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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 NTRS1990

The method of lines in analyzing solids containing cracks

A semi-numerical method is reviewed for solving a set of coupled partial differential equations subject to mixed and possibly coupled boundary conditions. The line method of analysis is applied to the Navier-Cauchy equations of elastic and elastoplastic equilibrium to calculate the displacement distributions in various, simple geometry bodies containing cracks. The application of this method to the appropriate field equations leads to coupled sets of simultaneous ordinary differential equations whose solutions are obtained along sets of lines in a discretized region. When decoupling of the equations and their boundary conditions is not possible, the use of a successive approximation procedure permits the analytical solution of the resulting ordinary differential equations. The use of this method is illustrated by reviewing and presenting selected solutions of mixed boundary value problems in three dimensional fracture mechanics. These solutions are of great importance in fracture toughness testing, where accurate stress and displacement distributions are required for the calculation of certain fracture parameters. Computations obtained for typical flawed specimens include that for elastic as well as elastoplastic response. Problems in both Cartesian and cylindrical coordinate systems are included. Results are summarized for a finite geometry rectangular bar with a central through-the-thickness or rectangular surface crack under remote uniaxial tension. In addition, stress and displacement distributions are reviewed for finite circular bars with embedded penny-shaped cracks, and rods with external annular or ring cracks under opening mode tension. The results obtained show that the method of lines presents a systematic approach to the solution of some three-dimensional mechanics problems with arbitrary boundary conditions. The advantage of this method over other numerical solutions is that good results are obtained even from the use of a relatively coarse grid.

Gyekenyesi, John P.↗
NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗
NASA NTRS1991

Light domain walls, massive neutrinos and the large scale structure of the Universe

Domain walls generated through a cosmological phase transition are considered, which interact nongravitationally with light neutrinos. At a redshift z greater than or equal to 10(exp 4), the network grows rapidly and is virtually decoupled from the matter. As the friction with the matter becomes dominant, a comoving network scale close to that of the comoving horizon scale at z of approximately 10(exp 4) gets frozen. During the later phases, the walls produce matter wakes of a thickness d of approximately 10h(exp -1)Mpc, that may become seeds for the formation of the large scale structure observed in the Universe.

Massarotti, Alessandro↗
NASA NTRS1991

Two fault tolerant toggle-hook release

A coupling device is disclosed which is mechanically two fault tolerant for release. The device comprises a fastener plate and fastener body, each of which is attachable to a different one of a pair of structures to be joined. The fastener plate and body are coupled by an elongate toggle mounted at one end in a socket on the fastener plate for universal pivotal movement thereon. The other end of the toggle is received in an opening in the fastener body and adapted for limited pivotal movement therein. The toggle is adapted to be restrained by three latch hooks arranged in symmetrical equiangular spacing about the axis of the toggle, each hook being mounted on the fastener body for pivotal movement between an unlatching non-contact position with respect to the toggle and a latching position in engagement with a latching surface of the toggle. The device includes releasable lock means for locking each latch hook in its latching position whereby the toggle couples the fastener plate to the fastener body and means for releasing the lock means to unlock each said latch hook from the latch position whereby the unlocking of at least one of the latch hooks from its latching position results in the decoupling of the fastener plate from the fastener body.

Graves, Thomas Joseph↗
NASA NTRS1990

The effect of volume phase changes, mass transport, sunlight penetration, and densification on the thermal regime of icy regoliths

The present quantitative modeling of convective, condensational, and sublimational effects on porous ice crust volumes subjected to solar radiation encompasses the effect of such insolation's penetration of visible bandpass-translucent light, but opaque to the IR bandpass. Quasi-steady-state temperatures, H2O mass fluxes, and ice mass-density change rates are computed as functions of time of day and ice depth. When the effects of latent heat and mass transport are included in the model, the enhancement of near-surface temperature due to the 'solid-state greenhouse effect' is substantially diminished. When latent heat, mass transport, and densification effects are considered, however, a significant solid-state greenhouse effect is shown to be compatible with both morphological evidence for high crust strengths and icy shell decoupling from the lithosphere.

