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At least 631 records · Page 35

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NASA NTRS1988

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, G.↗

NASA NTRS1988

Liquid rocket boosters for the Space Shuttle - An outline of trade issues and analysis techniques

Numerous liquid rocket booster configurations were studied to replace the Solid Rocket Boosters on the current Space Shuttle. While improved safety, reliability, performance and economy of operation were sought, the designs also sought to minimize volumetric growth to reduce aerodynamic loads and structural modifications. Aero loads could be significant as a function of booster diameter if extrapolated directly from solid rocket characteristics. Procedures to meet these goals with analytical booster sizing and simple dynamic simulations are shown. Engine chamber pressure proved to be a good independent variable for implications of pressure-fed and pump-fed engines, fuel and material selection. For some configurations, ascent trajectory modifications were suggested: longer vertical rise, lofting, heads-up orientation, and higher first and second stage target altitudes. Since engine manufacture would dominate booster costs, booster simplification of reuse are discussed based on cost estimates.

Kelly, W. D.↗

NASA NTRS1987

An adaptive control scheme for a flexible manipulator

The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

Yang, T. C.↗

NASA NTRS1989

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, Guillermo↗

NASA NTRS1990

Three-dimensional simulation study of ionospheric plasma clouds

The results of fully three-dimensional numerical simulations of ionospheric plasma cloud evolution are presented. The evolution of the plasma cloud considered by Drake and Huba (1987) in the limit of vanishingly small ion compressibility is discussed. Simulations support the results of the analytical theory: finite plasma temperature, combined with fully three-dimensional plasma dynamics, is a stabilizing influence on plasma cloud evolution. This stability is associated with sheared azimuthal ion flows in the vicinity of the cloud surface. Cloud evolution using realistic values of ion compressibility show that the cloud rapidly diffuses to a state in which the sheared azimuthal flow is substantially reduced; subsequently, the cloud becomes unstable and structures.

Zalesak, S. T.↗

NASA NTRS1989

Control of flexible beams using a free-free active truss

An analytical and experimental study involving controlling flexible beams using a free-free active truss is presented. This work extends previous work in controlling flexible continua with active trusses which were configured with fixed-free boundary conditions. The following describes the Lagrangian approach used to derive the equations of motion for the active truss and the beams attached to it. A partial-state feedback control law is derived for this system based on a full-state feedback Linear Quadratic Regulator method. The analytical model is examined via numerical simulations and the results are compared to a similar experimental apparatus described herein. The results show that control of a flexible continua is possible with a free-free active truss.

Clark, W. W.↗

NASA NTRS1991

Particle acceleration near X-type magnetic neutral lines

The behavior of charged particles near X-type magnetic neutral lines is investigated. The magnetic field is taken to be hyperbolic and time stationary, with a uniform electric field perpendicular to the magnetic field. The general properties of the orbits of noninteracting particles in that field geometry are examined. Approximate analytic solutions to the orbit equations are derived by considering a magnetic-insulation picture where there is a hole in the magnetic insulation around the neutral line. Scaling laws for the dependence of the energy gain on strengths of the magnetic and electric fields are derived. The kinetic-energy distribution function for accelerated particles is derived for particles flowing past the neutral line. These analytic derivations are supported by computer simulations, in which the relativistic equations of motion for single test particles are numerically solved and the orbits and kinetic-energy gains of the particles are obtained. A number of simulations were performed and one parameter at a time was varied. Applications of the results to magnetic-neutral-line regions in space physics and astrophysics are possible.

Deeg, Hans-Jorg↗

NASA NTRS1992

Assessment of Potential Aerodynamic Benefits from Spanwise Blowing at the Wing Tip

A comprehensive set of experimental and analytical investigations have been conducted to assess the potential aerodynamic benefits from spanwise blowing at the tip of a moderate aspect ratio, swept wing. An analytical model has been developed to simulate a jet exhausting from the wing tip. An experimental study of a subsonic jet exhausting from the wing tip was conducted to investigate the effect of spanwise blowing from the tip on the aerodynamic characteristics of a moderate aspect ratio, swept wing. Wing force and moment data and surface pressure data were measured at Mach numbers up to 0.72. Results indicate that small amounts of blowing from small jets increase the lift curve slope a small amount, but have no effect on drag. Larger amounts of blowing from longer jets blowing increases lift near the tip and reduce drag at low Mach numbers. These benefits decrease with increasing Mach number, and vanish at Mach 0.5. A Navier-Stokes solver with modified boundary conditions at the tip was used to extrapolate the results to a Mach number of 0.72. With current technology and conventional wing shapes, spanwise blowing at the wing tip does not appear to be a practical means of reducing drag of moderate aspect ratio wings at high subsonic Mach numbers.

