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NASA NTRS1991

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Lee, Jeh Won↗

NASA NTRS1947

Elastic Properties in Tension and Shear of High Strength Nonferrous Metals and Stainless Steel - Effect of Previous Deformation and Heat Treatment

A resume is given of an investigation of the influence of plastic deformation and of annealing temperature on the tensile and shear elastic properties of high strength nonferrous metals and stainless steels in the form of rods and tubes. The data were obtained from earlier technical reports and notes, and from unpublished work in this investigation. There are also included data obtained from published and unpublished work performed on an independent investigation. The rod materials, namely, nickel, monel, inconel, copper, 13:2 Cr-Ni steel, and 18:8 Cr-Ni steel, were tested in tension; 18:8 Cr-Ni steel tubes were tested in shear, and nickel, monel, aluminum-monel, and Inconel tubes were tested in both tension and shear. There are first described experiments on the relationship between hysteresis and creep, as obtained with repeated cyclic stressing of annealed stainless steel specimens over a constant load range. These tests, which preceded the measurements of elastic properties, assisted in devising the loading time schedule used in such measurements. From corrected stress-set curves are derived the five proof stresses used as indices of elastic or yield strength. From corrected stress-strain curves are derived the secant modulus and its variation with stress. The relationship between the forms of the stress-set and stress-strain curves and the values of the properties derived is discussed. Curves of variation of proof stress and modulus with prior extension, as obtained with single rod specimens, consist in wavelike basic curves with superposed oscillations due to differences of rest interval and extension spacing; the effects of these differences are studied. Oscillations of proof stress and modulus are generally opposite in manner. The use of a series of tubular specimens corresponding to different amounts of prior extension of cold reduction gave curves almost devoid of oscillation since the effects of variation of rest interval and extension spacing were removed. Comparison is also obtained between the variation of the several properties, as measured in tension and in shear. The rise of proof stress with extension is studied, and the work-hardening rates of the various metals evaluated. The ratio between the tensile and shear proof stresses for the various annealed and cold-worked tubular metals is likewise calculated. The influence of annealing or tempering temperature on the proof stresses and moduli for the cold-worked metals and for air-hardened 13:2 Cr-Ni steel is investigated. An improvement of elastic strength generally is obtained, without important loss of yield strength, by annealing at suitable temperature. The variation of the proof stress and modulus of elasticity with plastic deformation or annealing temperature is explained in terms of the relative dominance of three important factors: namely, (a) internal stress, (b) lattice-expansion or work-hardening, and (c) crystal reorientation. Effective values of Poisson's ratio were computed from tensile and shear moduli obtained on tubular specimens. The variation of Poisson's ratio with plastic deformation and annealing temperature is explained in terms of the degree of anisotropy produced by changes of (a) internal stress and (b) crystal orientation.

METALS - ELASTICITY↗

NASA NTRS1921

Extract from a Report on the Resistance of Spheres of Small Diameter in an Airstream of High Velocity

Much attention is given here to the design of the wind tunnel and the experimental set-up. In comparing their results on the wind resistance of spheres to the results of other researchers, the authors find wide discrepancies. They are unable to explain the cause of the discrepancies, concluding, as they do, that the differing results could not be explained by the action of the wind tunnel walls.

AERODYNAMICS↗

NASA NTRS1946

The NACA High-Speed Motion-Picture Camera Optical Compensation at 40,000 Photographs Per Second

The principle of operation of the NACA high-speed camera is completely explained. This camera, operating at the rate of 40,000 photographs per second, took the photographs presented in numerous NACA reports concerning combustion, preignition, and knock in the spark-ignition engine. Many design details are presented and discussed, details of an entirely conventional nature are omitted. The inherent aberrations of the camera are discussed and partly evaluated. The focal-plane-shutter effect of the camera is explained. Photographs of the camera are presented. Some high-speed motion pictures of familiar objects -- photoflash bulb, firecrackers, camera shutter -- are reproduced as an illustration of the quality of the photographs taken by the camera.

Miller, Cearcy D↗

NASA NTRS1932

Turbulence and mechanism of resistance on spheres and cylinders

The nature of turbulent flow through pipes and around obstacles is analyzed and illustrated by photographs of turbulence on screens and straighteners. It is shown that the reversal of flow and of the resistance law on spheres is not explainable by Prandtl's turbulence in the boundary layer. The investigation of the analogous phenomena on the cylinder yields a reversal of the total field of flow. The very pronounced changes in pressure distribution connected with it were affirmed by manometric measurements on spheres by Professor O. Krell. The reversal in a homogenous nonvortical flow is brought about by the advance of the stable arrangement of Karman's dead air vortices toward the test object and by the substitution of an alternatingly one-sided or rotating but stable vortex formation in place of the initially symmetrical formation. This also explains the marked variations of the models.

