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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

The construction of in-space facilities is a significant capability for the establishment of a long-term human presence in space. Autonomous robotic technologies are a critical tool to enabling the construction and maintenance of such permanent facilities. This paper evaluates the outfitting portion of the construction process, focusing on modeling required for robotic manipulation of cable-like objects, referred to as Deformable Linear Objects (DLOs). DLOs contain a high degree of variability, which makes accurate real-time autonomous operations a difficult task. Different modeling methods for DLOs such as discrete mass-spring systems and Cosserat elastic rod models range in problem complexity and accuracy, a trade-off that must be understood to fully realize autonomous cable routing technologies. This paper validates different DLO models through simulation and a hardware experiment, highlighting the size of the state space and accuracy of different approaches. The development of DLO manipulation models for outfitting enables an autonomous architecture for the construction of lunar surface systems.

Deformable Modeling↗
NASA NTRS2022

Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation

In this paper, we propose an adaptive shape servoing method to deform a soft object into a desired 3-D shape. The high dimensional representation and the unknown deformation properties of the soft object pose a challenge to actively manipulate its shape. To address this issue, we develop a method to compute the deformation Jacobian matrix in real-time. The Jacobian is estimated using a set of basis functions and its corresponding parameters to capture the dynamics of the system and relate the applied input motion to changes in the soft object's shape. An integral concurrent learning (ICL) based adaptive update law is derived using Lyapunov analysis to estimate the deformation parameters and prove its convergence. A physics-based simulation is used to validate the proposed method and controller by performing manipulation tasks with different desired configurations. The performance is compared with a standard gradient update law to demonstrate the accuracy and robustness of our approach.

Vrithik Raj Guthikonda↗
NASA NTRS1988

Deformational models of rifting and folding on Venus

Features of presumed tectonic origin on Venus are reviewed, and lithospheric strength envelopes are derived based on laboratory measurements of the deformational properties of crustal and subcrustal rocks, extrapolated to conditions appropriate to Venus. Models for rifting and folding are developed that use this lithospheric structure and take into account both brittle and ductile yielding as well as finite elastic strength. For both rifting and folding, structures with characteristic widths and spacings are predicted whose size depends on the thickness of the lithosphere, density contrast, and elastic properties of the layer. Finally, the model predictions are compared with the widths and spacings of observed tectonic features, and it is concluded that they are consistent with a relatively strong mantle layer separated from a thin brittle surface layer by a ductile lower crust. These results allow constraints to be placed on the crustal thickness and thermal gradient on Venus.

Banerdt, W. Bruce↗
NASA NTRSDate not supplied

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

The construction of in-space facilities is a significant capability for the establishment of a long-term human presence in space. Autonomous robotic technologies are a critical tool to enabling the construction and maintenance of such permanent facilities. This paper evaluates the outfitting portion of the construction process, focusing on modeling required for robotic manipulation of cable-like objects, referred to as Deformable Linear Objects (DLOs). DLOs contain a high degree of variability, which makes accurate real-time autonomous operations a difficult task. Different modeling methods for DLOs such as discrete mass-spring systems and Cosserat elastic rod models range in problem complexity and accuracy, a trade-off that must be understood to fully realize autonomous cable routing technologies. This paper validates different DLO models through simulation and a hardware experiment, highlighting the size of the state space and accuracy of different approaches. The development of DLO manipulation models for outfitting enables an autonomous architecture for the construction of lunar surface systems.

Amy M Quartaro↗
NASA NTRS1984

A comparison of two photogrammetric algorithms for the measurement of model deformation in the National Transonic Facility

A comparison was made of two photogrammetric measurement techniques which can be used for the determination of the spatial loctions of targets. One technique is known as the Direct Linear Transformation (DLT), and the other is referred to as the Bundle method. Each technique utilizes triangulation of image data from two or more cameras, but they differ in their method of determining camera parameters. While the study was performed with simulated data, the geometries, image data accuracies and other parameters were set to simulate conditions for a two-camera, photogrammetric system which will be used at the National Transonic Facility at the NASA's Langley Research Center. For the conditions studied the Bundle technique was found to have smaller errors. Both methods were sensitive to the spatial distribution of control-point targets, but this effected the accuracy of the Bundle algorithm less than that of the DLT algorithm.

