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At least 73 records · Page 4

A Passive Gravitational Attitude Control System for Satellites

It is shown how the gravity-gradient effect may be utilized to design a long-lived, earth-pointing satellite attitude control system which requires no fuel supplies, attitude sensors or active control equipment. This two-body system is provided with a magnetic hysteresis damper which effectively damps out oscillations (librations) about the local vertical. The long rods, which must be extended in space from coiled up metal tapes, provide the required large moments of inertia and possess adequate rigidity and sufficient strength to endure the rigors of the extension process. The system is compatible with the requirements of multiple satellite launchings from a single last-stage vehicle. Analysis indicates that the gravitational torques are sufficient to keep the disturbing effects of solar radiation pressure, residual magnetic dipole moments, orbit eccentricity, rod curvature, eddy currents, and meteorite impacts within tolerable limits. It is believed that the high-performance, earth-pointing system described and analyzed in this paper represents an essential step in the development of high-capacity communications satellites requiring long life.

GRAVITY↗

A two-degree-of-freedom flutter mount system with low damping for testing rigid wings at different angles of attack

A wind tunnel model mount system for conducting flutter research using a rigid wing was developed. The wing is attached to a splitter plate so that the two move as one rigid body. The splitter plate is supported away from the tunnel wall by a system of rods with fixed fixed and conditions. The rods flex in such a way that only pitch and plunge oscillations are permitted. At the tunnel wall the rods are attached to a remotely controlled turntable so that angle of attack can be varied. Wind tunnel data obtained by using the mount system are presented for a supercritical and a conventional airfoil. Both classical flutter and stall flutter data are presented.

Farmer, M. G.↗

Procedure for utilizing the lift and thrust forces of ornithopters

This procedure is distinguished by two beating wings which together describe, in space, a succession of interlaced triangles. On these wings, whose incidence varies automatically, identical forces are exerted: simultaneous lift and thrust when they make their descent, which is inclined toward the front of the craft, and lift alone when they make their ascent, which is inclined toward the rear of the craft and follows a slide horizontal movement. A mechanical device makes these movements possible. It includes: two wings with hollow profiles, connected by a framework located above a rigid frame and attached to it by bars with joints. These bars are moved with control rods which gear down the drive force. A mechanism with elastic bands or springs automatically varies the incidence of the wings.

Bezard, C.↗

Design and Closed‐Loop Motion Planning of an Untethered Swimming Soft Robot Using 2D Discrete Elastic Rods Simulations

Despite tremendous progress in the development of untethered soft robots in recent years, existing systems lack the mobility, model‐based control, and motion planning capabilities of their piecewise rigid counterparts. As in conventional robotic systems, the development of versatile locomotion of soft robots is aided by the integration of hardware design and control with modeling tools that account for their unique mechanics and environmental interactions. Here, a framework for physics‐based modeling, motion planning, and control of a fully untethered swimming soft robot is introduced. This framework enables offline co‐design in the simulation of robot parameters and gaits to produce effective open‐loop behaviors and enables closed‐loop planning over motion primitives for feedback control of a frog‐inspired soft robot testbed. This pipeline uses a discrete elastic rods (DERs) physics engine that discretizes the soft robot as many stretchable and bendable rods. On hardware, an untethered aquatic soft robot that performs frog‐like rowing behaviors is engineered. Hardware validation verifies that the simulation has sufficient accuracy to find the best candidates for sets of parameters offline. The simulator is then used to generate a trajectory library of the robot's motion in simulation that is used in real‐time closed‐loop path following experiments on hardware.