Ahlborn, FR↗

NASA NTRS1990

A VLSI implementation for synthetic aperture radar image processing

A simple physical model for the Synthetic Aperture Radar (SAR) is presented. This model explains the one dimensional and two dimensional nature of the received SAR signal in the range and azimuth directions. A time domain correlator, its algorithm, and features are explained. The correlator is ideally suited for VLSI implementation. A real time SAR architecture using these correlators is proposed. In the proposed architecture, the received SAR data is processed using one dimensional correlators for determining the range while two dimensional correlators are used to determine the azimuth of a target. The architecture uses only three different types of custom VLSI chips and a small amount of memory.

Premkumar, A.↗

NASA NTRS1993

Mars: The initial emplacement of ground ice in response to the thermal evolution of its early crust

Given the geomorphic evidence for the widespread occurrence of water and ice in the early martian crust, and the difficulty involved in accounting for this distribution given the present climate, it has been suggested that the planet's early climate was originally more Earth-like, permitting the global emplacement of crustal H2O by direct precipitation as snow or rain. The resemblance of the martian valley networks to terrestrial runoff channels, and their almost exclusive occurrence in the planet's ancient (approximately 4 billion year old) heavily cratered terrain, is often cited as evidence of just such a period. An alternative school of thought suggests that the early climate did not differ substantially from that of today. Advocates of this view find no compelling reason to invoke a warmer, wetter period to explain the origin of the valley networks. Rather, they cite evidence that the primary mechanism of valley formation was ground water sapping, a process that does not require that surface water exist in equilibrium with the atmosphere. However, while sapping may successfully explain the origin of the small valleys, it fails to address how the crust was initially charged with ice as the climate evolved towards its present state. Therefore, given the uncertainty regarding the environmental conditions that prevailed on early Mars, the initial emplacement of ground ice is considered from two perspectives: (1) that the early climate started warm and wet, but gradually cooled with time; and (2) that it never differed substantially from that of today.

Clifford, Stephen M.↗

NASA NTRS1993

Study on solidification of immisible alloys (M-10)

Alloying of immiscible alloys under microgravity is of interest in metallurgical processes. Several experiments investigating the alloying of immiscible alloys, such as Al-In, Al-Bi, Zn-Bi, and Zn-Pb, were done in space. Homogeneous distribution of small L2 particles in the matrix, such as an emulsion structure, was expected in the space-solidifed alloys. However, the alloys demonstrated an extremely segregated structure. To date insufficient information was obtained to explain these unexpected results. Our experiment was proposed to clarify the solidification manner of immiscible alloys and to obtain fundamental information concerning structural control of the alloys. In space, density differences between the two liquids separated in immiscible regions can be neglected, so that no sedimentation of L(sub 2) phase will take place. When the growth of the alloys is interrupted and this status is frozen by an adequate rapid cooling procedure, it will provide much information concerning decomposing homogeneous liquid and the interaction between the monotectic growth front morphology and the distribution of L(sub 2) phase. It is anticipated that the results will be useful for elucidating the monotectic solidification manner and it will be instructive to explain the segregated structures obtained in the past space experiments.

Kamio, Akihiko↗

NASA NTRS1993

The formation and evolution of Alpha and Tellus tesserae on Venus

Although tesserae comprise at approximately 10 percent of the surface of Venus, the nature of their formation and evolution is not well understood. One important clue to elucidate this problem is tessera boundaries which are of two types: type 1 are generally embayed by plains; type 2 boundaries are characterized by being linear at the hundred kilometer scale and often associated with steep scarps or tectonic features. Previous study of a distinctive type 2 boundary at Alpha Regio was pursued in order to characterize and assess the implications for this style in general. A model of gravitational relaxation of the tessera block was presented to explain the specific style of type 2 feature seen at western Alpha; however, this model cannot account for the full range of interior structures of Alpha, namely widespread compressional features overprinted by extensional features and volcanism. In order to explain the features of Alpha, we have considered a three-stage model involving (1) mantle downwelling and compression of the lithosphere, (2) delamination of the thickened tessera root, and (3) gravitational relaxation and extension of the tessera plateau. We compare this to the characteristics of Tellus Regio in order to test its broader application.

