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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 613 records · Page 34
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

Generalized bilateral control of robot arms

This paper summarizes the theory of a new form of bilateral or force-reflecting manual control of remote robot (slave) arms. The mathematics of workspace representation, command structure, kinematic and dynamic control coordination required for implementing the new form of generalized bilateral control through computer programs is presented. The paper concludes with a brief description of implementation organization of the new system using a six-degree-of-freedom backdrivable hand controller, a PUMA 560 robot arm and a distributed net of microcomputers organized in two groups: one at the remote work site and one at the control station.

Bejczy, A. K.↗
NASA NTRS1986

A canonical expansion for nonlinear systems

The importance of differential geometry, particularly Lie brackets of vector fields, in the study of nonlinear systems is well established. Under very mild assumptions, it is shown that a real-analytic nonlinear system has an expansion in which the coefficients are computed in terms of Lie brackets. This expansion occurs in a special coordinate system. The concept of a pure feedback system is also explained. For control design involving a nonlinear system, one approach is to put the system in its canonical expansion and approximate by that part having only feedback paths.

Su, R.↗
NASA NTRS1987

Analysis of structures with rotating, flexible substructures

A new methodology has been developed for the dynamic analysis of flexible structures, parts of which may be experiencing discrete motion relative to other parts. This methodology provides the capability of representing the continuum deformations typically treated using finite element methods. In addition, it provides the capability of representing the discrete motion at joints traditionally available with multibody methods. After decomposing the structure into substructures and associating a frame of reference with each substructure, the equations of motion for each substructure can be written explicitly including contributions due to the frame of reference generalized coordinates. By expanding the set of constraints to include constraints that eliminate the redundancy introduced by the frame generalized coordinates, the equations of motion become amenable to solution. The first digital computer program using this methodology, the General Rotorcraft Aeromechanical Stability Program (GRASP), was introduced in 1986. Although GRASP is limited to applications involving steady-state rotation, extension to arbitrary motions (including spin-up) can be accomplished by the selective retention of nonlinear terms in this formulation.

Hopkins, A. Stewart↗
NASA NTRS1987

The focal plane reception pattern calculation for a paraboloidal antenna with a nearby fence

A computer simulation program is described which is used to estimate the effects of a proximate diffraction fence on the performance of paraboloid antennas. The computer program is written in FORTRAN. The physical problem, mathematical formulation and coordinate references are described. The main control structure of the program and the function of the individual subroutines are discussed. The Job Control Language set-up and program instruction are provided in the user's instruction to help users execute the present program. A sample problem with an appropriate output listing is made available as an illustration of the usage of the program.

Schmidt, Richard F.↗
NASA NTRS1990

On the numerical solution of the dynamically loaded hydrodynamic lubrication of the point contact problem

The transient analysis of hydrodynamic lubrication of a point-contact is presented. A body-fitted coordinate system is introduced to transform the physical domain to a rectangular computational domain, enabling the use of the Newton-Raphson method for determining pressures and locating the cavitation boundary, where the Reynolds boundary condition is specified. In order to obtain the transient solution, an explicit Euler method is used to effect a time march. The transient dynamic load is a sinusoidal function of time with frequency, fractional loading, and mean load as parameters. Results include the variation of the minimum film thickness and phase-lag with time as functions of excitation frequency. The results are compared with the analytic solution to the transient step bearing problem with the same dynamic loading function. The similarities of the results suggest an approximate model of the point contact minimum film thickness solution.

Lim, Sang G.↗
NASA NTRS1990

Integrated controls-structures optimization of a large space structure

A technique for the simultaneous optimization of structural and control elements of a large space structure is developed and demonstrated for a test problem, the NASA COFS-I Mast Flight System. General-purpose control and structural-analysis codes are applied directly to a large detailed model, with realistic objective and constraint functions. The steps in the process (structural optimization, control optimization, and system coordination) are described and illustrated with diagrams; the numerical implementation (using different computers for different steps) is discussed; and results showing significant design improvements in three COFS-I configurations are presented in graphs. When the weights of both structure and power-generating equipment are taken into account, a 40-bay truss design is found to be better than designs with 42 or 44 bays.

