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Computer program developed for solving nonlinear differential equations of motion of high-speed, lightly loaded, cylindrical roller bearing. Program organized into three major parts: Main program, controls input and output; differential equation solver; and subroutines, used to evaluate vector function. Program has capability of performing either twodimensional or three-dimensional simulation.
An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accomodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction.
The behavior of smoke injected into the atmosphere by massive fires that might follow a nuclear war was simulated. Studies with a three-dimensional global atmospheric circulation model showed that heating of the smoke by sunlight would be important and might produce several effects that would decrease the efficiency with which precipitation removes smoke from the atmosphere. The heating gives rise to vertical motions that carry smoke well above the original injection height. Heating of the smoke also causes the tropopause, which is initially above the smoke, to reform below the heated smoke layer. Smoke above the tropopause is physically isolated from precipitation below. Consequently, the atmospheric residence time of the remaining smoke is greatly increased over the prescribed residence times used in previous models of nuclear winter.
A three-dimensional model is developed that explicitly predicts the evolution of the spatial distributions of aerosols utilizing a time-dependent, initial value prognostic aerosol model based on aerosol physicochemical processes, a knowledge of aerosol sinks and sources, and the predicted motions of the atmosphere. These models serve a useful purpose in determining standardized aerosol spectra for utilization in radiative transfer calculations. The first numerical prediction of a Saharan dust outbreak evolution is described. It is shown that the results are in qualitative agreement with measurements despite the fact that in this preliminary simulation the generation of the dust depended upon several empirically based assumptions. IR satellite photographs taken during GATE are being examined in an attempt to determine the sources of the dust.
In this paper an automated algorithmic method is presented for the dynamic analysis of geared trains/transmissions. These are treated as a system of interconnected flexible bodies. The procedure developed explains the switching of constraints with time as a result of the change in the contacting areas at the gear teeth. The elastic behavior of the system is studied through the employment of three-dimensional isoparametric elements having six degrees-of-freedom at each node. The contact between the bodies is assumed at the various nodes, which could be either a line or a plane. The kinematical expressions, together with the equations of motion using Kane's method, strain energy concepts, are presented in a matrix form suitable for computer implementation. The constraint Jacobian matrices are generated automatically based on the contact information between the bodies. The concepts of the relative velocity at the contacting points at the tooth pairs and the subsequent use of the transmission ratios in the analysis is presented.
The three-dimensional Reynolds-averaged, Navier-Stokes (RANS) equations are used to numerically simulate nonsteady vortical flow about a 65 degree sweep delta wing at 30 degrees angle of attack. Two large-amplitude, high-rate, forced-roll motions and a damped free-to-roll motion are presented. The free-to-roll motion is computed by coupling the time-dependent RANS equations to the flight dynamic equation of motion. The computed results are compared with experimental forces, moments, and roll-angle time histories. The overall agreement is good. Vortex breakdown is present in each case, which causes significant time lags in the vortex breakdown motions relative to the body motions. This behavior strongly influences the dynamic forces and moments.
A PIV/HPIV film analysis software system was developed that calculates the 2-dimensional spatial autocorrelations of subregions of Particle Image Velocimetry (PIV) or Holographic Particle Image Velocimetry (HPIV) film recordings. The software controls three hardware subsystems including (1) a Kodak Megaplus 1.4 camera and EPIX 4MEG framegrabber subsystem, (2) an IEEE/Unidex 11 precision motion control subsystem, and (3) an Alacron I860 array processor subsystem. The software runs on an IBM PC/AT host computer running either the Microsoft Windows 3.1 or Windows 95 operating system. It is capable of processing five PIV or HPIV displacement vectors per second, and is completely automated with the exception of user input to a configuration file prior to analysis execution for update of various system parameters.