Gilmore, M. S.↗

NASA NTRS1993

Overturn of magma ocean ilmenite cumulate layer: Implications for lunar magmatic evolution and formation of a lunar core

We explore a model for the chemical evolution of the lunar interior that explains the origin and evolution of lunar magmatism and possibly the existence of a lunar core. A magma ocean formed during accretion differentiates into the anorthositic crust and chemically stratified cumulate mantle. The cumulative mantle is gravitationally unstable with dense ilmenite cumulate layers overlying olivine-orthopyroxene cumulates with Fe/Mg that decreases with depth. The dense ilmenite layer sinks to the center of the moon forming the core. The remainder of the gravitationally unstable cumulate pile also overturns. Any remaining primitive lunar mantle rises to its level of neutral buoyancy in the cumulate pile. Perhaps melting of primitive lunar mantle due to this decompression results in early lunar Mg-rich magmatism. Because of its high concentration of incompatible heat producing elements, the ilmenite core heats the overlying orthopyroxene-bearing cumulates. As a conductively thickening thermal boundary layer becomes unstable, the resulting mantle plumes rise, decompress, and partially melt to generate the mare basalts. This model explains both the timing and chemical characteristics of lunar magmatism.

Hess, P. C.↗

NASA NTRS1993

Experimental partitioning of Zr, Ti, and Nb between silicate liquid and a complex noble metal alloy and the partitioning of Ti between perovskite and platinum metal

El Goresy et al.'s observation of Nb, Zr, and Ta in refractory platinum metal nuggets (RPMN's) from Ca-Al-rich inclusions (CAI's) in the Allende meteorite led them to propose that these lithophile elements alloyed in the metallic state with noble metals in the early solar nebula. However, Grossman pointed out that the thermodynamic stability of Zr in the oxide phase is vastly greater than metallic Zr at estimated solar nebula conditions. Jones and Burnett suggested this discrepancy may be explained by the very non-ideal behavior of some lithophile transition elements in noble metal solutions and/or intermetallic compounds. Subsequently, Fegley and Kornacki used thermodynamic data taken from the literature to predict the stability of several of these intermetallic compounds at estimated solar nebula conditions. Palme and Schmitt and Treiman et al. conducted experiments to quantify the partitioning behavior of certain lithophile elements between silicate liquid and Pt-metal. Although their results were somewhat variable, they did suggest that Zr partition coefficients were too small to explain the observed 'percent' levels in some RPMN's. Palme and Schmitt also observed large partition coefficients for Nb and Ta. No intermetallic phases were identified. Following the work of Treiman et al., Jurewicz and Jones performed experiments to examine Zr, Nb, and Ti partitioning near solar nebula conditions. Their results showed that Zr, Nb, and Ti all have an affinity for the platinum metal, with Nb and Ti having a very strong preference for the metal. The intermetallic phases (Zr,Fe)Pt3, (Nb,Fe)Pt3, and (Ti,Fe)Pt3 were identified. Curiously, although both experiments and calculations indicate that Ti should partition strongly into Pt-metal (possibly as TiPt3), no Ti has ever been observed in any RPMN's. Fegley and Kornacki also noticed this discrepancy and hypothesized that the Ti was stabilized in perovskite which is a common phase in Allende CAI's.

Jurewicz, Stephen R.↗

NASA NTRS1993

The role of NASTRAN in the preliminary design cycle

This paper explains how NASTRAN can be utilized advantageously in the preliminary design cycle. The initial portion of the preliminary design process lends itself to programs that can produce multiple configurations or variations on a particular design with minimal cost or effort. The latter portion of the process encompasses refining the design and adding more detailed analyses (particularly for other disciplines). A method for quickly generating balanced spacecraft loading conditions for use in preliminary design and analysis also is explained. The following additional sections are included: Background, Symbols, Analytical Process, Aerodynamic Load Distributions, NASTRAN Applications, Conclusion and References.