Padula, Sharon L.↗
NASA NTRS1991

Effect of leading-edge geometry on boundary-layer receptivity to freestream sound

The receptivity to freestream sound of the laminar boundary layer over a semi-infinite flat plate with an elliptic leading edge is simulated numerically. The incompressible flow past the flat plate is computed by solving the full Navier-Stokes equations in general curvilinear coordinates. A finite-difference method which is second-order accurate in space and time is used. Spatial and temporal developments of the Tollmien-Schlichting wave in the boundary layer, due to small-amplitude time-harmonic oscillations of the freestream velocity that closely simulate a sound wave travelling parallel to the plate, are observed. The effect of leading-edge curvature is studied by varying the aspect ratio of the ellipse. The boundary layer over the flat plate with a sharper leading edge is found to be less receptive. The relative contribution of the discontinuity in curvature at the ellipse-flat-plate juncture to receptivity is investigated by smoothing the juncture with a polynomial. Continuous curvature leads to less receptivity. A new geometry of the leading edge, a modified super ellipse, which provides continuous curvature at the juncture with the flat plate, is used to study the effect of continuous curvature and inherent pressure gradient on receptivity.

Lin, Nay↗
NASA NTRS1992

Fluid mechanics experiments in oscillatory flow. Volume 1: Report

Results of a fluid mechanics measurement program in oscillating flow within a circular duct are presented. The program began with a survey of transition behavior over a range of oscillation frequency and magnitude and continued with a detailed study at a single operating point. Such measurements were made in support of Stirling engine development. Values of three dimensionless parameters, Re(sub max), Re(sub w), and A(sub R), embody the velocity amplitude, frequency of oscillation and mean fluid displacement of the cycle, respectively. Measurements were first made over a range of these parameters which included operating points of all Stirling engines. Next, a case was studied with values of these parameters that are representative of the heat exchanger tubes in the heater section of NASA's Stirling cycle Space Power Research Engine (SPRE). Measurements were taken of the axial and radial components of ensemble-averaged velocity and rms-velocity fluctuation and the dominant Reynolds shear stress, at various radial positions for each of four axial stations. In each run, transition from laminar to turbulent flow, and its reverse, were identified and sufficient data was gathered to propose the transition mechanism. Models of laminar and turbulent boundary layers were used to process the data into wall coordinates and to evaluate skin friction coefficients. Such data aids in validating computational models and is useful in comparing oscillatory flow characteristics to those of fully-developed steady flow. Data were taken with a contoured entry to each end of the test section and with flush square inlets so that the effects of test section inlet geometry on transition and turbulence are documented. Volume 1 contains the text of the report including figures and supporting appendices. Volume 2 contains data reduction program listings and tabulated data (including its graphical presentation).

Seume, J.↗
NASA NTRS1992

Equations of motion of slung-load systems, including multilift systems

General simulation equations are derived for the rigid body motion of slung-load systems. This work is motivated by an interest in trajectory control for slung loads carried by two or more helicopters. An approximation of these systems consists of several rigid bodies connected by straight-line cables or links. The suspension can be assumed elastic or inelastic. Equations for the general system are obtained from the Newton-Euler rigid-body equations with the introduction of generalized velocity coordinates. Three forms are obtained: two generalize previous case-specific results for single-helicopter systems with elastic and inelastic suspensions, respectively; and the third is a new formulation for inelastic suspensions. The latter is derived from the elastic suspension equations by choosing the generalized coordinates so that motion induced by cable stretching is separated from motion with invariant cable lengths, and by then nulling the stretching coordinates to get a relation for the suspension forces. The result is computationally more efficient than the conventional formulation, is readily integrated with the elastic suspension formulation, and is easily applied to the complex dual-lift and multilift systems. Results are given for two-helicopter systems; three configurations are included and these can be integrated in a single simulation. Equations are also given for some single-helicopter systems, for comparison with the previous literature, and for a multilift system. Equations for degenerate-body approximations (point masses, rigid rods) are also formulated and results are given for dual-lift and multilift systems. Finally, linearlized equations of motion are given for general slung-load systems are presented along with results for the two-helicopter system with a spreader bar.

