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At least 757 records · Page 42

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NASA NTRS1990

Force user's manual: A portable, parallel FORTRAN

The use of Force, a parallel, portable FORTRAN on shared memory parallel computers is described. Force simplifies writing code for parallel computers and, once the parallel code is written, it is easily ported to computers on which Force is installed. Although Force is nearly the same for all computers, specific details are included for the Cray-2, Cray-YMP, Convex 220, Flex/32, Encore, Sequent, Alliant computers on which it is installed.

Jordan, Harry F.↗

NASA NTRS1990

Architectural study of the design and operation of advanced force feedback manual controllers

A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof concepts is presented as a feasible test-bed for enhanced performance in a 9-dof system.

Tesar, Delbert↗

NASA NTRS1990

Integrated force method versus displacement method for finite element analysis

A novel formulation termed the integrated force method (IFM) has been developed in recent years for analyzing structures. In this method all the internal forces are taken as independent variables, and the system equilibrium equations (EE's) are integrated with the global compatibility conditions (CC's) to form the governing set of equations. In IFM the CC's are obtained from the strain formulation of St. Venant, and no choices of redundant load systems have to be made, in constrast to the standard force method (SFM). This property of IFM allows the generation of the governing equation to be automated straightforwardly, as it is in the popular stiffness method (SM). In this report IFM and SM are compared relative to the structure of their respective equations, their conditioning, required solution methods, overall computational requirements, and convergence properties as these factors influence the accuracy of the results. Overall, this new version of the force method produces more accurate results than the stiffness method for comparable computational cost.

Patnaik, Surya N.↗

NASA NTRS1989

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Ider, Sitki Kemal↗

NASA NTRS1990

The effects of clouds on CO2 forcing

The cloud radiative forcing (CRF) is the difference between the radiative flux (at the top of the atmosphere) which actually occurs in the presence of clouds, and that which would occur if the clouds were removed but the atmospheric state were otherwise unchanged. The CO2 forcing is defined, in analogy with the cloud forcing, as the difference in fluxes and/or infrared heating rates obtained by instantaneously changing CO2 concentration (doubling it) without changing anything else, i.e., without allowing any feedback. An increased CO2 concentration leads to a reduced net upward longwave flux at the Earth's surface. This induced net upward flux is due to an increased downward emission by the CO2 in the atmosphere above. The negative increment to the net upward flux becomes more intense at higher levels in the troposphere, reaching a peak intensity roughly at the tropopause. It then weakens with height in the stratosphere. This profile implies a warming of the troposphere and cooling of the stratosphere. The CSU GCM was recently used to make some preliminary CO2 forcing calculations, for a single simulated, for July conditions. The longwave radiation routine was called twice, to determine the radiative fluxes and heating rates for both 2 x CO2 and 1 x CO2. As diagnostics, the 2-D distributions of the longwave fluxes at the surface and the top of atmosphere, as well as the 3-D distribution of the longwave cooling in the interior was saved. In addition, the pressure was saved (near the tropopause) where the difference in the longwave flux due to CO2 doubling has its largest magnitude. For convenience, this level is referred to as the CO2 tropopause. The actual difference in the flux at that level was also saved. Finally, all of these fields were duplicated for the hypothetical case of no cloudiness (clear sky), so that the effects of the clouds can be isolated.

Randall, David A.↗

NASA NTRS1989

Portable Dextrous Force Feedback Master for robot telemanipulation (PDMFF)

A major drawback of open loop masters is a lack of force feedback, limiting their ability to perform complex tasks such as assembly and repair. Researchers present a simple dextrous force feedback master for computer assisted telemanipulation. The device is compact, portable and can be held in the operator hand, without the need for a special joystick or console. The system is capable of both position feed forward and force feedback, using electronic position sensors and a pneumatic micro-actuator. The level of forces exercised by the pneumatic actuator is such that near rigidity may be attained. Experimental results showing good system linearity and small time lag are given.

Burdea, Grigore C.↗

NASA NTRS1989

A radiation-driven stellar wind model with a line force cutoff

This paper presents a model for a radiation-driven stellar wind in which the driving force is abruptly cut off at an adjustable distance from the star. The model is intended to give a first approximation of the effects of ionizing shocks in a stellar wind on the terminal velocity and mass-loss rate. As expected, the wind velocity is found to decrease after the line force is cut off. The terminal velocity depends directly on the velocity of the wind at the point where the driving force is cut off. The mass-loss rate is found to be unaffected as long as the cutoff is outside the critical point of the flow. The model is applied to the star Tau Sco, a strong X-ray source with an anomalously low terminal velocity. It is shown that this low terminal velocity can be caused by a cutoff of the line force at a distance which is consistent with the idea that the observed X-rate emission is produced by shocks in the wind.

