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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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At least 775 records · Page 43
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.

Colbaugh, R.↗
NASA NTRS1966

Oxygen-hydrogen torch is a small-scale steam generator

Standard oxygen-hydrogen torch generates steam for corrosion-rate analysis of various metals. The steam is generated through local combustion inside a test chamber under constant temperature and pressure control.

Maskell, C. E.↗
NASA NTRS1972

Optimum configurations for bangless sonic booms.

A number of optimization problems are posed and solved for supersonic aircraft flight subject to the condition that a shock wave appears only incipiently in the sonic boom signal at a given point. The principal result is one giving the maximum effective gross weight of an aircraft of given effective length under given flight conditions. The calculus of variations with inequality constraints is used, with the novel features of a non-local isoperimetric relation and of only an upper bound on a control variable.

Hayes, W. D.↗
NASA NTRS1973

Low cost automated precise time measurement system

The Aerospace Guidance and Metrology Center (AGMC) has the responsibility for the dissemination of Precise Time and Time Interval (PTTI) to Air Force timing systems requiring microsecond time. In order to maintain traceability to the USNO Master Clock in Washington D.C., and accomplish efficient logging of time and frequency data on individual precision clocks, a simple automatic means of acquiring precise time has been devised. The Automatic Time Interval Measurement System (ATIMS) consists of a minicomputer (8K Memory), teletype terminal, electronic counter, Loran C receiver, time base generator and locally-manufactured relay matrix panel. During the measurement process, the computer controls the relay matrix which selects for comparison 13 atomic clocks against a reference clock and the reference versus Loran C. Through use of the system teletype, the operator is able to set the system clock (hours, minutes and seconds), examine and/or modify all clock data and constants, and set measurement intervals. This is done in a conversational manner. A logic flow diagram, system schematic, source listing and software components are included in the presentation.

Alpert, A.↗
NASA NTRS1976

Automatic noise limiter-blanker

A blanker system that may be used with audio noise limiters or automatic noise limiters was described. The system employs a pair of silicon diodes and two RC filters connected across the feedback impedance of an operational amplifier so as to counteract impulse noise interference caused by local spherics activity or 60 Hz harmonics radiated from ac motor control systems. The following information is given: circuit diagram and description, operating details, evaluation, discussion of other noise blanking methods.

Burhans, R. W.↗
NASA NTRS1980

Distributed microprocessors in a tactical universal modem

The distributed microprocessor system associated with a wideband signal conversion unit (WBSCU) is described. Multiple embedded 8086 and 2901 microprocessors, supported by dedicated hardware modules, perform the required real time operations for both transmit and receive functions. Commands from a host computer determine the configuration of the WBSCU via the IEEE 488 bus. Each of the four WBSCU channels is assigned to process a specified IF waveform; each channel configures its own resources and, in some cases, borrows resources from other channels. The processed waveform data is communicated from individual channels to redundant global memories. Data flow between the user community and global memories occurs via redundant 1553 buses through intelligent Bus Interface Units. Each WBSCU channel contains one 2901 bit slice machine and one 8086 microprocessor. The 2901 provides high speed processing capability for the most time critical operations. The 8086 is used for lower speed processing tasks where its high level language capability can be better exploited. Each 8086 has a global bus for wideband interprocessor communication, and a local bus for 8086/2901, master/slave communication. Software architecture consists of a control and communications structure governing mode dependent signal processing tasks.

Gray, D. M.↗
NASA NTRS1982

The seasonal and global behavior of water vapor in the Mars atmosphere - Complete global results of the Viking atmospheric water detector experiment

A key question regarding the evolution of Mars is related to the behavior of its volatiles. The present investigation is concerned with the global and seasonal abundances of water vapor in the Mars atmosphere as mapped by the Viking Mars Atmospheric Water Detector (MAWD) instrument for almost 1-1/2 Martian years from June 1976 to April 1979. Attention is given to the implications of the observed variations for determining the relative importance of those processes which may be controlling the vapor cycle on a seasonal basis. The processes considered include buffering of the atmosphere water by a surface or subsurface reservior of ground ice, physically adsorbed water, or chemically bound water. Other processes are related to the supply of water from the residual or seasonal north polar ice cap, the redistribution of the vapor resulting from atmospheric circulation, and control of the vapor holding capacity of the atmosphere by the local atmospheric temperatures.