Grooms, H. R.↗

NASA NTRS1993

The coherent backscattering opposition effect

We have measured the opposition effect, the nonlinear surge in reflectance seen in particulate materials as phase angle approaches zero degrees, in a suite of materials of varying particle size and reflectance. These samples were illuminated by linearly and circularly polarized monochromatic radiation at two wavelengths, 0.442 and 0.633 microns. By measuring the linear and circular polarization ratios for each sample, we have found that in highly reflective materials the behavior of the reflected radiation is consistent with the coherent backscattering process which has recently been proposed to explain the opposition surge that is seen in such media. The size and width of the coherent backscattering opposition peak vary as a function of reflectance of the sample. The opposition effect has been observed in particulate materials studied in the laboratory and it is also observed in the radiation reflected from solar system bodies which present a regolith to the earth based observer. The traditional explanation of the opposition effect, the shadow-hiding hypothesis, is that it was caused by the elimination of mutual shadows cast between the regolith grains as the phase angle of the observation became smaller. This shadow-hiding hypothesis, however, is unable to explain the opposition effect seen in highly reflective materials such as magnesium oxide and barium sulfate powders. This is because highly reflective media will multiply scatter the incident radiation between the regolith grains. This causes the shadows to be eliminated. We have measured the angular scattering properties of a suite of materials of different reflectivity. We have observed polarization ratios in reflective particulates that are consistent with coherent backscattering as the principal process which causes the opposition surge.

Nelson, R. M.↗

NASA NTRS1993

Formation and evolution of radial fracture systems on Venus

A survey of approximately 90 percent of the surface of Venus using Magellan data has been carried out to locate all radial fracture systems and to assess their association with other features such as volcanic edifices and coronae. Squyres et al. and Stofan et al. have discussed the association of radial fracture features in relation to coronae features, our approach was to assess the associations of all of the fracture systems. These fracture systems have two broad types of form - some fracture systems are associated with updomed topography, radiate from a point and have relatively uniform fracture lengths while others have a wider range of fracture lengths and radiate from the outer edge of a central caldera. Squyres et al. and Stofan et al. have interpreted both types of feature as reflecting tectonic fracturing resulting from uplift of the surface as a mantle plume impinges upon the crust. While it is true that a number of features are related to uplift and that such uplift will induce stresses consistent with radial fracturing, we explore the possibility that these fractures are not exclusively of tectonic origin. Purely tectonic fracturing will tend to generate a few main fractures/faults along which most of the stresses due to uplift will be accommodated leading to the triple-junction form common for terrestrial updoming. Though this type of feature is observed on Venus (e.g., feature located at 34S86), the majority of radial fracture systems display much more intensive fracturing than this through a full 360 degrees; this is difficult to explain by purely tectonic processes. The association of many of the fractures with radial lava flows leads us to interpret these fractures as reflecting dike emplacement: the form of the fractures being consistent with primarily vertical propagation from the head of a mantle plume. In the case of the second type of fracture system (those radiating from a central caldera), an even stronger case can be made that the fractures are not of tectonic origin. These features are not as commonly associated with updoming of the surface and where they are, the fractures extend out well beyond the edge of the topographic rise - an observation which is not consistent with the fractures being of tectonic uplift origin. Furthermore the fractures have a distribution of lengths (many short, fewer long) which is characteristic of dike swarms, and show direct associations with calderas and lava flows consistent with a volcanic origin. In addition, the longest fractures have a radial pattern only close to the center of the system but bend with distance to align themselves with the regional stress field - this behavior is very difficult to explain on purely tectonic grounds but is a pattern commonly seen for terrestrial dikes. For these reasons, we argue that many, if not the majority, of radial fracture systems found on Venus are the surface reflection of dike swarms, those associated with positive topography reflecting vertical emplacement and those radiating from calderas reflecting lateral propagation.

Parfitt, E. A.↗

NASA NTRS1993

Is there uniformitarian or catastrophic tectonics on Venus?

The distribution and modification of craters on Venus favors a near global, volcanic resurfacing event about 500 Myrs ago. Such an event indicates that the tectonic evolution of Venus was catastrophic rather than uniformitarian. The creation of a global, single-plate lithosphere on Venus about 500 Myrs ago can explain a variety of tectonic features on Venus that are not consistent with the thin lithosphere required by a uniformitarian hypothesis. A lithosphere on Venus that has thickened for 500 Myrs has a present thickness of about 300 km whereas steady-state heat loss from Venus requires a mean lithospheric thickness near 40 km. A thick lithosphere on Venus can support the high plateaus (elevations of 3-4 km) and mountain belts (up to 9 km) using the same isostatic compensation concepts applicable to the earth. If a thick lithosphere is thinned by a mantle plume, elevation is caused by thermal isostasy. The elevation due to the thinning of a 300 km thick lithosphere is about 3 km. Thus the domal elevation of Beta Regio can be explained by the same mechanism responsible for the elevation of the Hawaiian Swell. While the broad highland plateaus on Venus may be associated with thermal isostasy, the mountain belts in Ishtar Terra clearly cannot be. The high topography of Freyja Montes is almost certainly associated with underthrusting and the likely compensation mechanism is Airy isostasy associated with a thickened crust. With a density contrast delta, of 500 kg m(exp -3) an elevation of 9 km requires a crustal thickening of about 70 km. With a thick lithosphere there is no difficulty in supporting such a thick crust.

