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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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58 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1980

High-Pressure Hot-Gas Self-Acting Floating Ring Shaft Seal for Liquid Rocket Turbopumps

Design analysis, detail design, fabrication, and experimental evaluation was performed on two self acting floating ring shaft seals for a rocket engine turbopump high pressure 24132500 n/sq m (3500 psig) hot gas 533 K 9500 F) high speed 3142 rad/sec (30000 rmp) turbine. The initial design used Rayleigh step hydrodynamic lift pads to assist in centering the seal ring with minimum rubbing contact. The final design used a convergent tapered bore to provide hydrostatic centering force. The Rayleigh step design was tested for 107 starts and 4.52 hours total. The leakage was satisfactory; however, the design was not acceptable due to excessive wear caused by inadequate centering force and failure of the sealing dam caused by erosion damage. The tapered bore design was tested for 370 starts and 15.93 hours total. Satisfactory performance for the required life of 7.5 hours per seal was successfully demonstrated.

Burcham, R. E.↗
NASA NTRS1989

Parallel conjugate gradient algorithms for manipulator dynamic simulation

Parallel conjugate gradient algorithms for the computation of multibody dynamics are developed for the specialized case of a robot manipulator. For an n-dimensional positive-definite linear system, the Classical Conjugate Gradient (CCG) algorithms are guaranteed to converge in n iterations, each with a computation cost of O(n); this leads to a total computational cost of O(n sq) on a serial processor. A conjugate gradient algorithms is presented that provide greater efficiency using a preconditioner, which reduces the number of iterations required, and by exploiting parallelism, which reduces the cost of each iteration. Two Preconditioned Conjugate Gradient (PCG) algorithms are proposed which respectively use a diagonal and a tridiagonal matrix, composed of the diagonal and tridiagonal elements of the mass matrix, as preconditioners. Parallel algorithms are developed to compute the preconditioners and their inversions in O(log sub 2 n) steps using n processors. A parallel algorithm is also presented which, on the same architecture, achieves the computational time of O(log sub 2 n) for each iteration. Simulation results for a seven degree-of-freedom manipulator are presented. Variants of the proposed algorithms are also developed which can be efficiently implemented on the Robot Mathematics Processor (RMP).

Fijany, Amir↗
NASA NTRS1991

Algorithmically Specialized Parallel Architecture For Robotics

Computing system called Robot Mathematics Processor (RMP) contains large number of processor elements (PE's) connected in various parallel and serial combinations reconfigurable via software. Special-purpose architecture designed for solving diverse computational problems in robot control, simulation, trajectory generation, workspace analysis, and like. System an MIMD-SIMD parallel architecture capable of exploiting parallelism in different forms and at several computational levels. Major advantage lies in design of cells, which provides flexibility and reconfigurability superior to previous SIMD processors.

Fijany, Amir↗