Jakosky, B. M.↗
NASA NTRS1985

Numerical Estimation of the Curvature of Biological Surfaces

Many biological systems may profitably be studied as surface phenomena. A model consisting of isotropic growth of a curved surface from a flat sheet is assumed. With such a model, the Gaussian curvature of the final surface determines whether growth rate of the surface is subharmonic or superharmonic. These properties correspond to notions of convexity and concavity, and thus to local excess growth and local deficiency of growth. In biological models where the major factors controlling surface growth are intrinsic to the surface, researchers thus gained from geometrical study information on the differential growth undergone by the surface. These ideas were applied to an analysis of the folding of the cerebral cortex, a geometrically rather complex surface growth. A numerical surface curvature technique based on an approximation to the Dupin indicatrix of the surface was developed. A metric for comparing curvature estimates is introduced, and considerable numerical testing indicated the reliability of this technique.

Todd, P. H.↗
NASA NTRS1985

Wave phenomena in a high Reynolds number compressible boundary layer

Growth of unstable disturbances in a high Reynolds number compressible boundary layer is numerically simulated. Localized periodic surface heating and cooling as a means of active control of these disturbances is studied. It is shown that compressibility in itself stabilizes the flow but at a lower Mach number, significant nonlinear distortions are produced. Phase cancellation is shown to be an effective mechanism for active boundary layer control.

Bayliss, A.↗
NASA NTRS1988

Experiences with serial and parallel algorithms for channel routing using simulated annealing

Two algorithms for channel routing using simulated annealing are presented. Simulated annealing is an optimization methodology which allows the solution process to back up out of local minima that may be encountered by inappropriate selections. By properly controlling the annealing process, it is very likely that the optimal solution to an NP-complete problem such as channel routing may be found. The algorithm presented proposes very relaxed restrictions on the types of allowable transformations, including overlapping nets. By freeing that restriction and controlling overlap situations with an appropriate cost function, the algorithm becomes very flexible and can be applied to many extensions of channel routing. The selection of the transformation utilizes a number of heuristics, still retaining the pseudorandom nature of simulated annealing. The algorithm was implemented as a serial program for a workstation, and a parallel program designed for a hypercube computer. The details of the serial implementation are presented, including many of the heuristics used and some of the resulting solutions.

Brouwer, Randall Jay↗
NASA NTRS1989

A cell-vertex multigrid method for the Navier-Stokes equations

A cell-vertex scheme for the Navier-Stokes equations, which is based on central difference approximations and Runge-Kutta time stepping, is described. Using local time stepping, implicit residual smoothing, a multigrid method, and carefully controlled artificial dissipative terms, very good convergence rates are obtained for a wide range of two- and three-dimensional flows over airfoils and wings. The accuracy of the code is examined by grid refinement studies and comparison with experimental data. For an accurate prediction of turbulent flows with strong separations, a modified version of the nonequilibrium turbulence model of Johnson and King is introduced, which is well suited for an implementation into three-dimensional Navier-Stokes codes. It is shown that the solutions for three-dimensional flows with strong separations can be dramatically improved, when a nonequilibrium model of turbulence is used.

Radespiel, R.↗
NASA NTRS1990

The position of the magnetotail neutral sheet in the near-earth region

The position of the near-earth neutral sheet throughout the nightside region between R = 5 R(E) and R = 8.8 R(E) is examined statistically using magnetic field data from AMPTE/CCE. As has been demonstrated previously, the latitudinal position of the neutral sheet is primarily controlled by the dipole tilt angle. The position also depends on local time, radial distance, and magnetic activity. These dependencis may be represented by the empirical formula MLAT = - (0.14 Kp + 0.69) /cos(Phi)/exp 1/3 (0.065 R exp 0.8 - 0.16) DTA, where MLAT is the position in degrees of the neutral sheet relative to the magnetic equator, Kp is the 3-hourly magnetic activity index, Phi is the magnetic local time in degrees (midnight = 0 deg), R is the radius in R(E), and DTA is the dipole tilt angle in degrees.

Lopez, Ramon E.↗
NASA NTRS1990

Finite-element models of continental extension

Numerical models of the initial deformation of extending continental lithosphere, computed to investigate the control of preexisting thermal and mechanical heterogeneities on the style of deformation, are presented. The finite element method is used to calculate deformation with a viscoelastic-plastic model for the lithosphere. Comparisons of the results of analytic models and finite-element models using this method show that good results may be obtained by the numerical technique, even with elements containing both brittle and viscoelastic sampling points. It is shown that the gross style of initial extensional deformation is controlled by the depth and width of the initial heterogeneity which localizes deformation.

