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At least 757 records · Page 42

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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 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 NTRS1992

A second-order structural identification procedure via state space-based system identification

A theory is presented for transforming the system theory-based realization models into the corresponding physical coordinate-based structural models. The theory has been implemented into a computational procedure and applied to several example problems. The results show that the present transformation theory yields an objective model basis possessing a unique set of structural parameters from an infinite set of equivalent system realization models. For proportionally damped systems, the transformation directly and systematically yields the normal modes and modal damping. When non-proportional damping is present, the relative magnitude and phase of the damped model shapes are separately characterized, and a corrective transformation is then employed to capture the undamped normal modes and non-diagonal modal damping matrix.

Alvin, K. F.↗

NASA NTRS1993

The effects on the ionosphere of inertia in the high latitude neutral thermosphere

High-latitude ionospheric currents, plasma temperatures, densities, and composition are all affected by the time-dependent response of the neutral thermosphere to ion drag and Joule heating through a variety of complex feedback processes. These processes can best be studied numerically using the appropriate nonlinear numerical modeling techniques in conjunction with experimental case studies. In particular, the basic physics of these processes can be understood using a model, and these concepts can then be applied to more complex realistic situations by developing the appropriate simulations of real events. Finally, these model results can be compared with satellite-derived data from the thermosphere. We used numerical simulations from the National Center of Atmospheric Research Thermosphere/Ionosphere General Circulation Model (NCAR TIGCM) and data from the Dynamic Explorer 2 (DE 2) satellite to study the time-dependent effects of the inertia of the neutral thermosphere on ionospheric currents, plasma temperatures, densities, and composition. One particular case of these inertial effects is the so-called 'fly-wheel effect'. This effect occurs when the neutral gas, that has been spun-up by the large ionospheric winds associated with a geomagnetic storm, moves faster than the ions in the period after the end of the main phase of the storm. In these circumstances, the neutral gas can drag the ions along with them. It is this last effect, which is described in the next section, that we have studied under this grant.

Burns, Alan↗

NASA NTRS1993

The effects of stress and physical aging on the creep compliance of a polymeric composite

An experimental study was performed to determine the effects of stress and physical aging on the matrix dominated viscoelastic properties of IM7/8320, a high temperature fiber reinforced thermoplastic composite. Established creep/aging test techniques developed for polymers were adapted for testing of the composite material. The transverse and shear compliance for an orthotropic plate were found from creep compliance measurements at constant, sub-Tg temperatures. These compliance terms were shown to be effected by physical aging. Aging time shift factors and shift rates were found to be a function of applied stress.

Gates, Thomas E.↗

NASA NTRS1994

Object-oriented Technology for Compressor Simulation

An object-oriented basis for interdisciplinary compressor simulation can, in principle, overcome several barriers associated with the traditional structured (procedural) development approach. This paper presents the results of a research effort with the objective to explore the repercussions on design, analysis, and implementation of a compressor model in an object oriented (OO) language, and to examine the ability of the OO system design to accommodate computational fluid dynamics (CFD) code for compressor performance prediction. Three fundamental results are that: (1) the selection of the object oriented language is not the central issue; enhanced (interdisciplinary) analysis capability derives from a broader focus on object-oriented technology; (2) object-oriented designs will produce more effective and reusable computer programs when the technology is applied to issues involving complex system inter-relationships (more so than when addressing the complex physics of an isolated discipline); and (3) the concept of disposable prototypes is effective for exploratory research programs, but this requires organizations to have a commensurate long-term perspective. This work also suggests that interdisciplinary simulation can be effectively accomplished (over several levels of fidelity) with a mixed language treatment (i.e., FORTRAN-C++), reinforcing the notion the OO technology implementation into simulations is a 'journey' in which the syntax can, by design, continuously evolve.