Turcotte, Donald L.↗

NASA NTRS1993

The evolution of the early Martian climate and the initial emplacement of crustal H2O

Given the geomorphic evidence for the widespread occurrence of water and ice in the early Martian crust, and the difficulty involved in accounting for this distribution given the present climate, it has been suggested that the planet's early climate was originally more Earth-like, permitting the global emplacement of crustal H2O by direct precipitation as snow or rain. The resemblance of the Martian valley networks to terrestrial runoff channels and their almost exclusive occurrence in the planet's ancient (approximately 4-b.y.-old) heavily cratered terrain are often cited as evidence of just such a period. An alternative school of thought suggests that the early climate did not differ substantially from that of today. Advocates of this view find no compelling reason to invoke a warmer, wetter period to explain the origin of the valley networks. Rather, they cite evidence that the primary mechanism of valley formation was groundwater sapping, a process that does not require that surface water exists in equilibrium with the atmosphere. However, while sapping may successfully explain the origin of the small valleys, it fails to address how the crust was initially charged with ice as the climate evolved towards its present state. Therefore, given the uncertainty regarding the environmental conditions that prevailed on early Mars, the initial emplacement of ground ice is considered here from two perspectives: (1) the early climate started warm and wet, but gradually cooled with time, and (2) the early climate never differed substantially from that of today.

Clifford, S. M.↗

NASA NTRS1992

Tools for the IDL widget set within the X-windows environment

New tools using the IDL widget set are presented. In particular, a utility allowing the easy creation and update of slide presentations, XSlideManager, is explained in detail and examples of its application are shown. In addition to XSlideManager, other mini-utilities are discussed. These various pieces of software follow the philosophy of the X-Windows distribution system and are made available to anyone within the Internet network. Acquisition procedures through anonymous ftp are clearly explained.

Turgeon, B.↗

NASA NTRS1993

Atmospheric moisture fields derived by satellite observations over the tropical Pacific Ocean

Values of precipitable water are retrieved over the tropical and subtropical Pacific Ocean from TOVS infrared and microwave channel brightness temperature and OLR observations by means of stepwise linear regression. The most useful temperature and moisture sensing channels are pre-selected from sensitivity tests of a radiative transfer model. Numerous models are developed and tested against collocated radiosonde observations and Nimbus-7 SMMR precipitable water estimates. For RAOB comparisons, the best estimator used 15 TOVS predictors and captured 71.1 deg percent of the variance (+0.62 g/sq cm standard error) for column precipitable water; for precipitable water of 700-500 mb bulk layer, these values were 71.7 percent and +/- 0.17 g/sq cm. Little skill of estimated precipitable water was obtained for moisture above 500 mb. Regressions were less skillful against SMMR, unless collocation parameters were tightly controlled; SMMR was less acceptable than RAOB's because of observational drift and errors. Generally, the most skillful predictors were boundary layer brightness temperatures of TOVS channels and satellite estimated stability indices. 'Moisture channels' were hardly useful except for estimating middle and upper tropospheric moisture. Additional regression models were constructed testing the sensitivity to different observational and meteorological characteristics. Models which used some in situ observations surface observations or stabilities calculated from RAOB, were the most successful. The best of these explained 87.5 percent of the variance but the regression selected almost no TOVS channels, relying instead on conventional RAOB and surface observations. A set of four regression models were developed, stratifying atmospheric characteristics on the basis of collocated OLR values. These models improved the variance explained by 5.0 percent; the model associated with the highest OLR values (275 W/sq m less than or equal to OLR; that is, no cloud) showed only marginal skill. Precipitable water fields were generated from the best TOVS-only model for seven days in January 1983 and compared with SMMR-estimated fields. OLR fields and ECMWF precipitable water analysis. The TOVS regression model compared favorably to the SMMR analysis in amplitudes and features. It revealed more evolving synoptic signal than the ECMWF analysis. In synoptically active regions, it differed with respect to the OLR analysis, primarily because of actual differences in the vertical distribution of water vapor.

Chung, Hyosang↗