Lynch, H. David↗
NASA NTRS1991

Gyro-phase effects near the storm-time boundary of energetic plasma

The nonadiabatic acceleration of plasma sheet ions during the expansion phase of substorms is examined by means of single-particle codes. It is shown that, in the near-earth plasma sheet, the gyration phase at substorm onset controls the net ion energization, as the gyro-period is locally comparable to the field variation time scale. This can yield a particularly significant decrease of the particle magnetic moment. It is accordingly argued that, via adiabatic invariant violation, the dipolarization of magnetospheric field lines can induce a 'de-trapping' of inner plasma sheet populations and, hence, give rise to short-lived precipitation enhancements over the auroral zone. As this effect depends upon cyclotron frequency, it is expected to occur at distinct latitudes for different ion species. This contrasts with nonadiabatic ion behavior further out into the geotail, which is characterized by intense perpendicular heating and a likely collective trapping.

Delcourt, D. C.↗
NASA NTRS1992

Effects of the low Earth orbit space environment on the surface chemistry of Kapton polyimide film: An XPS study

Kapton H (DuPont Trademark) polyimide specimens exposed to the low earth (LEO) space environment suffered significant weathering with surface erosions of approximately 8.0 microns. Despite these effects, no significant changes in bulk chemistry were observed. X-ray photoelectron spectroscopy (XPS) was used to determine local changes induced from approximately 25 percent in 1980 vintage ground control specimens to nearly 53 percent in space exposed specimens. The greatest increase was observed for the divalent oxygen moieties, although a slight increase in carbonyl oxygen was also measured. Furthermore, the chemical shifts of all XPS peaks of space-exposed Kapton are shifted to higher energy. This is consistent with a higher oxidation state of the space exposed surface. Finally, space exposed specimens had distinct silicon peaks (2p 100 eV and 2s 149 eV) in their XPS spectra in agreement with widespread reports of silicon contamination throughout the LDEF satellite. These results are discussed in terms of surface reactivity of the polyimide exposed to the LEO environment and the chemical nature of contaminants deposited on flight surfaces due to satellite outgassing.

Lee, Myung↗
NASA NTRS1991

Dynamic performance modeling and stability analysis of a segmented reflector telescope

The problem of vibration suppression in segmented reflector telescopes is considered. The decomposition of the structure into smaller components is discussed, and control laws for vibration suppression and conditions for stability at the local and global levels are presented. The states of the reflector segments are mapped into ray displacements on the detector plane.

Ryaciotaki-Boussalis, Helen A.↗
NASA NTRS1992

Design of a pressurized lunar rover

A pressurized lunar rover is necessary for future long-term habitation of the moon. The rover must be able to safely perform many tasks, ranging from transportation and reconnaissance to exploration and rescue missions. Numerous designs were considered in an effort to maintain a low overall mass and good mobility characteristics. The configuration adopted consists of two cylindrical pressure hulls passively connected by a pressurized flexible passageway. The vehicle has an overall length of 11 meters and a total mass of seven metric tons. The rover is driven by eight independently powered two meter diameter wheels. The dual-cylinder concept allows a combination of articulated frame and double Ackermann steering for executing turns. In an emergency, the individual drive motors allow the option of skid steering as well. Two wheels are connected to either side of each cylinder through a pinned bar which allows constant ground contact. Together, these systems allow the rover to easily meet its mobility requirements. A dynamic isotope power system (DIPS), in conjunction with a closed Brayton cycle, supplied the rover with a continuous supply of 8.5 kW. The occupants are all protected from the DIPS system's radiation by a shield of tantalum. The large amount of heat produced by the DIPS and other rover systems is rejected by thermal radiators. The thermal radiators and solar collectors are located on the top of the rear cylinder. The solar collectors are used to recharge batteries for peak power periods. The rover's shell is made of graphite-epoxy coated with multi-layer insulation (MLI). The graphite-epoxy provides strength while the thermally resistant MLI gives protection from the lunar environment. An elastomer separates the two materials to compensate for the thermal mismatch. The communications system allows for communication with the lunar base with an option for direct communication with earth via a lunar satellite link. The various links are combined into one signal broadcast in the S-band at 2.3 GHz. The rover is fitted with a parabolic reflector disk for S-band transmission, and an omnidirectional antenna for local extravehicular activity (EVA) communication. The rover's guidance, navigation, and control subsystem consists of an inertial guidance system, an orbiting lunar satellite, and an obstacle avoidance system. In addition, the rover is equipped with a number of external fixtures including two telerobotic arms, lights, cameras, EVA storage, manlocks, a docking fixture, solar panels, thermal radiators, and a scientific airlock. In conclusion, this rover meets all of the design requirements and clearly surpasses them in the areas of mobility and maneuverability.

Bhardwaj, Manoj↗