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At least 793 records · Page 44

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NASA NTRS1987

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Cetinkunt, Sabri↗

NASA NTRS1988

Improvement and extension of a radar forest backscattering model

Research to-date has focused on modeling development and programming based on model components proposed during the past several months and research progress made by the Simonett team. The model components and programs (in C language under UNIX) finished to date are summarized. These model components may help explain the contributions of various vegetation structural components to the attenuation and backscattering of vegetated surfaces to extract useful data concerning forest stands and their underlying surfaces for both the seawater-on and seawater-off.

Simonett, David S.↗

NASA NTRS1988

Design of high-Reynolds-number flat-plate experiments in the NTF

The design of an experiment to measure skin friction and turbulent boundary layer characteristics at Reynolds numbers exceeding 1 x 10 to the 9th is described. The experiment will be conducted in a zero-pressure-gradient flow on a flat plate in the National Transonic Facility (NTF). The development of computational codes to analyze the aerodynamic loads and the blockage is documented. Novel instrumentation techniques and models, designed to operate in cryogenic environments, are presented. Special problems associated with aerodynamic loads, surface finish, and hot-wire anemometers are discussed.

Saric, William S.↗

NASA NTRS1985

Fabrication of strain-isolated ceramic coated combustor components

The use of strain-isolated ceramic coated material to produce an AGT1500 combustor scroll-shaped transition duct which requires no air for film cooling is investigated. The scroll receives the exhaust of the can-style combustor liner and turns it into the annular inlet of the high pressure gas producer turbine nozzle. Strain-isolation of plasma sprayed thermal barrier coating is achieved by placing a compliant pad between the structural base metal and the ceramic coating. The compliant pad is brazed to the metal structure. In order to achieve a good braze bond, the strain-isolating compliant pad and base metal must be closely matched in shape and tightly fixtured for joining. The complex geometry of the AGT1500 scroll makes it impractical to attack pads to the supporting structure in its finished shape. Instead the pads are brazed to flat stock and post-formed into scroll sections. While test samples were successfully post-formed, plasma sprayed, and subjected to cyclic heating, the forming of full scale parts by normal methods resulted in tearing of the Hastelloy-X base metal because of embrittlement by the braze material. Several solutions were explored which finally resulted in the successful forming of full scale scroll parts.

Rutter, S.↗

NASA NTRS1988

Representation and matching of knowledge to design digital systems

A knowledge-based expert system is described that provides an approach to solve a problem requiring an expert with considerable domain expertise and facts about available digital hardware building blocks. To design digital hardware systems from their high level VHDL (Very High Speed Integrated Circuit Hardware Description Language) representation to their finished form, a special data representation is required. This data representation as well as the functioning of the overall system is described.

Jones, J. U.↗

NASA NTRS1988

Infrared observations of outer planet satellites

This task supports IR observations of the outer planet satellites. These data provide vital information about the thermophysical properties of satellite surfaces, including internal heat sources for Io. Observations include both broad and narrow band measurementsin the 2 to 20 micrometer spectral range. The program in the last year has aimed at obtaining lonitude coverage on Io to establish stability of hot spot patterns previously reported. Several runs produced the most complete data set for an apparition since the start of the program. Unfortunately, bad weather limited coverage of key longitude ranges containing the largest known hot spot Loki. Among the preliminary results is the observation of an outburst in Io's thermal flux that was measured at 4.8, 8.7 and 20 micrometer. Analysis of the data has given the best evidence to date of silicate volcanism on Io; this is one of the most significant pieces of the puzzle as to the relative roles of silicate and sulfur volcanism on Io. Researchers are collaborating with J. Goguen (NRC RRA to finish reduction of mutual event data, which have already improved ephermeris information for the satellites. The data appear to place significant limits on the characteristics of any leading side hot spots.

Johnson, T. V.↗

NASA NTRS1988

Radar observations of the inner solar system

Concurrent objectives involve dynamical information: maintenance of Mars ephemeris accuracy, Mercury closure-point ranging for relativity theory testing, and refinement of spin-vector estimates for Venus and Mercury. This task has been renamed to reflect accurately the research it supports. The backlog of unprocessed Venus data has been sharply reduced; most images from the 1980 to 1982 conjunctions, and half of those from 1986, are essentially finished. Suitably formatted data have been distributed to (non-JPL) scientific collaborators for geologic analysis, and to the Magellan project.