Monteith, J. H.↗
NASA NTRS1986

Stress and deformation modeling of multiple rotary combustion engine trochoid housings

This paper documents the development of the capability to produce finite element models of alternate trochoid housing configurations. The effort needed to produce these models is greatly reduced by the use of a newly developed specialized finite element preprocessor which is described. The results of static stress comparisons conducted on a Mazda trochoid housing are presented. Planned future development of this modeling capability to operational situations is also presented.

Lychuk, W. M.↗
NASA NTRS1986

Viscoelastic deformation near active plate boundaries

Model deformations near the active plate boundaries of Western North America using space-based geodetic measurements as constraints are discussed. The first six months of this project were spent gaining familarity with space-based measurements, accessing the Crustal Dynamics Data Information Computer, and building time independent deformation models. The initial goal was to see how well the simplest elastic models can reproduce very long base interferometry (VLBI) baseline data. From the Crustal Dynamics Data Information Service, a total of 18 VLBI baselines are available which have been surveyed on four or more occasions. These data were fed into weighted and unweighted inversions to obtain baseline closure rates. Four of the better quality lines are illustrated. The deformation model assumes that the observed baseline rates result from a combination of rigid plate tectonic motions plus a component resulting from elastic strain build up due to a failure of the plate boundary to slip at the full plate tectonic rate. The elastic deformation resulting from the locked plate boundary is meant to portray interseismic strain accumulation. During and shortly after a large interplate earthquake, these strains are largely released, and points near the fault which were previously retarded suddenly catch up to the positions predicted by rigid plate models. Researchers judge the quality of fit by the sum squares of weighted residuals, termed total variance. The observed baseline closures have a total variance of 99 (cm/y)squared. When the RM2 velocities are assumed to model the data, the total variance increases to 154 (cm/y)squared.

Ward, S. N.↗
NASA NTRS1977

Measurement of model aeroelastic deformations in the wind tunnel at transonic speeds using stereophotogrammetry

A stereophotographic method of determining the aeroelastic deformations of an airplane model under aerodynamic load in the wind tunnel was evaluated. Wind tunnel tests were conducted in the Langley 8 foot transonic pressure tunnel on the wing of a 0.0625 scale model of the TF-8A supercritical wing research airplane to obtain simultaneously the aerodynamic forces and moments, pressure distributions, and stereophotographs. Tests were conducted at Mach numbers of 0.80, 0.95, and 1.20, and at free stream dynamic pressures of 20,349 Pa and 40,698 Pa. Accuracy of the stereophotographic technique in determining wing deflections was within 0.013 cm under static conditions. This value translates to an error in wing twist of 0.10 deg inboard and increases to 0.20 deg outboard. When the model was under aerodynamic load in the wind tunnel, the accuracy of the stereophotographic technique of determining wind deflections increased to 0.052 cm when compared with static wing loadings because of the dynamic motion of the model in the tunnel.

Brooks, J. D.↗
NASA NTRS2005

Deformation Measurements of Smart Aerodynamic Surfaces

Video Model Deformation (VMD) and Projection Moire Interferometry (PMI) were used to acquire wind tunnel model deformation measurements of the Northrop Grumman-built Smart Wing tested in the NASA Langley Transonic Dynamics Tunnel. The F18-E/F planform Smart Wing was outfitted with embedded shape memory alloys to actuate a seamless trailing edge aileron and flap, and an embedded torque tube to generate wing twist. The VMD system was used to obtain highly accurate deformation measurements at three spanwise locations along the main body of the wing, and at spanwise locations on the flap and aileron. The PMI system was used to obtain full-field wing shape and deformation measurements over the entire wing lower surface. Although less accurate than the VMD system, the PMI system revealed deformations occurring between VMD target rows indistinguishable by VMD. This paper presents the VMD and PMI techniques and discusses their application in the Smart Wing test.

