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At least 55 records · Page 3

Model mount system for testing flutter

A wind tunnel model mount system is disclosed for effectively and accurately determining the effects of attack and airstream velocity on a model airfoil or aircraft. The model mount system includes a rigid model attached to a splitter plate which is supported away from the wind tunnel wall several of flexible rods. Conventional instrumentation is employed to effect model rotation through a turntable and to record model flutter data as a function of the angle of attack versus dynamic pressure.

Farmer, M. G.↗

Controlling Tensegrity Robots through Evolution using Friction based Actuation

Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

Tensegrit↗

Engineering parameter determination from the radio astronomy explorer /RAE I/ satellite attitude data

An RAE-I satellite description is given, taking into account a dynamics experiment and the attitude sensing system. A computer program for analyzing flexible spacecraft attitude motions is considered, giving attention to the geometry of rod deformation. The characteristics of observed attitude data are discussed along with an analysis of the main boom root angle, the bending rigidity, and the damper plane angle.

Lawlor, E. A.↗

Apparatus and method for pulsed laser deposition of materials on wires and pipes

Methods and apparatuses are disclosed which allow uniform coatings to be applied by pulsed laser deposition (PLD) on inner and outer surfaces of cylindrical objects, such as rods, pipes, tubes, and wires. The use of PLD makes this technique particularly suitable for complex multicomponent materials, such as superconducting ceramics. Rigid objects of any length, i.e., pipes up to a few meters, and with diameters from less than 1 centimeter to over 10 centimeters can be coated using this technique. Further, deposition is effected simultaneously onto an annular region of the pipe wall. This particular arrangement simplifies the apparatus, reduces film uniformity control difficulties, and can result in faster operation cycles. In addition, flexible wires of any length can be continuously coated using the disclosed invention.

Fernandez, Felix E.↗

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

This paper presents structural models of deformable linear objects (DLOs). DLOs are a subclass of deformable objects that encompasses common outfitting elements such as cables and ropes. Models are validated through hardware experiments, and integration in a robotic autonomy architecture for space environments is discussed. A persistent human presence on the lunar surface is one of the next major milestones in space exploration. This requires the development of robust extraplanetary construction technologies including structures and materials modeling and robotic systems. Previous robotic construction technology development has primarily focused on structural assembly, with significantly less focus on robotically performed outfitting tasks to instantiate subsystems providing power, data, life support, etc. These tasks involve manipulation of highly flexible elements, which are difficult to model, such as cable harnesses, ropes, and hoses. Robotic manipulation of DLOs, especially cable harnesses, is an active area of research as cable harnesses are essential for providing power and data to space assets. DLO models that can be used for robot manipulator trajectory generation are necessary for autonomous operation of lunar infrastructure. There are many proposed methods for modeling DLOs, and they primarily fall into three types: 1) discrete model-based, 2) continuum model-based, and 3) Neural Network-based. These types each have pros and cons, and the tradeoff between model accuracy and computational speed informs which type should be used. An understanding of this trade-off is imperative for real-time control of autonomous systems. High computational requirements reduce the speed of the model, making real-time control difficult, while accuracy is critical to preventing collisions. Discrete models, such as a mass-spring multibody representation, require relatively few calculations, and accuracy is directly tied to the step size of the discretization. Continuum models, such as a B-spline representation or a Cosserat rod model (a mix of continuous and discrete), are more informed of the structural properties of the cable and are much more accurate than a rigid body mass-spring model, but at significant computational cost. A Neural Network approach can provide an online solution with very few computational steps, but properly generating training data can be difficult and validation for an in-space application is not trivial. This paper explores the trade-off between different modeling approaches and compares accuracy and computational speed/complexity of the three types mentioned above. Model accuracy is evaluated using a cable in a static configuration. True cable shape is obtained using a depth camera for RGB images and point-cloud segmentation. The purpose of this experiment is to evaluate the trade-offs of different approaches to the DLO modeling problem. Understanding the tradeoffs between different cable modeling techniques paves the way for developing robotic control and planning architectures necessary for real-time manipulation of DLOs for lunar infrastructure outfitting. Real-time control is required for robotic systems to be able to actively manipulate a cable in a harsh environment where model and sensor errors compound, and environmental conditions can cause significant disturbances. Cable routing must be performed in areas with high density of objects/obstacles: through truss structures, near solar panels or mirror arrays, next to bundles of electrical equipment. Understanding the best way to plan and manipulate a cable without disrupting the environment or damaging the cable is imperative to robotic outfitting operations on the lunar surface.

Amy M Quartaro↗

Method for making a hot wire anemometer and product thereof

A hot wire anemometer probe is described that includes a ceramic body supporting two conductive rods parallel to each other. The body has a narrow edge surface from which the rods protrude. A probe wire is welded to the rods and extends along the edge surface. A ceramic adhesive is used to secure the probe wire to the surface so that the probe wire is rigid. A method for fabricating the probe is also described in which the body is molded and precisely shaped by machining techniques before the probe wires are installed.