Drummond, C. K.↗

NASA NTRS2002

The Speed of Axial Propagation of a Cylindrical Bubble Through a Cylindrical Vortex

Inspired by the rapid elongation of air columns injected into vortices by dolphins, we present an exact inviscid solution for the axial speed (assumed steady) of propagation of the tip of a semi-infinite cylindrical bubble along the axis of a cylindrical vortex. The bubble is assumed to be held at constant pressure by being connected to a reservoir, the lungs of the dolphin, say. For a given bubble pressure, there is a modest critical rotation rate above which steadily propagating bubbles exist. For a bubble at ambient pressure, the propagation speed of the bubble (relative to axial velocity within the vortex) varies between 0.5 and 0.6 of the maximum rotational speed of the vortex. Surprisingly, the bubble tip can propagate (almost as rapidly) even when the pressure minimum in the vortex core is greater than the bubble pressure; in this case, solutions exhibit a dimple on the nose of the bubble. A situation important for incipient vortex cavitation, and one which dolphins also demonstrate, is elongation of a free bubble, i.e., one whose internal pressure may vary. Under the assumption that the acceleration term is small (checked a posteriori), the steady solution is applied at each instant during the elongation. Three types of behavior are then possible depending on physical parameters and initial conditions: (A) Unabated elongation with slowly increasing bubble pressure, and nearly constant volume. Volume begins to decrease in the late stages. (B1) Elongation with decreasing bubble pressure. A limit point of the steady solution is encountered at a finite bubble length. (B2) Unabated elongation with decreasing bubble pressure and indefinite creation of volume. This is made possible by the existence of propagating solutions at bubble pressures below the minimum vortex pressure. As the bubble stretches, its radius initially decreases but then becomes constant; this is also observed in experiments on incipient vortex cavitation.

Shariff, Karim↗

NASA NTRS2004

XTE J1550-564: INTEGRAL Observations of a Failed Outburst

The well known black-hole X-ray binary transient XTE J1550-564 underwent an outburst during the spring of 2003 which was substantially underluminous in comparison to previous periods of peak activity in that source. In addition, our analysis shows that it apparently remained in the hard spectral state over the duration of that outburst. This is again in sharp contrast to major out-bursts of that source in 1998/1999 during which it exhibited an irregular light curve, multiple state changes and collimated outflows. This leads us to classify it as a failed outburst. We present the results of our study of the spring 2003 event including light curves based on observations from both INTEGRAL and RXTE. In addition, we studied the evolution of the high-energy 3-300 keV continuum spectrum using data obtained with three main instruments on INTEGRAL. These spectra are consistent with typical low-hard-state thermal Comptonization emission. We also consider the 2003 event in the context of a multi-source, multi-event period-peak luminosity diagram in which it is a clear outlyer. We then consider the possibility that the 2003 event was due to a discrete accretion event rather than a limit-cycle instability. In that context, apply model fitting to derive the timescale for viscous propagation in the disk, and infer some physical characteristics.

Sturner, S. J.↗

NASA NTRS2014

Adapting the Reconfigurable SpaceCube Processing System for Multiple Mission Applications

This paper will detail the use of SpaceCube in multiple space flight applications including the Hubble Space Telescope Servicing Mission 4 (HST-SM4), an International Space Station (ISS) radiation test bed experiment, and the main avionics subsystem for two separate ISS attached payloads. Each mission has had varying degrees of data processing complexities, performance requirements, and external interfaces. We will show the methodology used to minimize the changes required to the physical hardware, FPGA designs, embedded software interfaces, and testing.This paper will summarize significant results as they apply to each mission application. In the HST-SM4 application we utilized the FPGA resources to accelerate portions of the image processing algorithms more than 25 times faster than a standard space processor in order to meet computational speed requirements. For the ISS radiation on-orbit demonstration, the main goal is to show that we can rely on the commercial FPGAs and processors in a space environment. We describe our FPGA and processor radiation mitigation strategies that have resulted in our eight PowerPCs being available and error free for more than 99.99 of the time over the period of four years. This positive data and proven reliability of the SpaceCube on ISS resulted in the Department of Defense (DoD) selecting SpaceCube, which is replacing an older and slower computer currently used on ISS, as the main avionics for two upcoming ISS experiment campaigns. This paper will show how we quickly reconfigured the SpaceCube system to meet the more stringent reliability requirements