Fanale, Fraser P.↗
NASA NTRS1990

Ponderable soliton stars and cosmic background radiation

A theory is developed to describe the possible perturbations of the cosmic background radiation (CBR) by radiation from ponderable soliton stars in the early universe. Since the temperature of such stars is in the range of 10 to the 6th K, thermalization of their emitted radiation is possible. Two models are considered: one in which thermalization is ignored and one in which decoupling from thermalization is considered as a sudden process. The expected perturbation of the CBR is probably less than 1 percent and is largely around the short-wavelength end, in the form of point radio sources. This result is consistent with the most recent COBE measurements.

Chiu, Hong-Yee↗
NASA NTRS1991

Transient, hypervelocity flow in an axisymmetric nozzle

The performance of an axisymmetric nozzle designed to produce uniform parallel flow with a nominal Mach number of 8 is examined. The nozzle employs a flow decoupling approach and is calibrated by measuring Pitot pressures near the exit plane for a number of operating conditions. The detailed starting process of the nozzle is simulated numerically, and a quasi-one-dimensional method is used for investigating the transient wave structure and the nozzle starting time over a number of tunnel operating conditions. An axisymmetric Navier-Stokes code is utilized in order to illustrate the multidimensional and viscous aspects of the starting process. Although the steady performance observed is found adequate, settling times are much longer than predicted by the classical quasi-one-dimensional models.

Jacobs, P. A.↗
NASA NTRS1991

Approach to control moment gyroscope steering using feedback linearization

This paper presents an approach for controlling spacecraft equipped with control moment gyroscopes. A technique from feedback linearization theory is used to transform the original nonlinear problem to an equivalent linear form without approximating assumptions. In this form, the spacecraft dynamics appear linearly, and are decoupled from redundancy in the system of gyroscopes. A general approach to distributing control effort among the available actuators is described which includes provisions for redistribution of rotors, explicit bounds in gimbal rates, and guaranteed operation at or near singular configurations. A particular algorithm is developed for systems of double-gimbal devices, and demonstrated in two examples for which existing approaches fail to give adequate performance.

Dzielski, John↗
NASA NTRS1991

A multivariable control scheme for robot manipulators

The article puts forward a simple scheme for multivariable control of robot manipulators to achieve trajectory tracking. The scheme is composed of an inner loop stabilizing controller and an outer loop tracking controller. The inner loop utilizes a multivariable PD controller to stabilize the robot by placing the poles of the linearized robot model at some desired locations. The outer loop employs a multivariable PID controller to achieve input-output decoupling and trajectory tracking. The gains of the PD and PID controllers are related directly to the linearized robot model by simple closed-form expressions. The controller gains are updated on-line to cope with variations in the robot model during gross motion and for payload change. Alternatively, the use of high gain controllers for gross motion and payload change is discussed. Computer simulation results are given for illustration.

Tarokh, M.↗
NASA NTRS1991

Effect of motor dynamics on nonlinear feedback robot arm control

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

Tarn, Tzyh-Jong↗
NASA NTRS1991

Friction damping of two-dimensional motion and its application in vibration control

This paper presents an approximate method for analyzing the two-dimensional friction contact problem so as to compute the dynamic response of a structure constrained by friction interfaces. The friction force at the joint is formulated based on the Coulomb model. The single-term harmonic balance scheme, together with the receptance approach of decoupling the effect of the friction force on the structure from those of the external forces has been utilized to obtain the steady state response. The computational efficiency and accuracy of the method are demonstrated by comparing the results with long-term time solutions.

Menq, C.-H.↗
NASA NTRS1990

Active structural control design and experiment for the Mini-Mast

Control system design and closed-loop test results for the Mini-Mast truss structure located at the NASA Langley Research Center are presented. The simplicity and effectiveness of a classical control approach to the active structural control design are demonstrated by ground experiments. The concepts of robust nonminimum phase compensation and periodic disturbance rejection are also experimentally validated. The practicality of a sensor output decoupling approach is demonstrated for the inherent, multivariable control problem of the Mini-Mast.

Wie, Bong↗
NASA NTRS1991

Transfer function modeling of damping mechanisms in viscoelastic plates

This work formulates a method for the modeling of material damping characteristics in plates. The Sophie German equation of classical plate theory is modified to incorporate hysteresis effects represented by complex stiffness using the transfer function approach proposed by Golla and Hughes, (1985). However, this procedure is not limited to this representation. The governing characteristic equation is decoupled through separation of variables, yielding a solution similar to that of undamped classical plate theory, allowing solution of the steady state as well as the transient response problem.