Milkulla, V.↗

Fibers of newly developed refractory ceramics produced by improved process

Rods of refractory ceramic material and glasses having relatively high fusion temperatures and tensile strengths are converted to fiber by subjecting these rods to alternate fusion and gas-jet bursts. The refractory, high tensile strength fibers produced are combined with suitable binder to produce heat-resistant fabrics and rigid structures.

Source record↗

Helicopter Pitch-Control Mechanism Reduces Vibration

Large forces accommodated without increasing weight of helicopter structure. New mechanism yields stiffer control and improves accuracy of pitch changes under load. As result, heavy casting not for gearbox, nor extra reinforcing members needed for fuselage bulkheads, stringers, skin, and other parts. In new mechanism, reaction forces developed in rotor hub. Long load paths to gearbox and fuselage elminated. Reaction member rigidly attached to hub and rotates with it. At lower end of reaction member, bearing forms bridge to fuselage through stationary beam and antirotation link. Beam connected to reaction plate through rods.

Lemont, H.↗

Impact of solids on composite materials

The failure modes of composite materials as a result of low velocity impact were investigated by simulating the impact with a finite element analysis. An important facet of the project is the modeling of the impact of a solid onto cylindrical shells composed of composite materials. The model under development will simulate the delamination sustained when a composite material encounters impact from another rigid body. The computer equipment was installed, the computer network tested, and a finite element method model was developed to compare results with known experimental data. The model simulated the impact of a steel rod onto a rotating shaft. Pre-processing programs (GMESH and TANVEL) were developed to generate node and element data for the input into the three dimensional, dynamic finite element analysis code (DYNA3D). The finite element mesh was configured with a fine mesh near the impact zone and a coarser mesh for the impacting rod and the regions surrounding the impacting zone. For the computer simulation, five impacting loads were used to determine the time history of the stresses, the scribed surface areas, and the amount of ridging. The processing time of the computer codes amounted from 1 to 4 days. The calculated surface area were within 6-12 percent, relative error when compated to the actual scratch area.

Bronson, Arturo↗

Feasibility Analysis of Unmanned Aerial Vehicle Based on Tensegrity Structure

For future unmanned aerial vehicles to be ubiquitous, they need to be safe to other aircraft and people on the ground even in the event of unintended collisions. Unfortunately, this is difficult for current rigid designs as a crash of all but the smallest aircraft will have a significant impact on its target. As an alternative, this pa-per explores using a soft tensegrity structure (interconnected cables and rods) as a lightweight, robust chassis for a UAS and analyze its ability to achieve stable, controllable flight and mitigate damage during a collision. Tensegrity structures are three dimensional geometric constructions which are able to undergo severe deformations without permanent damage, and can immediately return to their original shape. Experiments and analysis are performed using a simple physics simulation environment, allowing for rapid design iteration and thorough exploration of system behavior. We test multiple configurations of the vehicle to understand impacts of changing various physical characteristics, and take limitations such as modern propeller thrust coefficients and motor speeds into account to ensure our results are inline with those of a real world vehicle. We ultimately find that such a vehicle has considerable real world potential, and that a physical prototype could theoretically be constructed and flown with current technology.

Bjorn Johnson↗

Adjustable Optical Mount Is More Rigid

Improved mount for lens or mirror in laser offers rigidity similar to that of nonadjustable optical mount. In comparison with older adjustable optical mounts, this one less susceptible to movements and distortions caused by vibrations and by thermal expansions and contractions. Mount contains neither adjustment rods (which grow or shrink as temperature varies) nor springs (which transmit vibrations to mounted optic).

Asbury, Bill G.↗

Flight Dynamics of Flexible Aircraft with Aeroelastic and Inertial Force Interactions

This paper presents an integrated flight dynamic modeling method for flexible aircraft that captures coupled physics effects due to inertial forces, aeroelasticity, and propulsive forces that are normally present in flight. The present approach formulates the coupled flight dynamics using a structural dynamic modeling method that describes the elasticity of a flexible, twisted, swept wing using an equivalent beam-rod model. The structural dynamic model allows for three types of wing elastic motion: flapwise bending, chordwise bending, and torsion. Inertial force coupling with the wing elasticity is formulated to account for aircraft acceleration. The structural deflections create an effective aeroelastic angle of attack that affects the rigid-body motion of flexible aircraft. The aeroelastic effect contributes to aerodynamic damping forces that can influence aerodynamic stability. For wing-mounted engines, wing flexibility can cause the propulsive forces and moments to couple with the wing elastic motion. The integrated flight dynamics for a flexible aircraft are formulated by including generalized coordinate variables associated with the aeroelastic-propulsive forces and moments in the standard state-space form for six degree-of-freedom flight dynamics. A computational structural model for a generic transport aircraft has been created. The eigenvalue analysis is performed to compute aeroelastic frequencies and aerodynamic damping. The results will be used to construct an integrated flight dynamic model of a flexible generic transport aircraft.