Mineck, Raymond Edward↗

NASA NTRS1992

A description of the research for period 3 of a research program on the planning and control for space robotic manipulators

The objective of this research program is to develop control techniques to enable future space robotic systems to meet their mission objectives. This report covers our work during the past year, 1 Feb. 1991 - 31 Jan. 1992 in this three-year research program (1 Aug. 1990 - 31 Jul. 1993). During this past year, we have made very significant progress in our theoretical and analytical work on algorithm development, our simulation studies, and our experimental investigation. This progress is summarized.

Dubowsky, Steven↗

NASA NTRS1992

Active vibration control using a modal-domain fiber optic sensor

A closed-loop control experiment is described in which vibrations of a cantilevered beam are suppressed using measurements from a modal-domain fiber optic sensor. Modal-domain sensors are interference between the modes of a few-mode optical waveguide to detect strain. The fiber is bonded along the length of the beam and provides a measurement related to the strain distribution on the surface of the beam. A model for the fiber optic sensor is derived, and this model is integrated with the dynamic model of the beam. A piezoelectric actuator is also bonded to the beam and used to provide control forces. Control forces are obtained through dynamic compensation of the signal from the fiber optic sensor. The compensator is implemented with a real-time digital controller. Analytical models are verified by comparing simulations to experimental results for both open-loop and closed-loop configurations.

Cox, David E.↗

NASA NTRS1992

Airburst origin of dark shadows on Venus

The Magellan images showed presence of radar-dark shadowlike disks surrounding small impact craters on the Venusian surface, which are also found without craters. This paper examines the hypothesis of Phillips et al. (1991) that the dark shadows formed where shock waves from airbursting impactors met the ground, pulverizing decimeter-scale surface features. A simple analytic model is used successfully to simulate the catastrophic disruption and the deceleration of impactors in a thick atmosphere to reproduce observed Venusian cratering statistics and generate radar-dark disks by the impact of atmospheric shock waves on the surface.

Zahnle, Kevin J.↗

NASA NTRS1991

Modeling methods for the design and evaluation of fault-tolerant systems

The authors describe an approach for using directed graph simulation models, behavioral simulation models, and semi-Markov analytic models to implement early- to mid-design analysis activities specified by the SDIO BM/C3 Processor and Algorithm Working Group. The use of the models was demonstrated for a mission scenario requiring parallel, reliable computations with a maximum probability of system failure between 10-4 and 10-2 over a 5-year-preengagement phase and between 10-7 and 10-5 over a half-hour engagement phase.

Scheper, Charlotte O.↗

NASA NTRS1991

The lightcraft project

Rensselaer Polytechnic Institute has been developing a transatmospheric 'Lightcraft' technology which uses beamed laser energy to propel advanced shuttle craft to orbit. In the past several years, Rensselaer students have analyzed the unique combined-cycle Lightcraft engine, designed a small unmanned Lightcraft Technology Demonstrator, and conceptualized larger manned Lightcraft - to name just a few of the interrelated design projects. The 1990-91 class carried out preliminary and detailed design efforts for a one-person 'Mercury' Lightcraft, using computer-aided design and finite-element structural modeling techniques. In addition, they began construction of a 2.6 m-diameter, full-scale engineering prototype mockup. The mockup will be equipped with three robotic legs that 'kneel' for passenger entry and exit. More importantly, the articulated tripod gear is crucial for accurately pointing at, and tracking the laser relay mirrors, a maneuver that must be performed just prior to liftoff. Also accomplished were further design improvements on a 6-inch-diameter Lightcraft model (for testing in RPI's hypersonic tunnel), and new laser propulsion experiments. The resultant experimental data will be used to calibrate Computational Fluid Dynamic (CFD) codes and analytical laser propulsion models that can simulate vehicle/engine flight conditions along a transatmospheric boost trajectory. These efforts will enable the prediction of distributed aerodynamic and thruster loads over the entire full-scale spacecraft.

Messitt, Don G.↗

NASA NTRS1993

Nonlocal and collective relaxation in stellar systems

The modal response of stellar systems to fluctuations at large scales is presently investigated by means of analytic theory and n-body simulation; the stochastic excitation of these modes is shown to increase the relaxation rate even for a system which is moderately far from instability. The n-body simulations, when designed to suppress relaxation at small scales, clearly show the effects of large-scale fluctuations. It is predicted that large-scale fluctuations will be largest for such marginally bound systems as forming star clusters and associations.

Weinberg, Martin D.↗

NASA NTRS1994

Testing the gravitational instability hypothesis?

