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At least 541 records · Page 30
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Autonomous robot using infrared thermal camera to discriminate objects in outdoor scene

A complete autonomous legged robot is beig designed at Carnegie Mellon University to perform planetary exploration without human supervision. This robot must traverse unknown and geographically diverse areas in order to collect samples of materials. This paper describes how thermal imaging can be used to identify materials in order to find good footfall positions and collection sites of material. First, a model developed for determining the temperature of materials in an outdoor scene is presented. By applying this model, it is shown that it is possible to determine a physical characteristic of the material: thermal inertia. Second, experimental results are described that consist in recording thermal images of an outdoor scene constituted with sand and rock. Third, results and limitations of applying the model to experimental images are analyzed. Finally, the paper analyzes how basic segmentation algorithms can be combined with the thermal inertia segmentation in order to improve the discrimination of different kinds of materials.

Caillas, C.↗
NASA NTRS1991

Measurements of Pressure Distributions and Force Coefficients in a Squeeze Film Damper. Part 1: Fully Open Ended Configuration

Measurements of pressure distributions and force coefficients were carried out in two types of squeeze film dampers, executing a circular centered orbit, an open-ended configuration, and a partially sealed one, in order to investigate the effect of fluid inertia and cavitation on pressure distributions and force coefficients. Dynamic pressure measurements were carried out for two orbit radii, epsilon 0.5 and 0.8. It was found that the partially sealed configuration was less influenced by fluid inertia than the open ended configuration.

Jung, S. Y.↗
NASA NTRS1991

Effect of Eccentricity on the Static and Dynamic Performance of a Turbulent Hybrid Bearing

The effect of journal eccentricity on the static and dynamic performance of a water lubricated, 5-recess hybrid bearing is presented in detail. The hydrostatic bearing has been designed to operate at a high speed and with a large level of external pressurization. The operating conditions determine the flow in the bearing to be highly turbulent and strongly dominated by fluid inertia effects. The analysis covers the spectrum of journal center displacements directed towards the middle of a recess and towards the mid-land portion between two consecutive recesses. Predicted dynamic force coefficients are uniform for small to moderate eccentricities. For large journal center displacements, fluid cavitation and recess position determine large changes in the bearing dynamic performance. The effect of fluid inertia force coefficients on the threshold speed of instability and whirl ratio of a single mass flexible rotor is discussed.

Sanandres, Luis A.↗
NASA NTRS1992

Robust momentum management and attitude control system for the Space Station

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very accurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Rhee, Ihnseok↗
NASA NTRS1992

Assured crew return vehicle post landing configuration design and test

The 1991-1992 senior Mechanical and Aerospace Engineering Design class continued work on the post landing configurations for the Assured Crew Return Vehicle (ACRV) and the Emergency Egress Couch (EEC). The ACRV will be permanently docked to Space Station Freedom fulfilling NASA's commitment of Assured Crew Return Capability in the event of an accident or illness aboard Space Station Freedom. The EEC provides medical support and a transportation surface for an incapacitated crew member. The objective of the projects was to give the ACRV Project Office data to feed into their feasibility studies. Four design teams were given the task of developing models with dynamically and geometrically scaled characteristics. Groups one and two combined efforts to design a one-fifth scale model for the Apollo Command Module derivative, an on-board flotation system, and a lift attachment point system. This model was designed to test the feasibility of a rigid flotation and stabilization system and to determine the dynamics associated with lifting the vehicle during retrieval. However, due to priorities, it was not built. Group three designed a one-fifth scale model of the Johnson Space Center (JSC) benchmark configuration, the Station Crew Return Alternative Module (SCRAM) with a lift attachment point system. This model helped to determine the flotation and lifting characteristics of the SCRAM configuration. Group four designed a full scale EEC with changeable geometric and geometric and dynamic characteristics. This model provided data on the geometric characteristics of the EEC and on the placement of the CG and moment of inertia. It also gave the helicopter rescue personnel direct input to the feasibility study. Section 1 describes in detail the design of a one-fifth scale model of the Apollo Command Module Derivative (ACMD) ACRV. The objective of the ACMD Configuration Model Team was to use geometric and dynamic constraints to design a one-fifth scale working model of the Apollo Command Module Derivative (ACMD) configuration with a Lift Attachment Point (LAP) System. This model was required to incorporate a rigidly mounted flotation system and the egress system designed the previous academic year. The LAP system was to be used to determine the dynamic effects of locating the lifting points at different locations on the vehicle. The team was then to build and test the model; however, due to priorities, this did not occur. To better simulate the ACMD after a water landing, the nose cone section was removed and the deck area exposed. The areas researched during the design process were construction, center of gravity and moment of inertia, and lift attachment points.

