Earth science missions as well as commercial applications. From next generation sensors and instruments to communication and information systems, ESTO technologies enable many NASA missions and data services. The Advanced Information Systems Technology (AIST) Program is one focal area of ESTO. AIST innovates information system technologies that enable the development of new observing systems as well as agile science investigations through data analytics and artificial intelligence tools and algorithms. AIST utilizes an end-to-end development approach with the goal of infusing mature technologies into future missions, measurements, and analysis. One thrust of AIST is data exploitation and analysis using an analytic center framework to make observational data and model output more accessible and usable to scientists conducting specific investigations as well as to extract higher-level science content and information from the data. The framework accelerates scientific discovery by harmonizing the data, tools, and computational resources. NASA’s upcoming Surface, Biology and Geology (SBG) mission is one such mission whose data architecture will leverage many of the technologies developed through the AIST program. This talk will highlight current and future program development goals.

Laura Rogers↗

Time-dependent simulation of oblique MHD cosmic-ray shocks using the two-fluid model

Using a new, second-order accurate numerical method we present dynamical simulations of oblique MHD cosmic-ray (CR)-modified plane shock evolution. Most of the calculations are done with a two-fluid model for diffusive shock acceleration, but we provide also comparisons between a typical shock computed that way against calculations carried out using the more complete, momentum-dependent, diffusion-advection equation. We also illustrate a test showing that these simulations evolve to dynamical equilibria consistent with previously published steady state analytic calculations for such shocks. In order to improve understanding of the dynamical role of magnetic fields in shocks modified by CR pressure we have explored for time asymptotic states the parameter space of upstream fast mode Mach number, M(sub f), and plasma beta. We compile the results into maps of dynamical steady state CR acceleration efficiency, epsilon(sub c). We have run simulations using constant, and nonisotropic, obliquity (and hence spatially) dependent forms of the diffusion coefficient kappa. Comparison of the results shows that while the final steady states achieved are the same in each case, the history of CR-MHD shocks can be strongly modified by variations in kappa and, therefore, in the acceleration timescale. Also, the coupling of CR and MHD in low beta, oblique shocks substantially influences the transient density spike that forms in strongly CR-modified shocks. We find that inside the density spike a MHD slow mode wave can be generated that eventually steepens into a shock. A strong layer develops within the density spike, driven by MHD stresses. We conjecture that currents in the shear layer could, in nonplanar flows, results in enhanced particle accretion through drift acceleration.

Frank, Adam↗

Computer simulation study of multiple germanium gamma-ray sensor arrays

Design studies of large high resolution gamma-ray spectrometer systems employing multiple sensors are greatly facilitated by the use of computer simulation techniques. A study has been made by interfacing a detector geometry code with the EGS-3 version of the Stanford Linear Accelerator Center Monte-Carlo Code which has been modified to run on our VAX computer. The detector responses have been simulated for input photons with energies between 0.1 and 10 MeV. Examples are given to illustrate the performance of complex sensor arrays with different configurations of the anticoincidence system. Of particular interest is a design composed of an array of 7 detector elements each consisting of a thin planar Ge (1 cm thick) detector mounted in front of and in tandem with a large coaxial Ge detector.

Nakano, G. H.↗

Study of shock-induced combustion using an implicit TVD scheme

The supersonic combustion flowfields associated with various hypersonic propulsion systems, such as the ram accelerator, the oblique detonation wave engine, and the scramjet, are being investigated using a new computational fluid dynamics (CFD) code. The code solves the fully coupled Reynolds-averaged Navier-Stokes equations and species continuity equations in an efficient manner. It employs an iterative method and a second order differencing scheme to improve computational efficiency. The code is currently being applied to study shock wave/boundary layer interactions in premixed combustible gases, and to investigate the ram accelerator concept. Results obtained for a ram accelerator configuration indicate a new combustion mechanism in which a shock wave induces combustion in the boundary layer, which then propagates outward and downstream. The combustion process creates a high pressure region over the back of the projectile resulting in a net positive thrust forward.

Yungster, Shayne↗

Three-dimensional structural analysis using interactive graphics

The application of computer interactive graphics to three-dimensional structural analysis was described, with emphasis on the following aspects: (1) structural analysis, and (2) generation and checking of input data and examination of the large volume of output data (stresses, displacements, velocities, accelerations). Handling of three-dimensional input processing with a special MESH3D computer program was explained. Similarly, a special code PLTZ may be used to perform all the needed tasks for output processing from a finite element code. Examples were illustrated.