Fleming, Gary A.↗
NASA NTRS1988

Modeling surface deformations at complex strike-slip plate boundaries

Two new versions of the physical base-traction model of Li and Rice (1987) have been developed to study the loading processes and surface deformation near plate boundaries with geometric complexities, including a shallow creeping fault segment and two subparallel faults. Predictions of surface velocity and surface slip rate for the region between the San Andreas fault and the Pacific coast at the latitude of the Parkfield-Cholame segment using model parameters based on geologic, geodetic, and seismic considerations were found to be in good agreement with contemporary geodetic field data (not used in constrainning model parameters). Also, predicted surface velocity for the Salton Sea-Coachella Valley area were fit to recently derived contemporary geodetic data and very large baseline interferometry data, althoug here the model parameters are not well constrained.

Li, Victor C.↗
NASA NTRS1992

Constraints on crustal rheology and age of deformation from models of gravitational spreading in Ishtar Terra, Venus

Gravitational spreading is expected to lead to rapid relaxation of high relief due to the high surface temperature and associated weak crust on Venus. In this study, we use new Magellan radar and altimetry data to determine the extent of gravitational relaxation in Ishtar Terra, which contains the highest relief on Venus as well as areas of extremely high topographic slope. Within Ishtar Terra the only mountain belts found on Venus, Akna, Danu, Freyja, and Maxwell Montes, nearly encircle the smooth, high (3-4 km) plateau of Lakshmi Planum. Finite-element models of this process give expected timescales for relaxation of relief and failure at the surface. From these modeling results we attempt to constrain the strength of the crust and timescales of deformation in Ishtar Terra. Below we discuss observational evidence for gravitational spreading in Ishtar Terra, results from the finite-element modeling, independent age constraints, and implications for the rheology and timing of deformation.

Smrekar, Suzanne E.↗
NASA NTRS1984

The Influence of Surface Topography on Polymer Friction

Current friction models for polymers are examined to determine their applicability in predicting the effects of roughness on friction. The two component, adhesion deformation model of friction predicts the variation of friction with the change in the sliding direction with respect to the lay direction on anisotropic rough surfaces. The two component model does not predict the change in friction with changes in roughness. A combination of an energy based model and a slip line deformation model may provide a friction model which could better represent measured friction.

Eiss, N. S., Jr.↗
NASA NTRS2012

Droplet Deformation Prediction With the Droplet Deformation and Breakup Model (DDB)

The Droplet Deformation and Breakup Model was used to predict deformation of droplets approaching the leading edge stagnation line of an airfoil. The quasi-steady model was solved for each position along the droplet path. A program was developed to solve the non-linear, second order, ordinary differential equation that governs the model. A fourth order Runge-Kutta method was used to solve the equation. Experimental slip velocities from droplet breakup studies were used as input to the model which required slip velocity along the particle path. The center of mass displacement predictions were compared to the experimental measurements from the droplet breakup studies for droplets with radii in the range of 200 to 700 mm approaching the airfoil at 50 and 90 m/sec. The model predictions were good for the displacement of the center of mass for small and medium sized droplets. For larger droplets the model predictions did not agree with the experimental results.

Vargas, Mario↗
NASA NTRS2010

Experimental Investigation of the NASA Common Research Model

An experimental aerodynamic investigation of the NASA Common Research Model has been conducted in the NASA NTF (National Transonic Facility). Data have been obtained at chord Reynolds numbers of 5, 19.8 and 30 million for the WB and WBT0 configurations. Data have also been obtained at a chord Reynolds number of 5 million for the WBNP, WBT+2 and WBT-2 configurations. Force and moment, surface pressure and surface flow visualization data were obtained but only the force and moment data are presented herein. Model deformation measurements, aeroelastic, nacelle/pylon Reynolds number and tail effects have been assessed. The model deformation measurements showed more twist as you go out the wing span, with a break in the high q(sub infinity) data close to CL = 0.6 which is consistent with separation near the tip. Increases in dynamic pressure give an increase in pitching moment and drag and a decrease in lift for the WB and WBT0 configuration at Mach = 0.7, 0.85 and 0.87. The addition of a nacelle/pylon gave an increase in drag, decrease in lift and a less nose down pitching moment around the design lift condition of 0.5. Increases in chord Reynolds number have been found to follow the normal Reynolds number trends except at the 19.8 million low q(sub infinity) cases. The abnormality of the 19.8 million low q(sub infinity) cases is being investigated. The tail effects also follow the expected trends. All of the data shown fall within the 2-sigma limits for repeatability.

