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At least 523 records · Page 29

A generalized method for multiple robotic manipulator programming applied to vertical-up welding

The application is described of a weld programming algorithm for vertical-up welding, which is frequently desired for variable polarity plasma arc welding (VPPAW). The Basic algorithm performs three tasks simultaneously: control of the robotic mechanism so that proper torch motion is achieved while minimizing the sum-of-squares of joint displacement; control of the torch while the part is maintained in a desirable orientation; and control of the wire feed mechanism location with respect to the moving welding torch. Also presented is a modification of this algorithm which permits it to be used for vertical-up welding. The details of this modification are discussed and simulation examples are provided for illustration and verification.

Fernandez, Kenneth R.↗

Effect of Target Location on Dynamic Visual Acuity During Passive Horizontal Rotation

The vestibulo-ocular reflex (VOR) generates eye rotation to compensate for potential retinal slip in the specific plane of head movement. Dynamic visual acuity (DVA) has been utilized as a functional measure of the VOR. The purpose of this study was to examine changes in accuracy and reaction time when performing a DVA task with targets offset from the plane of rotation, e.g. offset vertically during horizontal rotation. Visual acuity was measured in 12 healthy subjects as they moved a hand-held joystick to indicate the orientation of a computer-generated Landolt C "as quickly and accurately as possible." Acuity thresholds were established with optotypes presented centrally on a wall-mounted LCD screen at 1.3 m distance, first without motion (static condition) and then while oscillating at 0.8 Hz (DVA, peak velocity 60 deg/s). The effect of target location was then measured during horizontal rotation with the optotypes randomly presented in one of nine different locations on the screen (offset up to 10 deg). The optotype size (logMar 0, 0.2 or 0.4, corresponding to Snellen range 20/20 to 20/50) and presentation duration (150, 300 and 450 ms) were counter-balanced across five trials, each utilizing horizontal rotation at 0.8 Hz. Dynamic acuity was reduced relative to static acuity in 7 of 12 subjects by one step size. During the random target trials, both accuracy and reaction time improved proportional to optotype size. Accuracy and reaction time also improved between 150 ms and 300 ms presentation durations. The main finding was that both accuracy and reaction time varied as a function of target location, with greater performance decrements when acquiring vertical targets. We conclude that dynamic visual acuity varies with target location, with acuity optimized for targets in the plane of motion. Both reaction time and accuracy are functionally relevant DVA parameters of VOR function.

Appelbaum, Meghan↗

Developments in vertical-junction silicon solar cells

Non-reflective vertical junction silicon cells provide high conversion efficiency radiation-resistant solar cells. New techniques of oxidation growth and the use of photolithography enable the use of an orientation dependent etch producing grooves 5 to 10 microns wide over 100 microns deep. These silicon wafers are then processed into solar cells with all of the processes performed at temperatures compatible with producing high efficiency solar cells. Most of the photogenerated carriers are created in the walls where they are within a few microns of the collecting junction. Consequently, degradation of carrier diffusion length due to radiation has a considerably reduced effect on collection efficiency. These 2 cm x 2 cm vertical junction silicon solar cells have exceeded 13% AMO efficiency and have shown superior radiation resistance.

Lindmayer, J.↗

Numerical methodology for treating static and dynamic dislocation problems near a free surface

Abstract Simulation of dislocation dynamics enables researchers and scientists to explore the plastic behavior of crystalline materials under loading. Analytic solutions for the stress field due to a linear dislocation segment near a free surface are case-specific, e.g. dealing with either a horizontal segment or a vertical segment, and therefore hard to implement in time-dependent dislocation dynamics simulations as different dislocation segments could be differently oriented. This article presents a generalized numerical framework to find the stress field beneath a free surface due to the presence of a dislocation segment. The framework can be expanded to non-flat surfaces. Also, three-dimensional discrete dislocation dynamics simulations are performed here, which clearly show the effect of free surfaces on the flow stress of a material.