SpaceCube↗

NASA NTRSDate not supplied

Terrestrial Analogue Studies from ISRO’s Venus Mission Perspective: Polarimetric Radar Properties of Hawaiian Lava Flows

Detection of present and past volcanism on Venus is one of the major goals of the proposed ISRO’s Venus orbiter mission. The S-band, high-resolution (40 m/pixel) fully Polarimetric Synthetic Aperture Radar (PolSAR) instrument on this mission [1] may have the capabilities to detect volcanism within the mission lifetime using repeated PolSAR imagery, and possibly SAR Interferometry (InSAR, experimental mode). The global mapping efforts of Venus by Magellan mission has enabled comprehensive mapping of lava flows and indicated that Venus has an extensive history of volcanism, the ages of which are largely unknown (e.g. [2]). While Magellan radar emissivity data (e.g. [3, 4]) and Near Infrared emissivity data from VIRTIS [5] suggested the occurrence of recent episodes of volcanic activity (e.g. Maat Mons and Ganis Chasma), as well as the presence of stratigraphically young lava flows (e.g. Idunn Mons), measuring changes in radar backscatter amplitude alone to identify lava flows has many challenges. Although very large changes in the shape of the terrain can be observed in radar backscatter amplitude changes (e.g. [6]), smaller, or relatively flat lava flows are difficult to detect. Previous terrestrial studies suggest that PolSAR and InSAR techniques are very effective for mapping lava flows (e.g. [7-9]), and can be used when changes cannot be distinguished in radar backscatter images. We use the unvegetated lava flows on Hawaiʻi island as a terrestrial analogue to study Venus lava flows for the following reasons: (a) It is extensively studied at several wavelengths commonly used in remote sensing studies (including PolSAR and InSAR methods); and (b) it is a volcanically active area with new lava flows frequently covering older emplaced flows. To investigate the surface roughness, texture, and fine-grained mantling associated with Mauna Loa and Kilauea lava flows, we utilize C- and L-band PolSAR datasets obtained from RISAT-1A (EOS-4) and ALOS PALSAR missions respectively. In particular, we will use the quad-polarized backscatter and polarimetric parameters to characterize the texture of the terrestrial lava flows to understand whether the Venus crust is continuously disrupted during flow emplacement. While some previous studies (e.g. [10, 11]) suggested that surface roughness of most of the Venus flows is comparable to that of terrestrial pāhoehoe flows, other studies indicated that fractal dimensions of some large lava flows on Venus imply high eruption rates which favour the formation of a’a flows (e.g. [12]). We will also analyse the terrestrial flows for the presence/absence of pyroclastic mantling as radar-bright diffuse deposits near the summit regions of some coronae on Venus have been proposed to be young pyroclastics, and possible evidence of a renewed epoch of mantle volcanism that taps into deeper volatiles [13]. A recent study using EOS-4 RISAT-1 data of a part of fresh Mauna Loa lava flows (2022 eruption) emphasizes the ability of fully polarimetric SAR data to understand the diversity of physical properties (e.g. texture and morphology) associated with them (Sreejith et al. 2024); and we will apply similar methods to the PolSAR data obtained from ISRO’s Venus mission for our proposed objectives.

Sriram S Bhiravarasu↗

NASA NTRS1976

Stability of a viscous fluid in a rectangular cavity in the presence of a magnetic field

The stability of an electrically conducting fluid subjected to two dimensional disturbance was investigated. A physical system consisting of two parallel infinite vertical plates which are thermally insulated was studied. An external magnetic field of constant strength was applied to normal plates. The fluid was heated from below so that a steady temperature gradient was maintained in the fluid. The governing equations were derived by perturbation technique, and solutions were obtained by a modified Galerkin method. It was found that the presence of the magnetic field increases the stability of the physical system and instability can occur in the form of neutral or oscillatory instability.