Biffle, J.↗

Constraint Embedding Technique for Multibody System Dynamics

Multibody dynamics play a critical role in simulation testbeds for space missions. There has been a considerable interest in the development of efficient computational algorithms for solving the dynamics of multibody systems. Mass matrix factorization and inversion techniques and the O(N) class of forward dynamics algorithms developed using a spatial operator algebra stand out as important breakthrough on this front. Techniques such as these provide the efficient algorithms and methods for the application and implementation of such multibody dynamics models. However, these methods are limited only to tree-topology multibody systems. Closed-chain topology systems require different techniques that are not as efficient or as broad as those for tree-topology systems. The closed-chain forward dynamics approach consists of treating the closed-chain topology as a tree-topology system subject to additional closure constraints. The resulting forward dynamics solution consists of: (a) ignoring the closure constraints and using the O(N) algorithm to solve for the free unconstrained accelerations for the system; (b) using the tree-topology solution to compute a correction force to enforce the closure constraints; and (c) correcting the unconstrained accelerations with correction accelerations resulting from the correction forces. This constraint-embedding technique shows how to use direct embedding to eliminate local closure-loops in the system and effectively convert the system back to a tree-topology system. At this point, standard tree-topology techniques can be brought to bear on the problem. The approach uses a spatial operator algebra approach to formulating the equations of motion. The operators are block-partitioned around the local body subgroups to convert them into aggregate bodies. Mass matrix operator factorization and inversion techniques are applied to the reformulated tree-topology system. Thus in essence, the new technique allows conversion of a system with closure-constraints into an equivalent tree-topology system, and thus allows one to take advantage of the host of techniques available to the latter class of systems. This technology is highly suitable for the class of multibody systems where the closure-constraints are local, i.e., where they are confined to small groupings of bodies within the system. Important examples of such local closure-constraints are constraints associated with four-bar linkages, geared motors, differential suspensions, etc. One can eliminate these closure-constraints and convert the system into a tree-topology system by embedding the constraints directly into the system dynamics and effectively replacing the body groupings with virtual aggregate bodies. Once eliminated, one can apply the well-known results and algorithms for tree-topology systems to solve the dynamics of such closed-chain system.

Woo, Simon S.↗

Spring 2014 Internship Diffuser Data Analysis

J-2X engine testing on the A-2 test stand at the NASA John C. Stennis Space Center (SSC) has recently concluded. As part of that test campaign, the engine was operated at lower power levels in support of expanding the use of J-2X to other missions. However, the A-2 diffuser was not designed for engine testing at the proposed low power levels. To evaluate the risk of damage to the diffuser, computer simulations were created of the rocket engine exhaust plume inside the 50ft long, water-cooled, altitude-simulating diffuser. The simulations predicted that low power level testing would cause the plume to oscillate in the lower sections of the diffuser. This can possibly cause excessive vibrations, stress, and heat transfer from the plume to the diffuser walls. To understand and assess the performance of the diffuser during low power level engine testing, nine accelerometers and four strain gages were installed around the outer surface of the diffuser. The added instrumentation also allowed for the verification of the rocket exhaust plume computational model. Prior to engine hot-fire testing, a diffuser water-flow test was conducted to verify the proper operation of the newly installed instrumentation. Subsequently, two J-2X engine hot-fire tests were completed. Hot-Fire Test 1 was 11.5 seconds in duration, and accelerometer and strain data verified that the rocket engine plume oscillated in the lower sections of the diffuser. The accelerometers showed very different results dependent upon location. The diffuser consists of four sections, with Section 1 being closest to the engine nozzle and Section 4 being farthest from the engine nozzle. Section 1 accelerometers showed increased amplitudes at startup and shutdown, but low amplitudes while the diffuser was started. Section 3 accelerometers showed the opposite results with near zero G amplitudes prior to and after diffuser start and peak amplitudes to +/- 100G while the diffuser was started. Hot-Fire Test 1 strain gages showed different data dependent on section. Section 1 strains were small, and were in the range of 50 to 150 microstrain, which would result in stresses from 1.45 to 4.35 ksi. The yield stress of the material, A-285 Grade C Steel, is 29.7 ksi. Section 4 strain gages showed much higher values with strains peaking at 1600 microstrain. This strain corresponds to a stress of 46.41 ksi, which is in excess of the yield stress, but below the ultimate stress of 55 to 75 ksi. The decreased accelerations and strain in Section 1, and the increased accelerations and strain in Sections 3 and 4 verified the computer simulation prediction of increased plume oscillations in the lower sections of the diffuser. Hot-Fire Test 2 ran for a duration of 125 seconds. The engine operated at a slightly higher power level than Hot-Fire Test 1 for the initial 35 seconds of the test. After 35 seconds the power level was lowered to Hot-Fire Test 1 levels. The acceleration and strain data for Hot-Fire Test 2 was similar during the initial part of the test. However, just prior to the engine being lowered to the Hot-Fire Test 1 power level, the strain gage data in Section 4 showed a large decrease to strains near zero microstrain from their peak at 1500 microstrain. Future work includes further strain and acceleration data analysis and evaluation.

Laigaie, Robert T.↗

Coherent ion acceleration at a density gradient

The paper describes a model, in which ions are accelerated against the direction of the electric field at a density gradient. A one-dimensional, inhomogeneous, steady-state is constructed, in which cold electrons stream relative to cold ions. The wavenumber and amplitude of the fluctuating potential are calculated, then used to compute the trajectories of representative ions trapped in the potential troughs. Ion acceleration to energies an order of magnitude greater than the applied potential is demonstrated.

Hsieh, S. L.↗