Siddique, Abu Bakar↗

Comparison of Magnetic Field Emission from Unipolar and Bipolar Coil-Based Wireless Charging Systems

In this study, the leakage magnetic field (LMF) from the unipolar (circular, rectangular, etc.) and bipolar (double-D) coil-based wireless charging systems (WCSs) are investigated and compared. The unipolar and bipolar pads, which are the two most widely adopted charging-pads, have significantly different magnetic field emission characteristics. In this paper, the spatial-distribution and vector-pattern of the leakage magnetic field are studied and compared for similar 11 kW unipolar and bipolar coil-based WCSs. The field emissions are simulated using finite element analysis (FEA) and tested experimentally with an 11 kW bipolar coil-based WCS prototype. The results show that the leakage magnetic field of the unipolar and bipolar pads have widely different vector-orientation and spatial distributions of the leakage magnetic field. The results show that the unipolar coil based WCS has a dominant vertical and the bipolar pads coil-based WCS has dominant horizontally aligned leakage magnetic field. Considering the shielding, the aluminum plate is found highly effective for the unipolar pad and almost ineffective for bipolar pads.

Mohammad, Mostak↗

Kinematic principles of primate rotational vestibulo-ocular reflex. I. Spatial organization of fast phase velocity axes

The spatial organization of fast phase velocity vectors of the vestibulo-ocular reflex (VOR) was studied in rhesus monkeys during yaw rotations about an earth-horizontal axis that changed continuously the orientation of the head relative to gravity ("barbecue spit" rotation). In addition to a velocity component parallel to the rotation axis, fast phases also exhibited a velocity component that invariably was oriented along the momentary direction of gravity. As the head rotated through supine and prone positions, torsional components of fast phase velocity axes became prominent. Similarly, as the head rotated through left and right ear-down positions, fast phase velocity axes exhibited prominent vertical components. The larger the speed of head rotation the greater the magnitude of this fast phase component, which was collinear with gravity. The main sequence properties of VOR fast phases were independent of head position. However, peak amplitude as well as peak velocity of fast phases were both modulated as a function of head orientation, exhibiting a minimum in prone position. The results suggest that the fast phases of vestibulo-ocular reflexes not only redirect gaze and reposition the eye in the direction of head motion but also reorient the eye with respect to earth-vertical when the head moves relative to gravity. As further elaborated in the companion paper, the underlying mechanism could be described as a dynamic, gravity-dependent modulation of the coordinates of ocular rotations relative to the head.

Non-NASA Center↗

Response Classification Images in Vernier Acuity

Orientation selective and local sign mechanisms have been proposed as the basis for vernier acuity judgments. Linear image features contributing to discrimination can be determined for a two choice task by adding external noise to the images and then averaging the noises separately for the four types of stimulus/response trials. This method is applied to a vernier acuity task with different spatial separations to compare the predictions of the two theories. Three well-practiced observers were presented around 5000 trials of a vernier stimulus consisting of two dark horizontal lines (5 min by 0.3 min) within additive low-contrast white noise. Two spatial separations were tested, abutting and a 10 min horizontal separation. The task was to determine whether the target lines were aligned or vertically offset. The noises were averaged separately for the four stimulus/response trial types (e.g., stimulus = offset, response = aligned). The sum of the two 'not aligned' images was then subtracted from the sum of the 'aligned' images to obtain an overall image. Spatially smoothed images were quantized according to expected variability in the smoothed images to allow estimation of the statistical significance of image features. The response images from the 10 min separation condition are consistent with the local sign theory, having the appearance of two linear operators measuring vertical position with opposite sign. The images from the abutting stimulus have the same appearance with the two operators closer together. The image predicted by an oriented filter model is similar, but has its greatest weight in the abutting region, while the response images fall to nonsignificance there. The response correlation image method, previously demonstrated for letter discrimination, clarifies the features used in vernier acuity.

Ahumada, Albert J., Jr.↗

Measurements of rain effects on an 18-GHz dual-polarized propagation link

The paper presents highlights of rain attenuation and depolarization data collected between August 1972 and March 1974 in an experimental setup consisting of a 1.43-km line-of-sight path with 1.22-m diam dual-polarized parabolic reflector antennas at each end. The antennas used question-mark mounted scalar feeds oriented to transmit or receive linearly polarized 17.65-GHz signals having electric field vectors at +45 deg and -45 deg from the vertical. Rain data were collected and analyzed for 24 individual storms in which the rain rate exceeded 10 mm/hr. Received signal levels were sampled once each second and stored by a small digital computer which controlled the experiment and performed preliminary data processing. The results are compared with a theoretical model presented by Wiley et al. (1974). Experimental cross-polarization isolation data are found to agree well with theoretical values, especially at high rain rates where the antenna effects are the least significant.