Networks of passive radio beacons spanning moderate-sized terrain areas have been proposed to aid navigation of small robotic aircraft that would be used to explore Saturn s moon Titan. Such networks could also be used on Earth to aid navigation of robotic aircraft, land vehicles, or vessels engaged in exploration or reconnaissance in situations or locations (e.g., underwater locations) in which Global Positioning System (GPS) signals are unreliable or unavailable. Prior to use, it would be necessary to pre-position the beacons at known locations that would be determined by use of one or more precise independent global navigation system(s). Thereafter, while navigating over the area spanned by a given network of passive beacons, an exploratory robot would use the beacons to determine its position precisely relative to the known beacon positions (see figure). If it were necessary for the robot to explore multiple, separated terrain areas spanned by different networks of beacons, the robot could use a long-haul, relatively coarse global navigation system for the lower-precision position determination needed during transit between such areas. The proposed method of precise determination of position of an exploratory robot relative to the positions of passive radio beacons is based partly on the principles of radar and partly on the principles of radio-frequency identification (RFID) tags. The robot would transmit radar-like signals that would be modified and reflected by the passive beacons. The distance to each beacon would be determined from the roundtrip propagation time and/or round-trip phase shift of the signal returning from that beacon. Signals returned from different beacons could be distinguished by means of their RFID characteristics. Alternatively or in addition, the antenna of each beacon could be designed to radiate in a unique pattern that could be identified by the navigation system. Also, alternatively or in addition, sets of identical beacons could be deployed in unique configurations such that the navigation system could identify their unique combinations of radio-frequency reflections as an alternative to leveraging the uniqueness of the RFID tags. The degree of dimensional accuracy would depend not only on the locations of the beacons but also on the number of beacon signals received, the number of samples of each signal, the motion of the robot, and the time intervals between samples. At one extreme, a single sample of the return signal from a single beacon could be used to determine the distance from that beacon and hence to determine that the robot is located somewhere on a sphere, the radius of which equals that distance and the center of which lies at the beacon. In a less extreme example, the three-dimensional position of the robot could be determined with fair precision from a single sample of the signal from each of three beacons. In intermediate cases, position estimates could be refined and/or position ambiguities could be resolved by use of supplementary readings of an altimeter and other instruments aboard the robot.
A knowledge of the acoustic energy emission of each blade row of a turbomachine is useful for estimating the overall noise level of the machine and for determining its discrete frequency noise content. Because of the close spacing between the rotor and stator of a compressor stage, the strong aerodynamic interactions between them have to be included in obtaining the resultant flow field. This paper outlines a three-dimensional theory for determining the discrete frequency noise content of an axial compressor consisting of a rotor and a stator each with a finite number of blades. The lifting surface theory and the linearized equation of an ideal, nonsteady compressible fluid motion are used for thin blades of arbitrary cross section. The combined pressure field at a point of the fluid is constructed by linear addition of the rotor and stator solutions together with an interference factor obtained by matching them for net zero vorticity behind the stage.
The generalized mathematical formulation of sloshing dynamics for partially filled liquid of cryogenic superfluid helium II in dewar containers driven by both the gravity gradient and jitter accelerations applicable to scientific spacecraft which is eligible to carry out spinning motion and/or slew motion for the purpose of performing scientific observation during the normal spacecraft operation is investigated. An example is given with Gravity Probe-B (GP-B) spacecraft which is responsible for the sloshing dynamics. The jitter accelerations include slew motion, spinning motion, atmospheric drag on the spacecraft, spacecraft attitude motions arising from machinery vibrations, thruster firing, pointing control of spacecraft, crew motion, etc. Explicit mathematical expressions to cover these forces acting on the spacecraft fluid systems are derived. The numerical computation of sloshing dynamics has been based on the non-inertia frame spacecraft bound coordinate, and solve time-dependent, three-dimensional formulations of partial differential equations subject to initial and boundary conditions. The explicit mathematical expressions of boundary conditions to cover capillary force effect on the liquid vapor interface in microgravity environments are also derived. The formulations of fluid moment and angular moment fluctuations in fluid profiles induced by the sloshing dynamics, together with fluid stress and moment fluctuations exerted on the spacecraft dewar containers, have been derived.
Analytical methods for stability analysis of large amplitude aircraft motion have been slow to develop because many nonlinear system stability assessment methods are restricted to a state-space dimension of less than three. The proffered approach is to create regional cell-to-cell maps for strategically located two-dimensional subspaces within the higher-dimensional model statespace. These regional solutions capture nonlinear behavior better than linearized point solutions. They also avoid the computational difficulties that emerge when attempting to create a cell map for the entire state-space. Example stability results are presented for a general aviation aircraft and a micro-aerial vehicle configuration. The analytical results are consistent with characteristics that were discovered during previous flight-testing.