Liang, C. Y.↗

NASA NTRS1983

System for monitoring physical characteristics of fluids

An apparatus and method are described for measuring physical characteristics of fluid, by placing a drop of the fluid in a batch of a second fluid and passing acoustic waves through the bath. The applied frequency of the acoustic waves is varied, to determine the precise value of a frequency at which the drop undergoes resonant oscillations. The resonant frequency indicates the interfacial tension of the drop in the bath, and the interfacial tension can indicate physical properties of the fluid in the drop.

Trinh, E. H.↗

NASA NTRS1973

Applying high-emittance and solar-absorptance coating to aluminum

Coated surface withstands space environment with negilgible change in radiation characteristics and physical properties. Process can be used with any porous substance, as long as pores are large enough to allow molecules of reacting solutions to enter and yet not so large as to allow nickel sulfide to be leached out of pores before sealing.

Progar, D. J.↗

NASA NTRS2006

Implementing Scientific Simulation Codes Highly Tailored for Vector Architectures Using Custom Configurable Computing Machines

The motivation for this work comes from an observation that amidst the push for Massively Parallel (MP) solutions to high-end computing problems such as numerical physical simulations, large amounts of legacy code exist that are highly optimized for vector supercomputers. Because re-hosting legacy code often requires a complete re-write of the original code, which can be a very long and expensive effort, this work examines the potential to exploit reconfigurable computing machines in place of a vector supercomputer to implement an essentially unmodified legacy source code. Custom and reconfigurable computing resources could be used to emulate an original application's target platform to the extent required to achieve high performance. To arrive at an architecture that delivers the desired performance subject to limited resources involves solving a multi-variable optimization problem with constraints. Prior research in the area of reconfigurable computing has demonstrated that designing an optimum hardware implementation of a given application under hardware resource constraints is an NP-complete problem. The premise of the approach is that the general issue of applying reconfigurable computing resources to the implementation of an application, maximizing the performance of the computation subject to physical resource constraints, can be made a tractable problem by assuming a computational paradigm, such as vector processing. This research contributes a formulation of the problem and a methodology to design a reconfigurable vector processing implementation of a given application that satisfies a performance metric. A generic, parametric, architectural framework for vector processing implemented in reconfigurable logic is developed as a target for a scheduling/mapping algorithm that maps an input computation to a given instance of the architecture. This algorithm is integrated with an optimization framework to arrive at a specification of the architecture parameters that attempts to minimize execution time, while staying within resource constraints. The flexibility of using a custom reconfigurable implementation is exploited in a unique manner to leverage the lessons learned in vector supercomputer development. The vector processing framework is tailored to the application, with variable parameters that are fixed in traditional vector processing. Benchmark data that demonstrates the functionality and utility of the approach is presented. The benchmark data includes an identified bottleneck in a real case study example vector code, the NASA Langley Terminal Area Simulation System (TASS) application.

Rutishauser, David↗

NASA NTRS1950

Isentropic phase changes in dissociating gases and the method of sound dispersion for the investigation of homogeneous gas reactions with very high speed : Conclusion

The analytical results of Part I are also applied to sound dispersion by friction and heat conduction, An irreversible change of momentum, energy, and type of particle corresponding to friction, heat conduction, and diffusion effects can appear both in the direction of the sound field and traverse to it. Longitudinal damping, the coupling of longitudinal damping and that due to chemical and physical changes, and coupling of diffusion and compositional changes are treated for a plane sound wave of infinite extent. The same principles are also applied to sound effects in cylindrical tubes. The limitations of the method are discussed in some detail.