Bostian, C. W.↗

Automated maneuvering decisions for air-to-air combat

A game-matrix approach is used to generate intelligent maneuvering decisions for nap-of-the-earth one-on-one helicopter air combat over hilly terrain. Decisions are made in real time using the AUTOMAN program by comparing scores based upon the predicted orientation, range, velocity, and terrain clearance for various maneuver combinations of both aircraft. The program has been demonstrated at the NASA Ames Vertical Motion Simulator, providing manned helicopter simulations. Sample trajectories from a stand-alone version of the program designed for nonpiloted simulations demonstrate that the present automated maneuvering logic generates some of the tactics employed by experienced pilots in flight tests. The program also has application to fixed-wing aircraft simulations.

Austin, Fred↗

Objectively Identifying Transverse Cirrus Bands in Tropical Cyclones using a Convolutional Neural Network

Transverse cirrus bands (TCBs) are a phenomenon that occurs in many mesoscale and synoptic weather systems, including tropical cyclones. TCBs are defined as "Bands of clouds oriented perpendicular to the flow in which they are embedded" (NOAA) and can be associated with low static stability and high environmental vertical wind shear in the upper levels (Kawashima 2021). TCBs in tropical cyclones are of particular interest due to their apparent occurrence and potential linkage to the tropical cyclone diurnal cycle, stronger tropical cyclones, and rapid intensification, where rapid intensification is an intensification rate of 30 knots or more in 24 hours (NHC).

John Mark Mayhall↗

Vestibulo-ocular reflex of the squirrel monkey during eccentric rotation with centripetal acceleration along the naso-occipital axis

The vestibulo-ocular reflexes (VOR) are determined not only by angular acceleration, but also by the presence of gravity and linear acceleration. This phenomenon was studied by measuring three-dimensional nystagmic eye movements, with implanted search coils, in four male squirrel monkeys. Monkeys were rotated in the dark at 200 degrees/s, centrally or 79 cm off-axis, with the axis of rotation always aligned with gravity and the spinal axis of the upright monkeys. The monkey's position relative to the centripetal acceleration (facing center or back to center) had a dramatic influence on the VOR. These studies show that a torsional response was always elicited that acted to shift the axis of eye rotation toward alignment with gravito-inertial force. On the other hand, a slow phase downward vertical response usually existed, which shifted the axis of eye rotation away from the gravito-inertial force. These findings were consistent across all monkeys. In another set of tests, the same monkeys were rapidly tilted about their interaural (pitch) axis. Tilt orientations of 45 degrees and 90 degrees were maintained for 1 min. Other than a compensatory angular VOR during the rotation, no consistent eye velocity response was ever observed during or following the tilt. The absence of any response following tilt proves that the observed torsional and vertical responses were not a positional nystagmus. Model simulations qualitatively predict all components of these eccentric rotation and tilt responses. These simulations support the conclusion that the VOR during eccentric rotation may consist of two components: a linear VOR and a rotational VOR. The model predicts a slow phase downward, vertical, linear VOR during eccentric rotation even though there was never a change in the force aligned with monkey's spinal (Z) axis. The model also predicts the torsional components of the response that shift the rotation axis of the angular VOR toward alignment with gravito-inertial force.

NASA Center JSC↗

Vestibular models for design and evaluation of flight simulator motion

The use of spatial orientation models in the design and evaluation of control systems for motion-base flight simulators is investigated experimentally. The development of a high-fidelity motion drive controller using an optimal control approach based on human vestibular models is described. The formulation and implementation of the optimal washout system are discussed. The effectiveness of the motion washout system was evaluated by studying the response of six motion washout systems to the NASA/AMES Vertical Motion Simulator for a single dash-quick-stop maneuver. The effects of the motion washout system on pilot performance and simulator acceptability are examined. The data reveal that human spatial orientation models are useful for the design and evaluation of flight simulator motion fidelity.