Cicolani, Luigi S.↗
NASA NTRS1992

Flight 20 (STS-45) polysulfide gas path investigation

This report documents the results of the investigation into causes of gas paths on the 20A and 20B case-to-nozzle joints on STS-42. The investigation was conducted by the Investigation Board appointed by the senior vice president and general manager of Space Operations, Mr. R. E. Lindstrom, on 7 Feb. 1992. The probability of gas path occurrence in the nozzle-to-case-joint polysulfide had been identified during joint redesign. However, actual flight gas path incidence has been limited to RSRM-11 and the 20A and 20B segments. The blow-by condition on the 20A segment was a first time occurrence which was a special concern. The investigation covered all technical aspects associated with the gas path and blow-by conditions: materials and processing history, design requirements and as-built compliance to the design, thermal and structural analyses, computer modeling, and laboratory experimentation with the materials involved. The investigation was coordinated with Mr. Ken Jones at NASA Marshall in bi-weekly teleconferences. The Board also supported Dr. James C. Blair's independent NASA investigation team by providing copies of collected data, conducting requested analyses, and supporting several all-day teleconferences to provide understanding and resolve issues. The Dr. Blair support requirement was successfully concluded on 4 Mar. 1992.

Bjorkman, Rey C.↗
NASA NTRSDate not supplied

Characterization Of Early Solar System Aqueous Fluids

The most direct and convincing evidence for the presence of water and organic molecules on protoplanetary bodies is provided by fluid inclusions trapped in secondary minerals. Our research has demonstrated that early solar system fluids have survived as fluid inclusions in a few astromaterials that escaped significant shock, terrestrial alteration, and invasive sample handling. Our long-term goal is to measure bulk molecular and isotopic composition of individual fluid inclusions in meteorites and samples collected directly from asteroids to provide ground truth regarding the nature and evolution of aqueous fluids in the early solar system. Our current protocol is to locate candidate fluid inclusions using X-Ray Computed Tomography, and then make compositional measurements of individual fluid inclusions by coordinated Raman spectrometry, Transmission Electron Microscopy and, most recently, Time of Flight – Secondary Ion Mass Spectrometry.

Michael Zolensky↗
NASA NTRSDate not supplied

A Comparison of Model Predictive Control Architectures for Application to Electrified Aircraft Propulsion Systems

As electrified aircraft propulsion (EAP) systems continue to mature, more sophisticated hardware and software are being developed to balance operations among electric machines and gas-turbine engines. In hybrid-electric propulsion systems, the increased complexity resulting from integrating turbine-engine shafts with electric machines necessitates control methodologies to account for various physical domains. Ideal controllers for hybrid-electric engines manage systems, subsystems, and their interactions in a coordinated fashion, able to account for safety and performance goals while being computationally efficient. In a previous work, linear model predictive control (MPC) schemes were implemented in centralized and distributed frameworks on a nonlinear turbofan engine model as a proof of concept. However, these schemes were not evaluated for computational complexity, prompting further study. The research presented here develops hierarchical MPC schemes to reduce the computational burden of the previous MPC schemes. A two-tier framework is implemented, where a slower sampling MPC controls electric machines and determines fan-speed tracking goals for a faster sampling controller, which is either a MPC or a proportional-integral (PI) controller. The proposed designs are compared to the centralized MPC investigated previously, and performance is measured via fan speed tracking error, energy storage state-of-charge, and computation time. Results reveal that the hierarchical MPC scheme employing a lower-level PI controller improves computation time while maintaining comparable tracking and state-of-charge regulation to the centralized scheme.

model predictive control↗
NASA NTRSDate not supplied

A Comparison of Model Predictive Control Architectures for Application to Electrified Aircraft Propulsion Systems

As electrified aircraft propulsion (EAP) systems continue to mature, more sophisticated hardware and software are being developed to balance operations among electric machines and gas-turbine engines. In hybrid-electric propulsion systems, the increased complexity resulting from integrating turbine-engine shafts with electric machines necessitates control methodologies to account for various physical domains. Ideal controllers for hybrid-electric engines manage systems, subsystems, and their interactions in a coordinated fashion, able to account for safety and performance goals while being computationally efficient. In a previous work, linear model predictive control (MPC) schemes were implemented in centralized and distributed frameworks on a nonlinear turbofan engine model as a proof of concept. However, these schemes were not evaluated for computational complexity, prompting further study. The research presented here develops hierarchical MPC schemes to reduce the computational burden of the previous MPC schemes. A two-tier framework is implemented, where a slower sampling MPC controls electric machines and determines fan-speed tracking goals for a faster sampling controller, which is either a MPC or a proportional-integral (PI) controller. The proposed designs are compared to the centralized MPC investigated previously, and performance is measured via fan speed tracking error, energy storage state-of-charge, and computation time. Results reveal that the hierarchical MPC scheme employing a lower-level PI controller improves computation time while maintaining comparable tracking and state-of-charge regulation to the centralized scheme.