Huang, Xiaonan↗

CLPNets: Coupled Lie–Poisson neural networks for multi-part Hamiltonian systems with symmetries

To accurately compute data-based prediction of Hamiltonian systems, it is essential to utilize methods that preserve the structure of the equations over time. We consider a particularly challenging case of systems with interacting parts that do not reduce to pure momentum evolution. Such systems are essential in scientific computations, such as discretization of a continuum elastic rod, which can be viewed as the group of rotations and translations $SE(3)$. The evolution involves not only the momenta but also the relative positions and orientations of the particles. The presence of Lie group-valued elements, such as relative positions and orientations, poses a problem for applying previously derived methods for data-based computing. We develop a novel method of data-based computation and complete phase space learning of such systems. We follow the original framework of SympNets (Jin et al., 2020) and LPNets (Eldred et al., 2024), building the neural network from phase space mappings that preserve the Lie–Poisson structure. We derive a novel system of mappings that are built into neural networks describing the evolution of such systems. We call such networks Coupled Lie–Poisson Neural Networks, or CLPNets. We consider increasingly complex examples for the applications of CLPNets, starting with the rotation of two rigid bodies about a common axis, progressing to the free rotation of two rigid bodies, and finally to the evolution of two connected and interacting $SE(3)$ components, describing the discretization of an elastic rod into two elements. Our method preserves all Casimir invariants to machine precision, preserves energy to high accuracy, and shows good resistance to the curse of dimensionality, requiring only a few thousand data points for all cases studied (three to eighteen dimensions). Additionally, the method is highly economical in memory requirements, requiring only about 200 parameters for the most complex case considered.

Data-based modeling↗

Active damping of unidimensional structures

The vibration characteristics of an unidimensional structure are discussed. The cases considered are: (1) a rigid pipe in which a wave propagates, (2) an infinite string along which a transverse wave propagates, (3) a rod along which longitudinal or torsional columns propagate, and (4) generally a unidimensional propagation of some one mode of vibrations which is nondegenerating with distance. Mathematical models are developed to show the performance of the mechanical devices under various damping conditions.

Tartakovskiy, B. D.↗

Model mount system for testing flutter

A wind tunnel model mount system is disclosed for effectively and accurately determining the effects of attack and airstream velocity on a model airfoil or aircraft. The model mount system includes a rigid model attached to a splitter plate which is supported away from the wind tunnel wall several of flexible rods. Conventional instrumentation is employed to effect model rotation through a turntable and to record model flutter data as a function of the angle of attack versus dynamic pressure.

Farmer, M. G.↗

Sister Rod Destructive Examinations (FY23): Appendix H: Instron Uncertainty Calculations

This document discusses the uncertainty of measurements associated with the Instron system and the resulting uncertainty in the acquired measurements and calculated information. The primary parameters measured during the Instron test include the applied load and specimen deflection. The associated primary calculated parameters are the maximum beam deflection at the rod’s axial center and modulus of elasticity. Secondary calculated parameters include specimen stress and strain amplitudes, as well as flexural rigidity. The uncertainty associated with the primary and secondary calculated parameters was investigated based on the known uncertainty in the measured parameters.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Controlling Tensegrity Robots through Evolution using Friction based Actuation

Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

Tensegrit↗

Engineering parameter determination from the radio astronomy explorer /RAE I/ satellite attitude data

An RAE-I satellite description is given, taking into account a dynamics experiment and the attitude sensing system. A computer program for analyzing flexible spacecraft attitude motions is considered, giving attention to the geometry of rod deformation. The characteristics of observed attitude data are discussed along with an analysis of the main boom root angle, the bending rigidity, and the damper plane angle.

Lawlor, E. A.↗

Apparatus and method for pulsed laser deposition of materials on wires and pipes

Methods and apparatuses are disclosed which allow uniform coatings to be applied by pulsed laser deposition (PLD) on inner and outer surfaces of cylindrical objects, such as rods, pipes, tubes, and wires. The use of PLD makes this technique particularly suitable for complex multicomponent materials, such as superconducting ceramics. Rigid objects of any length, i.e., pipes up to a few meters, and with diameters from less than 1 centimeter to over 10 centimeters can be coated using this technique. Further, deposition is effected simultaneously onto an annular region of the pipe wall. This particular arrangement simplifies the apparatus, reduces film uniformity control difficulties, and can result in faster operation cycles. In addition, flexible wires of any length can be continuously coated using the disclosed invention.