We challenge a widely accepted assumption of observational cosmology: that successful reconstruction of observed galaxy density fields from measured galaxy velocity fields (or vice versa), using the methods of gravitational instability theory, implies that the observed large-scale structures and large-scale flows were produced by the action of gravity. This assumption is false, in that there exist nongravitational theories that pass the reconstruction tests and gravitational theories with certain forms of biased galaxy formation that fail them. Gravitational instability theory predicts specific correlations between large-scale velocity and mass density fields, but the same correlations arise in any model where (a) structures in the galaxy distribution grow from homogeneous initial conditions in a way that satisfies the continuity equation, and (b) the present-day velocity field is irrotational and proportional to the time-averaged velocity field. We demonstrate these assertions using analytical arguments and N-body simulations. If large-scale structure is formed by gravitational instability, then the ratio of the galaxy density contrast to the divergence of the velocity field yields an estimate of the density parameter Omega (or, more generally, an estimate of beta identically equal to Omega(exp 0.6)/b, where b is an assumed constant of proportionality between galaxy and mass density fluctuations. In nongravitational scenarios, the values of Omega or beta estimated in this way may fail to represent the true cosmological values. However, even if nongravitational forces initiate and shape the growth of structure, gravitationally induced accelerations can dominate the velocity field at late times, long after the action of any nongravitational impulses. The estimated beta approaches the true value in such cases, and in our numerical simulations the estimated beta values are reasonably accurate for both gravitational and nongravitational models. Reconstruction tests that show correlations between galaxy density and velocity fields can rule out some physically interesting models of large-scale structure. In particular, successful reconstructions constrain the nature of any bias between the galaxy and mass distributions, since processes that modulate the efficiency of galaxy formation on large scales in a way that violates the continuity equation also produce a mismatch between the observed galaxy density and the density inferred from the peculiar velocity field. We obtain successful reconstructions for a gravitational model with peaks biasing, but we also show examples of gravitational and nongravitational models that fail reconstruction tests because of more complicated modulations of galaxy formation.

Babul, Arif↗

NASA NTRS1996

Design of an Improved Heater Array to Measure Microscale Wall Heat Transfer

An improved array of microscale heaters is being developed to measure the heat transfer coefficient at many points underneath individual bubbles during boiling as a function of space and time. This heater array enables the local heat transfer from a surface during the bubble growth and departure process to be measured with very high temporal and spatial resolution, and should allow better understanding of the boiling heat transfer mechanisms by pin-pointing when and where in the bubble departure cycle large amounts of wall heat transfer occur. Such information can provide much needed data regarding the important heat transfer mechanisms during the bubble departure cycle, and can serve as benchmarks to validate many of the analytical and numerical models used to simulate boiling. The improvements to the heater array include using a silicon-on-quartz substrate to reduce thermal cross-talk between the heaters, decreased space between the heaters, increased pad sizes on the heaters, and progressive heater sizes. Some results using the present heater array are discussed.

Kim, Jungho↗

NASA NTRS1996

Experimental Studies in Helicopter Vertical Climb Performance

Data and analysis from an experimental program to measure vertical climb performance on an eight-foot model rotor are presented. The rotor testing was performed using a unique moving-model facility capable of accurately simulating the flow conditions during axial flight, and was conducted from July 9, 1992 to July 16, 1992 at the Dynamic Model Track, or 'Long Track,' just prior to its demolition in August of 1992. Data collected during this brief test program included force and moment time histories from a sting-mounted strain gauge balance, support carriage velocity, and rotor rpm pulses. In addition, limited video footage (of marginal use) was recorded from smoke flow studies for both simulated vertical climb and descent trajectories. Analytical comparisons with these data include a series of progressively more detailed calculations ranging from simple momentum theory, a prescribed wake method, and a free-wake prediction.

McKillip, Robert M., Jr.↗

NASA NTRS2001

The Applicability of the Generalized Method of Cells for Analyzing Discontinuously Reinforced Composites

The paper begins with a short overview of the recent work done in the field of discontinuous reinforced composites, focusing on the different parameters which influence the material behavior of discontinuous reinforced composites, as well as the various analysis approaches undertaken. Based on this overview it became evident, that in order to investigate the enumerated effects in an efficient and comprehensive manner, an alternative approach to the computationally intensive finite-element based micromechanics approach is required. Therefore, an investigation is conducted to demonstrate the utility of utilizing the generalized method of cells (GMC), a semi-analytical micromechanics-based approach, to simulate the elastic and elastoplastic material behavior of aligned short fiber composites. The results are compared with (1) simulations using other micromechanical based mean field models and finite element (FE) unit cell models found in the literature given elastic material behavior, as well as (2) finite element unit cell and a new semianalytical elastoplastic shear lag model in the inelastic range. GMC is shown to definitely have a window of applicability when simulating discontinuously reinforced composite material behavior.

Pahr, D. H.↗