The optimum maneuver of a space shuttle vehicle reentering a spherical, stationary, and locally exponential atmosphere was investigated. The use of Chapman's modified variables and a rescaled lift-drag polar leads to the formulation of a set of dimensionless equations of motion for flight analysis. The resulting equations are exact in the sense that they are also valid for flight in the vacuum. For planar flight several typical optimum maneuvers are investigated at different altitude ranges, low, moderate and very high. For three-dimensional flight, the procedure to solve the optimum trajectory for maximum cross range is discussed. Finally, using the equilibrium glide condition the maximum cross ranges for entry from circular speed, for several values of E*, and the footprint for E* = 1.5 are computed in this reduced problem.
Subsonic, external flow about nonlifting bodies, lifting bodies or combinations of lifting and nonlifting bodies is calculated by a modified version of the Hess lifting code. Trajectory calculations can be performed for any atmospheric conditions and for all water drop sizes, from the smallest cloud droplet to large raindrops. Experimental water drop drag relations are used in the water drop equations of motion and effects of gravity settling are included. Inlet flow can be accommodated, and high Mach number compressibility effects are corrected for approximately. Seven codes are described: (1) a code used to debug and plot body surface description data; (2) a code that processes the body surface data to yield the potential flow field; (3) a code that computes flow velocities at arrays of points in space; (4) a code that computes water drop trajectories from an array of points in space; (5) a code that computes water drop trajectories and fluxes to arbitrary target points; (6) a code that computes water drop trajectories tangent to the body; and (7) a code that produces stereo pair plots which include both the body and trajectories. Accuracy of the calculations is discussed, and trajectory calculation results are compared with prior calculations and with experimental data.
Fluid flows within turbomachinery tend to be extremely complex in nature. Understanding such flows is crucial to improving current designs of turbomachinery. The computational approach can be used to great advantage in understanding flows in turbomachinery. A finite difference, unsteady, thin layer, Navier-Stokes approach to calculating the flow within an axial turbine stage is presented. The relative motion between the stator and rotor airfoils is made possible with the use of patched grids that move relative to each other. The calculation includes endwall and tip leakage effects. An introduction to the rotor-stator problem and sample results in the form of time averaged surface pressures are presented. The numerical data are compared with experimental data and the agreement between the two is found to be good.
For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.
The present invention relates to a horizontally rotating bioreactor useful for carrying out cell and tissue culture. For processing of mammalian cells, the system is sterilized and fresh fluid medium, microcarrier beads, and cells are admitted to completely fill the cell culture vessel. An oxygen containing gas is admitted to the interior of the permeable membrane which prevents air bubbles from being introduced into the medium. The cylinder is rotated at a low speed within an incubator so that the circular motion of the fluid medium uniformly suspends the microbeads throughout the cylinder during the cell growth period. The unique design of this cell and tissue culture device was initially driven by two requirements imposed by its intended use for feasibility studies for three dimensional culture of living cells and tissues in space by JSC. They were compatible with microgravity and simulation of microgravity in one G. The vessels are designed to approximate the extremely quiescent low shear environment obtainable in space.
Modifications to an existing three-dimensional, implicit, upwind Euler/Navier-Stokes code (CFL3D Version 2.1) for the aeroelastic analysis of wings are described. These modifications, which were previously added to CFL3D Version 1.0, include the incorporation of a deforming mesh algorithm and the addition of the structural equations of motion for their simultaneous time-integration with the government flow equations. The paper gives a brief description of these modifications and presents unsteady calculations which check the modifications to the code. Euler flutter results for an isolated 45 degree swept-back wing are compared with experimental data for seven freestream Mach numbers which define the flutter boundary over a range of Mach number from 0.499 to 1.14. These comparisons show good agreement in flutter characteristics for freestream Mach numbers below unity. For freestream Mach numbers above unity, the computed aeroelastic results predict a premature rise in the flutter boundary as compared with the experimental boundary. Steady and unsteady contours of surface Mach number and pressure are included to illustrate the basic flow characteristics of the time-marching flutter calculations and to aid in identifying possible causes for the premature rise in the computational flutter boundary.
We consider the effects of a small-amplitude, steady, streamwise vorticity field on the flow over an infinitely thin flat plate in an otherwise uniform stream. We show how the initially linear perturbation, ultimately leads to a small-amplitude but nonlinear cross flow far downstream from the leading edge. This motion is imposed on the boundary-layer flow and eventually causes the boundary layer to separate. The streamwise velocity profiles within the boundary layer become inflexional in localized spanwise regions just upstream of the separation point. The flow in these regions is therefore susceptible to rapidly growing inviscid instabilities.