Source record↗
NASA NTRS1993

Development and verification of methods for predicting flow rates through leaks in valves and couplings

This is the final report of a research effort which addresses the title problem. The report discusses two broad models of flows, which represent the following extreme cases: (1) inertia-dominated flow, where friction is relatively insignificant; and (2) friction-dominated flow where inertia is insignificant. In class (2), the leak channel might consist of the gap between a scratch in a plastic seal and a polished metal plate against which the seal is pressed. Here, the cross section of the leak channel is modeled as a flat bottomed crescent. A publication generated under the present grant period presents an exact solution of the equations of fully-developed laminar pipe flow of a liquid in the case of a crescent beneath a hyperbolic arc. A Master's thesis project supported by the present grant presents the corresponding solution beneath a circular arc. A second publication reviews the flow of a gas through the same channel, which may be analyzed by a standard one-dimensional model (Fanno flow) for an engineering approximation. Finally, the report discusses the design and progress in the fabrication of a leak-test cell, in which one may measure the flow of fluid through a controlled flaw in a seal. The aim of such measurements is to furnish data for comparison with the predictions of the theory.

Russell, John M.↗
NASA NTRS1992

On LAM's and SAM's for Halley's rotation

Non principal axis rotation for comet Halley is inferred from dual periodicities evident in the observations. The modes where the spin axis precesses around the axis of minimum moment of inertia (long axis mode or LAM) and where it precesses around the axis of maximum moment of inertia (short axis mode or SAM) are described from an inertial point of view. The currently favored LAM model for Halley's rotation state satisfies observational and dynamical constraints that apparently no SAM can satisfy. But it cannot reproduce the observed post perihelion brightening through seasonal illumination of localized sources on the nucleus, whereas a SAM can easily produce post or pre perihelion brightening by this mechanism. However, the likelihood of a LAM rotation for elongated nuclei of periodic comets such as Halley together with Halley's extreme post perihelion behavior far from the Sun suggest that Halley's post perihelion brightening may be due to effects other than seasonal illumination of localized sources, and therefore such brightening may not constrain its rotation state.

Peale, Stanton J.↗
NASA NTRS1992

Cold dissipationless collapse of spherical systems - Sensitivity to the initial density law

The collapse of cold, initially spherical systems with varying degrees of central condensation is investigated. The way in which the final shape of a collapsing system depends on the initial density law is examined. For an initial stellar number density rho varies as r exp -n, where n is in the range 0-2.5, the final, nearly prolate shape is given by a/c is approximately equal to 1.28(1 + 0.16 n), where a/c is the ratio of long to short axes of the inertia ellipsoid computed from the moment of inertia tensor of the most tightly bound 80 percent of the mass. The properties associated with the final states in the present computations are also studied. The collapsing systems develop an anisotropic halo dominated by radial orbits surrounding an isotropic core as predicted by Burkert (1990).

Cannizzo, John K.↗
NASA NTRS1992

Polar motions excited by a convecting viscous mantle

The role played by time-dependent mantle convection on exciting long-term polar motions is examined by means of a viscous model. For sufficiently low effective viscosity, polar-wander speeds of 0(1 deg/Myr) would require contributions from the off-diagonal elements of the inertia tensor, with magnitudes around 100,000 times smaller than those found in viscoelastic models used for postglacial rebound. Contributions from the large-scale mantle flow to the angular momentum vector can be comparable to those due to changes in moment of inertia tensor for nonlinear rheology or for young planet. The relative roles of the two contributions depend on the nonlinear rheology of the mantle and its convective vigor.