SOUND VELOCITY - GASES↗

NASA NTRS1995

Thermal conductivity of zirconia thermal barrier coatings

Thermal barrier coatings (TBC's) applied to the hot gas components of turbine engines lead to enhanced fuel efficiency and component reliability. Understanding the mechanisms which control the thermal transport behavior of the TBC's is of primary importance. Physical vapor description (PVD) and plasma spraying (PS) are the two most commonly used coating techniques. These techniques produce coatings with unique microstructures which control their performance and stability. The PS coatings were applied with either standard power or hollow sphere particles. The hollow sphere particles yielded a lower density and lower thermal conductivity coating. The thermal conductivity of both fully and partially stabilized zirconia, before and after thermal aging, will be compared. The thermal conductivity of the coatings permanently increase upon being exposed to high temperatures. These increases are attributed to microstructural changes within the coatings. Sintering of the as fabricated plasma sprayed lamellar structure is observed by scanning electron microscopy of coatings isothermally heat treated at temperatures greater than 1100 C. During this sintering process the planar porosity between lamella is converted to a series of small spherical pores. The change in pore morphology is the primary reason for the observed increase in thermal conductivity. This increase in thermal conductivity can be modeled using a relationship which depends on both the temperature and time of exposure. Although the PVD coatings are less susceptible to thermal aging effects, preliminary results suggest that they have a higher thermal conductivity than PS coatings, both before and after thermal aging. The increases in thermal conductivity due to thermal aging for partially stabilized plasma sprayed zirconia have been found to be less than for fully stabilized plasma sprayed zirconia coatings. The high temperature thermal diffusivity data indicates that if these coatings reach a temperature above 1100 C during operation, they will begin to lose their effectiveness as a thermal barrier.

Dinwiddie, R. B.↗

NASA NTRS1995

Thermal conductivity of zirconia thermal barrier coatings

Thermal barrier coatings (TBC's) applied to the hot gas components of turbine engines lead to enhanced fuel efficiency and component reliability. Understanding the mechanisms which control the thermal transport behavior of the TBC's is of primary importance. Physical vapor deposition (PVD) and plasma spraying (PS) are the two most commonly used coating techniques. These techniques produce coatings with unique microstructures which control their performance and stability. The PS coatings were applied with either standard powder or hollow sphere particles. The hollow sphere particles yielded a lower density and lower thermal conductivity coating. The thermal conductivity of both fully and partially stabilized zirconia, before and after thermal aging, will be compared. The thermal conductivity of the coatings permanently increases upon exposed to high temperatures. These increases are attributed to microstructural changes within the coatings. Sintering of the as-fabricated plasma sprayed lamellar structure is observed by scanning electron microscopy of coatings isothermally heat treated at temperatures greater than 1100 C. During this sintering process the planar porosity between lamella is converted to a series of small spherical pores. The change in pore morphology is the primary reason for the observed increase in thermal conductivity. This increase in thermal conductivity can be modeled using a relationship which depends on both the temperature and time of exposure. Although the PVD coatings are less susceptible to thermal aging effects, preliminary results suggest that they have a higher thermal conductivity than PS coatings, both before and after thermal aging. The increases in thermal conductivity due to thermal aging for partially stabilized plasma sprayed zirconia have been found to be less than for fully stabilized plasma sprayed zirconia coatings. The high temperature thermal diffusivity data indicate that if these coatings reach a temperature above 1100 C during operation, they will begin to lose their effectiveness as a thermal barrier.

Dinwiddie, R. B.↗

NASA NTRS1983

Preparation, characterization, physical testing and performance of flurocarbon membranes and separators

The direct fluorination method of converting carefully selected hydrocarbon substrates to fluorinated membranes was successfully applied to produce promising, novel membranes for electrochemical devices. A family of polymer blends was identified which permits wide latitude in the concentration of both crosslinks and carboxyl groups in hydrocarbon membranes. The membranes of paragraph two were successfully fluorinated.

Lagow, R. J.↗