Nguyen, Nhan T.↗

The Influence of Restraint Systems on Panel Behavior

When a panel is tested in uniaxial compression in a test machine, the boundary conditions are not quite the same as they would be if it were part of a complete structure. A restraint system may be used to simulate conditions found in a complete vehicle. Quantifying the quality of the restraint with only point-measurement devices can leave an inadequate characterization of the out-of-plane behavior. However, today s full-field displacement monitoring techniques allow for much more accurate views of the global panel deformation and strain, and therefore allow for a better understanding of panel behavior. In the current study, the behavior of a hat-stiffened and two rod-stiffened carbon-epoxy panels is considered. Panels were approximately 2 meters tall and 0.76 to 1.06 m wide. Unloaded edges were supported by knife edges and stiffeners were attached to a support structure at selected locations to restrain out-of-plane motion. A comparison is made between test results based on full-field measurements and analyses based on assumptions of boundary conditions of a completely rigid edge restraint and the absence of any edge restraint. Results indicate that motion at the restrained edges must be considered to obtain accurate test-analysis correlation.

Jegley, Dawn C.↗

Robot Hand Grips Cylinders Securely

Jaws and linkage accommodate various sizes. Robot hand includes two pairs of parallel jaws that grasp rods, pipes, tubes, struts, and other long, heavy cylindrical objects. Hand features compact rotary drive and butterfly configuration simplifying approach and gripping maneuvers of robot. Parallelogram linkages maintain alignment of each jaw with other jaws. One bar of each linkage connected to one of two concentric, counterrotating shafts; rotation of shafts moves jaws in each pair toward or away from each other to grasp or release workpiece. Each jaw includes rigid gripping pad lined with rubber to give firm grip and to prevent damage to workpiece. Inner cylindrical surface (corner) of each jaw tapers off to flat sides. Enables jaw to grasp workpieces with diameters larger than or equal to twice the corner radius.

Parma, George F.↗

Sample mounts for microcrystal crystallography

Sample mounts (10) for mounting microcrystals of biological macromolecules for X-ray crystallography are prepared by using patterned thin polyimide films (12) that have curvature imparted thereto, for example, by being attached to a curved outer surface of a small metal rod (16). The patterned film (12) preferably includes a tip end (24) for holding a crystal. Preferably, a small sample aperture is disposed in the film for reception of the crystal. A second, larger aperture can also be provided that is connected to the sample aperture by a drainage channel, allowing removal of excess liquid and easier manipulation in viscous solutions. The curvature imparted to the film (12) increases the film's rigidity and allows a convenient scoop-like action for retrieving crystals. The polyimide contributes minimally to background and absorption, and can be treated to obtain desired hydrophobicity or hydrophilicity.

Thorne, Robert E.↗

Sample mounts for microcrystal crystallography

Sample mounts (10) for mounting microcrystals of biological macromolecules for X-ray crystallography are prepared by using patterned thin polyimide films (12) that have curvature imparted thereto, for example, by being attached to a curved outer surface of a small metal rod (16). The patterned film (12) preferably includes a tapered tip end (24) for holding a crystal. Preferably, a small sample aperture is disposed in the film for reception of the crystal. A second, larger aperture can also be provided that is connected to the sample aperture by a drainage channel, allowing removal of excess liquid and easier manipulation in viscous solutions. The curvature imparted to the film (12) increases the film's rigidity and allows a convenient scoop-like action for retrieving crystals. The polyimide contributes minimally to background and absorption, and can be treated to obtain desired hydrophobicity or hydrophilicity.

Thorne, Robert E.↗

Integrating matrix solution of the hybrid state vector equations for beam vibration

A simple, versatile, and efficient computational technique has been developed for dynamic analysis of linear elastic beam and rod type of structures. Moreover, the method provides a rather general solution approach for two-point boundary value problems that are described by a single independent spatial variable. For structural problems, the method is implemented by a mixed state vector formulation of the differential equations, combined with an integrating matrix solution procedure. Highly accurate solutions are easily achieved with this approach. Example solutions are given for beam vibration problems including discontinuous stiffness and mass parameters, elastic restraint boundary conditions, concentrated inertia loading, and rigid body modes

Lehman, L. L.↗

Effect of rotor configuration on guyed tower and foundation designs and estimated costs for intermediate site horizontal axis wind turbines

Three designs of a guyed cylindrical tower and its foundation for an intermediate size horizontal axis wind turbine generator are discussed. The primary difference in the three designs is the configuration of the rotor. Two configurations are two-blade rotors with teetering hubs - one with full span pitchable blades, the other with fixed pitch blades. The third configuration is a three-bladed rotor with a rigid hub and fixed pitch blades. In all configurations the diameter of the rotor is 38 meters and the axis of rotation is 30.4 meters above grade, and the power output is 200 kW and 400 kW. For each configuration the design is based upon for the most severe loading condition either operating wind or hurricane conditions. The diameter of the tower is selected to be 1.5 meters (since it was determined that this would provide sufficient space for access ladders within the tower) with guy rods attached at 10.7 meters above grade. Completing a design requires selecting the required thicknesses of the various cylindrical segments, the number and diameter of the guy rods, the number and size of soil anchors, and the size of the central foundation. The lower natural frequencies of vibration are determined for each design to ensure that operation near resonance does not occur. Finally, a cost estimate is prepared for each design. A preliminary design and cost estimate of a cantilever tower (cylindrical and not guyed) and its foundation is also presented for each of the three configurations.

Frederick, G. R.↗