Moser, Jiri↗
NASA NTRS1993

The effects of buoyancy on the critical heat flux in forced convection

The critical heat flux (CHF) in forced convection over a flat surface at relatively low flow velocities has been found, not unexpectedly, to depend upon the orientation of the buoyancy. The CHF for R-113 was measured at various heating surface orientations for test section Reynolds numbers ranging between 3000 and 6500. In this flow range, the buoyancy force acting on the vapor generally dominates over the flow inertia, yet the inertia would still be substantial were gravity to be reduced. In the experiments of this study, the CHF is determined for heating surface orientations ranging from 0 deg to 360 deg, for flow velocities between 4 cm/s and 35 cm/s, and for subcoolings between 2.8 C and 22.2 C. The results presented here demonstrate the strong influence of buoyancy at low flow velocities, which diminishes as the flow velocity and subcooling are increased.

Brusstar, Matthew J.↗
NASA NTRS1992

Gravity and topography

The paper summarizes the fundamental gravity field constants for Mars and a brief historical review of early determinations and current-day accurate estimates. These include the planetary gravitational constant, global figure, dynamical oblateness, mean density, and rotational period. Topographic results from data acquired from the 1967 opposition to the most recent, 1988, opposition are presented. Both global and selected local topographic variations and features are discussed. The inertia tensor and the nonhydrostatic component of Mars are examined in detail. The dimensionless moment of inertia about the rotational axis is 0.4 for a body of uniform density and 0.37621 if Mars were in hydrostatic equilibrium. By comparing models of both gravity and topography, inferences are made about the degree and depth of compensation in the interior and stresses in the lithosphere.

Esposito, P. B.↗
NASA NTRS1993

A coupled subsurface-boundary layer model of water on Mars

A 1D numerical model of the exchange of H2O between the atmosphere and subsurface of Mars through the PBL is employed to explore the mechanisms of H2O exchange and to elucidate the role played by the regolith in the local H2O budget. The atmospheric model includes effects of Coriolis, pressure gradient, and frictional forces for momentum: radiation, sensible heat flux, and advection for heat. It is suggested that in most cases, the flux through the Martian surface reverses twice in the course of each sol. The effects of surface albedo, thermal inertia, solar declination, atmospheric optical depth, and regolith pore structure are explored. It is proposed that higher thermal inertia forces more H2O into the atmosphere because the regolith is warmer at depth.

Zent, Aaron P.↗
NASA NTRS1940

A Full-scale Investigation of the Effect of Several Factors on the Shimmy of Cantering Wheels

A full-scale investigation has been conducted to determine the effect of various factors on the shimmy of castering wheels. The factors considered were the geometric arrangement, the tire types, the variations of load, the spindle moment of inertia, and the tire inflation. A comparison of the results of the present investigation with those calculated from existing theory was made. The constants needed in the calculations to determine the damping required for a castering wheel were measured. The results indicate that solid friction appears to be impracticable as the sole damping agent for castering nose wheels on large airplanes. Also it was concluded that the existing theory is adequate for calculating the damping required to prevent shimmy. The caster angle and the spindle moment of inertia were found to influence the solid friction required to prevent shimmy. The effect of variations in the type and the pressure of the tire was insignificant.

Howard, Walter B , Jr↗
NASA NTRS1950

Effects of the Lateral Oscillation of Fixing the Rudder and Reflexing the Flaps on the Bell X-1 Airplane

Flight tests have been made on the Bell X-1 airplane having the 10-percent-thick wing and the 8-percent-thick tail to evaluate the effects of fixing the rudder and changing the inclination of the principal axes of inertia by reflexing the landing flaps on the snaking which has been encountered over practically the entire range of Mach number and normal-force coefficient. The data were obtained during power-off glides at altitudes between 32,000 and 16,000 feet. The results showed that fixing the rudder reduced the amplitude of the snaking, but did not eliminate it at a Mach number of 0.84. It was also found that reflexing the flaps to change the inclination of the principal axis of inertia 1 ¾° nose up increased the dynamic lateral stability, but had only a small effect on the snaking oscillation at a Mach number of 0.85.

Hubert M Drake↗
NASA NTRS1929

Calculation of the pressures on aircraft engine bearings

For aircraft engines the three principal operating conditions are idling speed, cruising speed, and diving with the engine stopped. In what follows, we will discuss a method which affords a good idea of the course of pressure for the above mentioned operating conditions. The pressures produced in the driving gear are of three kinds; namely, the pressure due to gases, the pressure due to the inertia of the rotating masses, and the pressure due to the inertia of the reciprocating masses.