Rivers, Melissa B.↗
NASA NTRS2003

Contributions of the NASA Langley Research Center to the DARPA/AFRL/NASA/ Northrop Grumman Smart Wing Program

An overview of the contributions of the NASA Langley Research Center (LaRC) to the DARPA/AFRL/NASA/ Northrop Grumman Corporation (NGC) Smart Wing program is presented. The overall objective of the Smart Wing program was to develop smart** technologies and demonstrate near-flight-scale actuation systems to improve the aerodynamic performance of military aircraft. NASA LaRC s roles were to provide technical guidance, wind-tunnel testing time and support, and Computational Fluid Dynamics (CFD) analyses. The program was divided into two phases, with each phase having two wind-tunnel entries in the Langley Transonic Dynamics Tunnel (TDT). This paper focuses on the fourth and final wind-tunnel test: Phase 2, Test 2. During this test, a model based on the NGC Unmanned Combat Air Vehicle (UCAV) concept was tested at Mach numbers up to 0.8 and dynamic pressures up to 150 psf to determine the aerodynamic performance benefits that could be achieved using hingeless, smoothly-contoured control surfaces actuated with smart materials technologies. The UCAV-based model was a 30% geometric scale, full-span, sting-mounted model with the smart control surfaces on the starboard wing and conventional, hinged control surfaces on the port wing. Two LaRC-developed instrumentation systems were used during the test to externally measure the shapes of the smart control surface and quantify the effects of aerodynamic loading on the deflections: Videogrammetric Model Deformation (VMD) and Projection Moire Interferometry (PMI). VMD is an optical technique that uses single-camera photogrammetric tracking of discrete targets to determine deflections at specific points. PMI provides spatially continuous measurements of model deformation by computationally analyzing images of a grid projected onto the model surface. Both the VMD and PMI measurements served well to validate the use of on-board (internal) rotary potentiometers to measure the smart control surface deflection angles. Prior to the final entry, NASA LaRC also performed three-dimensional unstructured Navier Stokes CFD analyses in an attempt to predict the potential aerodynamic impact of the smart control surface on overall model forces and moments. Eight different control surface shapes were selected for study at Mach = 0.6, Reynolds number = 3.25 x 10(exp 6), and + 2 deg., 3 deg., 8 deg., and 10 deg.model angles-of-attack. For the baseline, undeflected control surface geometry, the CFD predictions and wind-tunnel results matched well. The agreement was not as good for the more complex aero-loaded control surface shapes, though, because of the inability to accurately predict those shapes. Despite these results, the NASA CFD study served as an important step in studying advanced control effectors.

Florance, Jennifer P.↗
NASA NTRS2008

Model Attitude and Deformation Measurements at the NASA Glenn Research Center

The NASA Glenn Research Center is currently participating in an American Institute of Aeronautics and Astronautics (AIAA) sponsored Model Attitude and Deformation Working Group. This working group is chartered to develop a best practices document dealing with the measurement of two primary areas of wind tunnel measurements, 1) model attitude including alpha, beta and roll angle, and 2) model deformation. Model attitude is a principle variable in making aerodynamic and force measurements in a wind tunnel. Model deformation affects measured forces, moments and other measured aerodynamic parameters. The working group comprises of membership from industry, academia, and the Department of Defense (DoD). Each member of the working group gave a presentation on the methods and techniques that they are using to make model attitude and deformation measurements. This presentation covers the NASA Glenn Research Center s approach in making model attitude and deformation measurements.

Woike, Mark R.↗