Fernandez, Felix E.↗

Electrostatically driven pattern formation in mixed charged–neutral multicomponent elastic membranes

Multicomponent crystalline and amorphous elastic shells exhibit heterogeneous surface patterns that provide distinctive functionalities in cellular environments. Such patterning typically arises from the competition between short-range attractive and long-range repulsive interactions in membranes. Here, we demonstrate that the intrinsic competition between electrostatic repulsion and elastic deformation is sufficient to drive spontaneous surface patterning in elastic shells, requiring no additional attractive interactions. Using numerical simulations, we demonstrate pattern formation in mechanically homogeneous membranes with heterogeneous surface charge composition across different topologies, including spheres, discs, and flat periodic membranes. We also examine patterns in crystalline and amorphous shells of coassembled charged and neutral components with different bending rigidities. At low charge fraction, discrete charged surface domains form. At intermediate charge fraction, the competition between electrostatics and elasticity leads to elongated domains (rods) of the charged component, which results in lamellar patterns at nearly equal fraction of the charged and neutral components. At high charge fraction, nanodomains of the neutral component form. Amorphous shells exhibit similar progressions but with disordered structures rather than ordered lamellar patterns. These pattern morphologies are observed in both the closed shells and flat membranes. As salt concentration increases, all patterns coarsen due to the screening of electrostatic interactions.

charge heterogeneity↗

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

This paper presents structural models of deformable linear objects (DLOs). DLOs are a subclass of deformable objects that encompasses common outfitting elements such as cables and ropes. Models are validated through hardware experiments, and integration in a robotic autonomy architecture for space environments is discussed. A persistent human presence on the lunar surface is one of the next major milestones in space exploration. This requires the development of robust extraplanetary construction technologies including structures and materials modeling and robotic systems. Previous robotic construction technology development has primarily focused on structural assembly, with significantly less focus on robotically performed outfitting tasks to instantiate subsystems providing power, data, life support, etc. These tasks involve manipulation of highly flexible elements, which are difficult to model, such as cable harnesses, ropes, and hoses. Robotic manipulation of DLOs, especially cable harnesses, is an active area of research as cable harnesses are essential for providing power and data to space assets. DLO models that can be used for robot manipulator trajectory generation are necessary for autonomous operation of lunar infrastructure. There are many proposed methods for modeling DLOs, and they primarily fall into three types: 1) discrete model-based, 2) continuum model-based, and 3) Neural Network-based. These types each have pros and cons, and the tradeoff between model accuracy and computational speed informs which type should be used. An understanding of this trade-off is imperative for real-time control of autonomous systems. High computational requirements reduce the speed of the model, making real-time control difficult, while accuracy is critical to preventing collisions. Discrete models, such as a mass-spring multibody representation, require relatively few calculations, and accuracy is directly tied to the step size of the discretization. Continuum models, such as a B-spline representation or a Cosserat rod model (a mix of continuous and discrete), are more informed of the structural properties of the cable and are much more accurate than a rigid body mass-spring model, but at significant computational cost. A Neural Network approach can provide an online solution with very few computational steps, but properly generating training data can be difficult and validation for an in-space application is not trivial. This paper explores the trade-off between different modeling approaches and compares accuracy and computational speed/complexity of the three types mentioned above. Model accuracy is evaluated using a cable in a static configuration. True cable shape is obtained using a depth camera for RGB images and point-cloud segmentation. The purpose of this experiment is to evaluate the trade-offs of different approaches to the DLO modeling problem. Understanding the tradeoffs between different cable modeling techniques paves the way for developing robotic control and planning architectures necessary for real-time manipulation of DLOs for lunar infrastructure outfitting. Real-time control is required for robotic systems to be able to actively manipulate a cable in a harsh environment where model and sensor errors compound, and environmental conditions can cause significant disturbances. Cable routing must be performed in areas with high density of objects/obstacles: through truss structures, near solar panels or mirror arrays, next to bundles of electrical equipment. Understanding the best way to plan and manipulate a cable without disrupting the environment or damaging the cable is imperative to robotic outfitting operations on the lunar surface.