BEARINGS - PRESSURES - CALCULATION↗
NASA NTRS1924

The Inertial Coefficients of an Airship in a Frictionless Fluid

This report deals with the investigation of the apparent inertia of an airship hull. The exact solution of the aerodynamical problem has been studied for hulls of various shapes and special attention has been given to the case of an ellipsoidal hull. In order that the results for this last case may be readily adapted to other cases, they are expressed in terms of the area and perimeter of the largest cross section perpendicular to the direction motion by means of a formula involving a coefficient K which varies only slowly when the shape of the hull is changed, being 0.637 for a circular or elliptic disk, 0.5 for a sphere, and about 0.25 for a spheroid of fineness ratio 7. For rough purposes it is sufficient to employ the coefficients, originally found for ellipsoids, for hulls otherwise shaped. When more exact values of the inertia are needed, estimates may be based on a study of the way in which K varies with different characteristics and for such a study the new coefficient possesses some advantage over one which is defined with reference to the volume of fluid displaced. The case of rotation of an airship hull has been investigated also and a coefficient has been defined with the same advantages as the corresponding coefficient for rectilinear motion.

Bateman, H↗
NASA NTRS1943

The Effect of Mass Distribution on the Lateral Stability and Control Characteristics of an Airplane as Determined by Tests of a Model in the Free-flight Tunnel

The effects of mass distribution on lateral stability and control characteristics of an airplane have been determined by flight tests of a model in the NACA free-flight tunnel. In the investigation, the rolling and yawing moments of inertia were increased from normal values to values up to five times normal. For each moment-of-inertia condition, combinations of dihedral and vertical-tail area representing a variety of airplane configurations were tested. The results of the flight tests of the model were correlated with calculated stability and control characteristics and, in general, good agreement was obtained.

Campbell, John P↗
NASA NTRS1944

Experimental Verification of the Rudder-Free Stability Theory for an Airplane Model Equipped with Rudders Having Negative Floating Tendency and Negligible Friction

An investigation has been made in the Langley free-flight tunnel to obtain an experimental verification of the theoretical rudder-free stability characteristics of an airplane model equipped with conventional rudders having negative floating tendencies and negligible friction. The model used in the tests was equipped with a conventional single vertical tail having rudder area 40 percent of the vertical tail area. The model was tested both in free flight and mounted on a strut that allowed freedom only in yaw. Tests were made with three different amounts of rudder aerodynamic balance and with various values of mass, moment of inertia, and center-of-gravity location of the rudder. Most of the stability derivatives required for the theoretical calculations were determined from forced and free-oscillation tests of the particular model tested. The theoretical analysis showed that the rudder-free motions of an airplane consist largely of two oscillatory modes - a long-period oscillation somewhat similar to the normal rudder-fixed oscillation and a short-period oscillation introduced only when the rudder is set free. It was found possible in the tests to create lateral instability of the rudder-free short-period mode by large values of rudder mass parameters even though the rudder-fixed condition was highly stable. The results of the tests and calculation indicated that for most present-day airplanes having rudders of negative floating tendency, the rudder-free stability characteristics may be examined by simply considering the dynamic lateral stability using the value of the directional-stability parameter Cn(sub p) for the rudder-free condition in the conventional controls-fixed lateral-stability equations. For very large airplanes having relatively high values of the rudder mass parameters with respect to the rudder aerodynamic parameters, however, analysis of the rudder-free stability should be made with the complete equations of motion. Good agreement between calculated and measured rudder-free stability characteristics was obtained by use of the general rudder-free stability theory, in which four degrees of lateral freedom are considered. When this assumption is made that the rolling motions alone or the lateral and rolling motions may be neglected in the calculations of rudder-free stability, it is possible to predict satisfactorily the characteristics of the long-period (Dutch roll type) rudder-free oscillation for airplanes only when the effective-dihedral angle is small. With these simplifying assumptions, however, satisfactory prediction of the short-period oscillation may be obtained for any dihedral. Further simplification of the theory based on the assumption that the rudder moment of inertia might be disregarded was found to be invalid because this assumption made it impossible to calculate the characteristics of the short-period oscillations.

STABILITY- FAIRCHILD R2K-1↗