Slater, J. C.↗
NASA NTRS1990

A parallel iterative solution method for systems of nonlinear hyperbolic equations

An iterative algorithm suitable for the solution of a system of nonlinear hyperbolic partial differentiation equations in multiple dimensions is discussed. Current numerical methods for systems of nonlinear PDEs have limited parallelism due to strong coupling between the equations. This method decouples the PDEs by linearizing the convention coefficient for a space-time domain. This provides large grain parallelism. The linearization also allows the treatment of some terms in the equations as source terms, providing more freedom to choose from a wider variety of numerical methods. Smaller grain parallelism may be exploited within the solves for each equation. Thus, the method has potential for parallelism at several levels.

Scroggs, Jeffrey S.↗
NASA NTRS1991

A comparison of ASTROMAG coils made with aluminum and copper based superconductor

The use of an aluminum matrix superconductor in the coils for the ASTROMAG magnet will increase the integrated field for conducting particle astrophysics experiments in space as compared to equal mass coils made with a copper matrix superconductor. The increased ability to detect charged particles can be achieved without decreasing the current margin of the superconductor in the coils. The use of a low-resistivity aluminum matrix conductor increases the energy needed to initiate a quench by two orders or magnitude. The current decay time constant during a quench is substantially increased. As a result, the quench energy dumped into the helium tank is reduced (the ASTROMAG coils are thermally decoupled from the helium tank), and the forces on the shield and shells due to eddy currents will be lower. A description is also given of the problems associated with the use of an aluminum matrix superconductor in the coils.

Green, M. A.↗
NASA NTRS1991

Transport of gyration-dominated space plasmas of thermal origin. I - Generalized transport equations

Grad's 20-moment set of transport equations has been examined in the limit of strong external magnetic fields. This simplified set of equations describes the transport of mass and parallel momentum as well as the transport of parallel and perpendicular energy and heat flow in the magnetic field direction. The effect of collisions was calculated assuming a modified relaxation model. Wave speeds and normal modes of the simplified set of equations were examined for an ion and electron gas. It was found that four of the ten normal modes are electron thermal-heat waves which approximately decouple from the six ion waves in the system. When low-frequency waves are considered (slow-wave approximation), this allows the electron energy and heat flow equations to be solved separately from the ion equations and in a time-independent fashion. When this was done, it was found that, under certain conditions, these equations predict an infinite electron perpendicular temperature, Te-perpendicular, in the collisionless regime. This occurs whenever Te-perpendicular is greater than the parallel temperature, at any point along collisionless and diverging magnetic field lines. When applied appropriately, the significantly simplified set of equations derived here are well suited for application to a large variety of problems in planetary ionospheres and magnetospheres.

Gombosi, Tamas I.↗
NASA NTRS1991

Positive holes in magnesium oxide - Correlation between magnetic, electric, and dielectric anomalies

The present magnetic susceptibility investigation of high purity MgO single crystals notes an anomally at 800 K which is associated with increasing electrical conductivity, a rise in static dielectric constant from 9 to 150, and the appearance of a pronounced positive surface charge. These phenomena can be accounted for in terms of peroxy defects which represent self-trapped, spin-paired positive holes at Mg(2+) vacancy sites. The holes begin to decouple their spins above 600 K.

Batllo, F.↗
NASA NTRS1991

Decomposition technique and optimal trajectories for the aeroassisted flight experiment

An actual geosynchronous earth orbit-to-low earth orbit (GEO-to-LEO) transfer is considered with reference to the aeroassisted flight experiment (AFE) spacecraft, and optimal trajectories are determined by minimizing the total characteristic velocity. The optimization is performed with respect to the time history of the controls (angle of attack and angle of bank), the entry path inclination and the flight time being free. Two transfer maneuvers are considered: direct ascent (DA) to LEO and indirect ascent (IA) to LEO via parking earth orbit (PEO). By taking into account certain assumptions, the complete system can be decoupled into two subsystems: one describing the longitudinal motion and one describing the lateral motion. The angle of attack history, the entry path inclination, and the flight time are determined via the longitudinal motion subsystem. In this subsystem, the difference between the instantaneous bank angle and a constant bank angle is minimized in the least square sense subject to the specified orbital inclination requirement. Both the angles of attack and the angle of bank are shown to be constant. This result has considerable importance in the design of nominal trajectories to be used in the guidance of AFE and aeroassisted orbital transfer (AOT) vehicles.

Miele, A.↗