Abbott, Mark J.↗

NASA NTRS1989

Universal aspects of brittle fracture, adhesion, and atomic force microscopy

This universal relation between binding energy and interatomic separation was originally discovered for adhesion at bimetallic interfaces involving the simple metals Al, Zn, Mg, and Na. It is shown here that the same universal relation extends to adhesion at transition-metal interfaces. Adhesive energies have been computed for the low-index interfaces of Al, Ni, Cu, Ag, Fe, and W, using the equivalent-crystal theory (ECT) and keeping the atoms in each semiinfinite slab fixed rigidly in their equilibrium positions. These adhesive energy curves can be scaled onto each other and onto the universal adhesion curve. The effect of tip shape on the adhesive forces in the atomic-force microscope (AFM) is studied by computing energies and forces using the ECT. While the details of the energy-distance and force-distance curves are sensitive to tip shape, all of these curves can be scaled onto the universal adhesion curve.

Banerjea, Amitava↗

NASA NTRS1989

A multi-point force appropriation method based upon a singular value decomposition approach

Force appropriation methods aim to provide an estimate for the force pattern required to excite a 'pure' normal mode in a vibration test where multiple exciters are available. In this paper, a new method based upon a Singular Value Decompositon approach is presented. The appropriated force vector which minimizes the in-plane response components while maximizing the required quadrature components is found, subject to a fixed force norm. The method can accommodate more transducers than exciters and also more exciters than effective degrees of freedom. The method is demonstrated upon a six degree of freedom theoretical model and it is shown that an estimate for the effective degrees of freedom can be obtained.

Juang, Jer-Nan↗

NASA NTRS1990

Some fundamentals regarding kinematics and generalized forces for multibody dynamics

In order to illustrate the various forms in which generalized forces can arise from diverse subsystem analyses in multibody dynamics, intrinsic dynamical equations for the rotational dynamics of a rigid body are derived from Hamilton's principle. Two types of generalized forces are derived: (1) those associated with the virtual rotation vector in some orthogonal basis, and (2) those associated with varying generalized coordinates. As one physical or kinematical result (such as a frequency or a specific direction cosine) cannot rely on this selection, a 'blind' coupling of two models in which generalized forces are calculated in different ways would be wrong. Both types should use the same rotational coordinates and should denote the virtual rotation on a similar basis according to method 1, or in terms of common rotational coordinates and their diversifications as in method 2. Alternatively, the generalized forces and coordinates of one model may be transformed to those of the other.

Hodges, Dewey H.↗

NASA NTRS1990

Thermal forcing on the tropical Pacific from satellite data

Monthly fields of latent heat flux and surface solar irradiance derived from spaceborne sensors were combined to estimate the surface thermal forcing on the tropical Pacific from 1980 to 1983. The annual cycle and the anomalies associated with 1982-1983 ENSO episode were examined. Along the equator and during the early phase of the episode the reduction of solar irradiance into the ocean is found to be compensated to some extent by the decrease in evaporative cooling. The distribution of correlation coefficients demonstrated that outside the equatorial waveguides, surface thermal forcing plays a significant role in the seasonal change of sea surface temperature and surface solar irradiance is main driving force. Significant correlation is also found between anomalous latent heat flux and anomalous change of sea surface temperature over a broad area in the equatorial and southern tropical Pacific, indicating that surface thermal forcing may play a larger role than expected in the anomalous sea surface temperature change, particularly in the reestablishment of the cold tongue at end of the episode.

Liu, W. Timothy↗

NASA NTRS1991

Strain Center For Analysis Of Forces

Concept of strain center introduced to facilitate analysis of forces resulting from eccentric load after elastic limit exceeded. After yielding, forces perpendicular to radii from strain center. Concept useful where loads known and directions of forces being analyzed, such as limiting frictional force between wheel and ground.