Bussolari, S. R.↗

Evaluation of the Rotational Throttle Interface for Converting Aircraft Utilizing the NASA Ames Vertical Motion Simulator

An experiment was conducted to compare a conventional helicopter Thrust Control Lever (TCL) to the Rotational Throttle Interface (RTI) for tiltrotor aircraft. The RTI is designed to adjust its orientation to match the angle of the tiltrotor s nacelles. The underlying principle behind the design is to increase pilot awareness of the vehicle s configuration state (i.e. nacelle angle). Four test pilots flew multiple runs on seven different experimental courses. Three predominant effects were discovered in the testing of the RTI: 1. Unintentional binding along the control axis resulted in difficulties with precision power setting, 2. Confusion in which way to move the throttle grip was present during RTI transition modes, and 3. Pilots were not able to distinguish small angle differences during RTI transition. In this experiment the pilots were able to successfully perform all of the required tasks with both inceptors although the handling qualities ratings were slightly worse for the RTI partly due to unforeseen deficiencies in the design. Pilots did however report improved understanding of nacelle movement during transitions with the RTI.

Rozovski, David↗

Wind Shear and Wind Veer Effects on Wind Turbines

This chapter highlights key contributions to the scientific literature on the sources of wind shear and wind veer in the atmospheric boundary layer, observations of shear and veer, and the effects of shear and veer on wind turbine power production, wind turbine wake evolution, and wind turbine loads. As wind turbines have grown larger, they encounter deeper and more complicated regions of the atmosphere. Over this height, profiles of wind speed shear and wind direction veer play a quantifiable role. Changes in the wind speed and wind direction across the vertical extent of a wind turbine rotor disk modify the inflow vector on the blades of the turbine, thereby affecting the magnitude and orientation of the lift and drag forces of the blade's airfoil. These changes can affect the power production and loads on large modern turbines, as well as the evolution of the wake that could affect a downwind turbine.

atmospheric stability↗

Reversible loss of gravitropic sensitivity in maize roots after tip application of calcium chelators

The application of calcium chelating agents (EDTA or EGTA) to the tips of maize roots caused a loss of gravitropic sensitivity. When the chelator was replaced with calcium chloride, gravitropic sensitivity was restored. Asymmetric application of calcium chloride near the tip of a vertical root caused curvature toward the calcium source. When the calcium was applied to the upper surface of the tip of a root oriented horizontally, the root curved upward even though control roots exhibited strong downward curvature. Application of calcium chloride to the tips of decapped roots, which are known to be gravitropically insensitive, did not restore gravitropic sensitivity. However, asymmetric application of calcium chloride near the tips of decapped roots caused curvature toward the calcium source. Calcium may play a key role in linking gravity detection to gravitropic curvature in roots.

Lee, J. S.↗

Low-Speed Investigation of the Static Lateral Stability and Control Characteristics of a 1/6-Scale Model of the Republic XF-84H Airplane with the Propeller Operating

An investigation was made to determine the static lateral stability and control characteristics of a l/6-scale model of the Republic XF-84H airplane with the propeller operating. The model had a 40deg swept wing of aspect ratio 3.45 and had a thin 3-blade supersonic-type propeller. Many modifications to the basic configuration were investigated in attempts to alleviate lateral and directional trim problems which appeared to be associated with propeller slipstream rotation. Although significant benefits were realized with several modifications, none of those tested would be expected to afford satisfactory behavior for all normal flight conditions. A marked left-wing roll-off tendency was indicated at high angles of attack for the basic model configuration. Projection of only the left slat was the most effective remedy found for this problem with the propeller operating. The use of differential wing-flap deflection also appeared to offer a promising means for reducing the roll-off tendency with power on. The large sidewash over the vertical tail, associated with slip- stream rotation, severely restricted the conditions for which directional , trim could be maintained. A small triangular dorsal fin, oriented opposite to the slipstream rotation, was found very effective in reducing the adverse sidewash flow at the tail.

Sleeman, William C., Jr.↗

Gravity and the orientation of cell division

A novel culture system for mammalian cells was used to investigate division orientations in populations of Chinese hamster ovary cells and the influence of gravity on the positioning of division axes. The cells were tethered to adhesive sites, smaller in diameter than a newborn cell, distributed over a nonadhesive substrate positioned vertically. The cells grew and divided while attached to the sites, and the angles and directions of elongation during anaphase, projected in the vertical plane, were found to be random with respect to gravity. However, consecutive divisions of individual cells were generally along the same axis or at 90 degrees to the previous division, with equal probability. Thus, successive divisions were restricted to orthogonal planes, but the choice of plane appeared to be random, unlike the ordered sequence of cleavage orientations seen during early embryo development.

Non-NASA Center↗