Amy M Quartaro↗

Method for making a hot wire anemometer and product thereof

A hot wire anemometer probe is described that includes a ceramic body supporting two conductive rods parallel to each other. The body has a narrow edge surface from which the rods protrude. A probe wire is welded to the rods and extends along the edge surface. A ceramic adhesive is used to secure the probe wire to the surface so that the probe wire is rigid. A method for fabricating the probe is also described in which the body is molded and precisely shaped by machining techniques before the probe wires are installed.

Milkulla, V.↗

Fibers of newly developed refractory ceramics produced by improved process

Rods of refractory ceramic material and glasses having relatively high fusion temperatures and tensile strengths are converted to fiber by subjecting these rods to alternate fusion and gas-jet bursts. The refractory, high tensile strength fibers produced are combined with suitable binder to produce heat-resistant fabrics and rigid structures.

Source record↗

Helicopter Pitch-Control Mechanism Reduces Vibration

Large forces accommodated without increasing weight of helicopter structure. New mechanism yields stiffer control and improves accuracy of pitch changes under load. As result, heavy casting not for gearbox, nor extra reinforcing members needed for fuselage bulkheads, stringers, skin, and other parts. In new mechanism, reaction forces developed in rotor hub. Long load paths to gearbox and fuselage elminated. Reaction member rigidly attached to hub and rotates with it. At lower end of reaction member, bearing forms bridge to fuselage through stationary beam and antirotation link. Beam connected to reaction plate through rods.

Lemont, H.↗

Impact of solids on composite materials

The failure modes of composite materials as a result of low velocity impact were investigated by simulating the impact with a finite element analysis. An important facet of the project is the modeling of the impact of a solid onto cylindrical shells composed of composite materials. The model under development will simulate the delamination sustained when a composite material encounters impact from another rigid body. The computer equipment was installed, the computer network tested, and a finite element method model was developed to compare results with known experimental data. The model simulated the impact of a steel rod onto a rotating shaft. Pre-processing programs (GMESH and TANVEL) were developed to generate node and element data for the input into the three dimensional, dynamic finite element analysis code (DYNA3D). The finite element mesh was configured with a fine mesh near the impact zone and a coarser mesh for the impacting rod and the regions surrounding the impacting zone. For the computer simulation, five impacting loads were used to determine the time history of the stresses, the scribed surface areas, and the amount of ridging. The processing time of the computer codes amounted from 1 to 4 days. The calculated surface area were within 6-12 percent, relative error when compated to the actual scratch area.

Bronson, Arturo↗

Feasibility Analysis of Unmanned Aerial Vehicle Based on Tensegrity Structure

For future unmanned aerial vehicles to be ubiquitous, they need to be safe to other aircraft and people on the ground even in the event of unintended collisions. Unfortunately, this is difficult for current rigid designs as a crash of all but the smallest aircraft will have a significant impact on its target. As an alternative, this pa-per explores using a soft tensegrity structure (interconnected cables and rods) as a lightweight, robust chassis for a UAS and analyze its ability to achieve stable, controllable flight and mitigate damage during a collision. Tensegrity structures are three dimensional geometric constructions which are able to undergo severe deformations without permanent damage, and can immediately return to their original shape. Experiments and analysis are performed using a simple physics simulation environment, allowing for rapid design iteration and thorough exploration of system behavior. We test multiple configurations of the vehicle to understand impacts of changing various physical characteristics, and take limitations such as modern propeller thrust coefficients and motor speeds into account to ensure our results are inline with those of a real world vehicle. We ultimately find that such a vehicle has considerable real world potential, and that a physical prototype could theoretically be constructed and flown with current technology.

Bjorn Johnson↗