Bickler, Donald B.↗

NASA NTRS1991

Static Footprint Local Forces, Areas, and Aspect Ratios for Three Type 7 Aircraft Tires

The National Tire Modeling Program (NTMP) is a joint NASA/industry effort to improve the understanding of tire mechanics and develop accurate analytical design tools. This effort includes fundamental analytical and experimental research on the structural mechanics of tires. Footprint local forces, areas, and aspect ratios were measured. Local footprint forces in the vertical, lateral, and drag directions were measured with a special footprint force transducer. Measurements of the local forces in the footprint were obtained by positioning the transducer at specified locations within the footprint and externally loading the tires. Three tires were tested: (1) one representative of those used on the main landing gear of B-737 and DC-9 commercial transport airplanes, (2) a nose landing gear tire for the Space Shuttle Orbiter, and (3) a main landing gear tire for the Space Shuttle Orbiter. Data obtained for various inflation pressures and vertical loads are presented for two aircraft tires. The results are presented in graphical and tabulated forms.

Howell, William E.↗

NASA NTRS1991

Measurement and calculation of forces in a magnetic journal bearing actuator

Numerical calculations and experimental measurements of forces from an actuator of the type used in active magnetic journal bearings are presented. The calculations are based on solution of the scalar magnetic potential field in and near the gap regions. The predicted forces from single magnet with steady current are compared with experimental measurements in the same geometry. The measured forces are smaller than calculated ones in the principal direction but are larger than calculated in the normal direction. This combination of results indicate that material and spatial effects other than saturation play roles in determining the force available from an actuator.

Knight, Josiah↗

NASA NTRS1991

Estimation of additive forces and moments for supersonic inlets

A technique for estimating the additive forces and moments associated with supersonic, external compression inlets as a function of mass flow ratio has been developed. The technique makes use of a low order supersonic paneling method for calculating minimum additive forces at maximum mass flow conditions. A linear relationship between the minimum additive forces and the maximum values for fully blocked flow is employed to obtain the additive forces at a specified mass flow ratio. The method is applicable to two-dimensional inlets at zero or nonzero angle of attack, and to axisymmetric inlets at zero angle of attack. Comparisons with limited available additive drag data indicate fair to good agreement.

Perkins, Stanley C., Jr.↗

NASA NTRS1991

Integrated force method versus displacement method for finite element analysis

A novel formulation termed the integrated force method (IFM) has been developed in recent years for analyzing structures. In this method all the internal forces are taken as independent variables, and the system equilibrium equations (EEs) are integrated with the global compatibility conditions (CCs) to form the governing set of equations. In IFM the CCs are obtained from the strain formulation of St. Venant, and no choices of redundant load systems have to be made, in constrast to the standard force method (SFM). This property of IFM allows the generation of the governing equation to be automated straightforwardly, as it is in the popular stiffness method (SM). In this report IFM and SM are compared relative to the structure of their respective equations, their conditioning, required solution methods, overall computational requirements, and convergence properties as these factors influence the accuracy of the results. Overall, this new version of the force method produces more accurate results than the stiffness method for comparable computational cost.

Patnaik, S. N.↗

NASA NTRS1991

Phytoplankton pigment patterns and wind forcing off central California

Mesoscale variability in phytoplankton pigment distributions of central California during the spring-summer upwelling season are studied via a 4-yr time series of high-resolution coastal zone color scanner imagery. Empirical orthogonal functions are used to decompose the time series of spatial images into its dominant modes of variability. The coupling between wind forcing of the upper ocean and phytoplankton distribution on mesoscales is investigated. Wind forcing, in particular the curl of the wind stress, was found to play an important role in the distribution of phytoplankton pigment in the California Current. The spring transition varies in timing and intensity from year to year but appears to be a recurrent feature associated with the rapid onset of the upwelling-favorable winds. Although the underlying dynamics may be dominated by processes other than forcing by wind stress curl, it appears that curl may force the variability of the filaments and hence the pigment patterns.

Abbott, Mark R.↗

NASA NTRS1991

Comments on Frequency Swept Rotating Input Perturbation Techniques and Identification of the Fluid Force Models in Rotor/bearing/seal Systems and Fluid Handling Machines

Perturbation techniques used for identification of rotating system dynamic characteristics are described. A comparison between two periodic frequency-swept perturbation methods applied in identification of fluid forces of rotating machines is presented. The description of the fluid force model identified by inputting circular periodic frequency-swept force is given. This model is based on the existence and strength of the circumferential flow, most often generated by the shaft rotation. The application of the fluid force model in rotor dynamic analysis is presented. It is shown that the rotor stability is an entire rotating system property. Some areas for further research are discussed.

Muszynska, Agnes↗