model predictive control↗
NASA NTRS1977

Calculation of transonic potential flowfields about complex, three-dimensional configurations

Methods for extending iterative, finite-difference calculations of transonic potential flowfields to complex three-dimensional configurations are discussed. One particularly attractive approach is to use relatively simple conformal mappings in combination with shearing transformations to generate computational domains that are nearly-conformally mapped from the physical space in one family of coordinate surfaces, and which map the complex boundaries to grid surfaces. The application of such a method to a general wing-body combination or to a multi-bladed fan is discussed. A transformation to map the wing-fuselage or fan-hub combination to a convenient computational domain is proposed. The transformation is useful in its own right for treating the two-dimensional problems of flow past a profile in a wind tunnel or through a cascade. Some results of preliminary calculations are presented.

Caughey, D. A.↗
NASA NTRS1992

Numerical simulation of fluid flow and heat transfer in a thin liquid film over a rotating disk

The results of a numerical simulation of the flow field and associated heat transfer coefficient are presented for the free surface flow of a thin liquid film adjacent to a horizontal rotating disk. The computation has been performed for different flow rates and rotational velocities using a three-dimensional boundary-fitted coordinate system. Since the geometry of the free surface is unknown and dependent on flow rate, rate of rotation, and other parameters, an interative procedure had to be used to ascertain its location. The computed film height agreed well with existing experimental measurements. The flow was dominated by inertia near the entrance and close to the free surface, and dominated by centrifugal force at larger radii and adjacent to the disk. The rotation enhanced the heat transfer coefficient by a significant amount.

Rahman, M. M.↗
NASA NTRS1987

Duct flows with swirl

The physics of the flow interaction between swirl and secondary flow was studied in duct bends relevant to the design of advanced aircraft nozzle systems. Both laminar and turbulent subsonic flows were investigated in generic duct bends for different amounts of swirl. The flow calculations are based on an economical three-dimensional spatial marching method employed in an existing computer code (PEPSIG). The computational method and code were extended to allow azimuthal periodicity and solutions in which the polar coordinate singularity occurs in the interior of the flow field. These extensions are needed to address swirling flow and twisted centerlines arising in out-of-plane bends. It was found that appropriate amounts of swirl can reduce total pressure loss relative to nonswirling cases. This conclusion was found to be insensitive to computational mesh.

Tsai, Tommy M.↗
NASA NTRS2006

Multiaxis, Lightweight, Computer-Controlled Exercise System

The multipurpose, multiaxial, isokinetic dynamometer (MMID) is a computer-controlled system of exercise machinery that can serve as a means for quantitatively assessing a subject s muscle coordination, range of motion, strength, and overall physical condition with respect to a wide variety of forces, motions, and exercise regimens. The MMID is easily reconfigurable and compactly stowable and, in comparison with prior computer-controlled exercise systems, it weighs less, costs less, and offers more capabilities. Whereas a typical prior isokinetic exercise machine is limited to operation in only one plane, the MMID can operate along any path. In addition, the MMID is not limited to the isokinetic (constant-speed) mode of operation. The MMID provides for control and/or measurement of position, force, and/or speed of exertion in as many as six degrees of freedom simultaneously; hence, it can accommodate more complex, more nearly natural combinations of motions and, in so doing, offers greater capabilities for physical conditioning and evaluation. The MMID (see figure) includes as many as eight active modules, each of which can be anchored to a floor, wall, ceiling, or other fixed object. A cable is payed out from a reel in each module to a bar or other suitable object that is gripped and manipulated by the subject. The reel is driven by a DC brushless motor or other suitable electric motor via a gear reduction unit. The motor can be made to function as either a driver or an electromagnetic brake, depending on the required nature of the interaction with the subject. The module includes a force and a displacement sensor for real-time monitoring of the tension in and displacement of the cable, respectively. In response to commands from a control computer, the motor can be operated to generate a required tension in the cable, to displace the cable a required distance, or to reel the cable in or out at a required speed. The computer can be programmed, either locally or via a remote terminal, to support exercises in one or more of the usual exercise modes (isometric, isokinetic, or isotonic) along complex, multiaxis trajectories. The motions of, and forces applied by, the subject can be monitored in real time and recorded for subsequent evaluation. Through suitable programming, the exercise can be adjusted in real time according to the physical condition of the subject. The remote- programming capability makes it possible to connect multiple exercise machines into a network for supervised exercise by multiple subjects or even for competition by geographically dispersed subjects.

Haynes, Leonard↗