Jurgens, Raymond F.↗

NASA NTRS1988

User and technical documentation

The program LIBRATE calculates velocities for trajectories from low earth orbit (LEO) to four of the five libration points (L2, L3, L4, and L5), and from low lunar orbit (LLO) to libration points L1 and L2. The flight to be analyzed departs from a circular orbit of any altitude and inclination about the Earth or Moon and finishes in a circular orbit about the Earth at the desired libration point within a specified flight time. This program produces a matrix of the delta V's needed to complete the desired flight. The user specifies the departure orbit, and the maximum flight time. A matrix is then developed with 10 inclinations, ranging from 0 to 90 degrees, forming the columns, and 19 possible flight times, ranging from the flight time (input) to 36 hours less than the input value, in decrements of 2 hours, forming the rows. This matrix is presented in three different reports including the total delta V's, and both of the delta V components discussed. The input required from the user to define the flight is discussed. The contents of the three reports that are produced as outputs are also described. The instructions are also included which are needed to execute the program.

Source record↗

NASA NTRS1989

On processing development for fabrication of fiber reinforced composite, part 2

Fiber-reinforced composite laminates are used in many aerospace and automobile applications. The magnitudes and durations of the cure temperature and the cure pressure applied during the curing process have significant consequences for the performance of the finished product. The objective of this study is to exploit the potential of applying the optimization technique to the cure cycle design. Using the compression molding of a filled polyester sheet molding compound (SMC) as an example, a unified Computer Aided Design (CAD) methodology, consisting of three uncoupled modules, (i.e., optimization, analysis and sensitivity calculations), is developed to systematically generate optimal cure cycle designs. Various optimization formulations for the cure cycle design are investigated. The uniformities in the distributions of the temperature and the degree with those resulting from conventional isothermal processing conditions with pre-warmed platens. Recommendations with regards to further research in the computerization of the cure cycle design are also addressed.

Hou, Tan-Hung↗

NASA NTRS1988

A new synthetic route to a family of non-classical addition-type thermoplastics. I - Concept and demonstration

A synthesis scheme was developed for a host of nonclassical addition-type thermoplastics (ATT) that can be cured by an addition reaction, leading to a linear polymer structure. The synthesis involves the reaction of an acetylene-terminated prepolymer with either a bismaleimide (BMI) or a biscitraconimide. A new polymer, designated LaRC-RP80, synthesized using this scheme, was found to exhibit several significantly improved properties over the commercial BMI, Kerimid 601, including an eight-fold increase in toughness while maintaining a high Tg, a higher (by 167 C) heat stability, and a 50-percent increase in moisture resistance. In addition, LaRC-RP80 has good hot/wet lap shear strength and processes easily at 288 C without voids in the finished product.

Pater, Ruth H.↗

NASA NTRS1989

Effects of various consolidation techniques on microstructure, strength, and reliability of alpha-SiC

The effects of slurry pressing, HIP, and sinter-HIP on the strength, microstructure, and critical processing flaws in alpha-SiC are examined. Also, the feasibility of glass encapsulation is determined. Baseline strength was improved by about 25 percent by using slurry pressing instead of dry pressing. HIP further improved average strength to as high as 655 MPa. Sinter-HIP did not noticeably improve average strength. Although process-related flaws such as shrinkage cracks and large voids were not seen in HIPed alpha-SiC, surface-related flaws were observed. It is suggested that surface finishing by lapping, polishing, and heat treating might reduce the effect of surface-related flaws, improving the Weibull modulus in HIPed alpha-SiC.

Dutta, Sunil↗

NASA NTRS1989

EDM machinability of SiCw/Al composites

Machinability of high temperature composites was investigated. Target materials, 15 and 25 vol pct SiC whisker-2124 aluminum composites, were machined by electrodischarge sinker machining and diamond saw. The machined surfaces of these metal matrix composites were examined by SEM and profilometry to determine the surface finish. Microhardness measurements were also performed on the as-machined composites.

Ramulu, M.↗

NASA NTRS1989

Rapid fabrication of lightweight ceramic mirrors via chemical vapor deposition

Lightweight Si/SiC mirrors of nominal diameter 7.5 cm have been fabricated via a scalable and rapid CVD process to demonstrate the CVD mirror fabrication technology. These mirrors consist of a faceplate of either Si or Si-coated SiC and a lightweight backstructure made of either Si or SiC. The mirrors were polished to a figure better than 1/5th of a wave at 0.6328 A and a finish of better than 10 A rms. A procedure for fabricating these mirrors is described. The CVD fabrication process is fast and has the potential to yield several mirrors in a few weeks time from a single reactor. The CVD mirror fabrication technology is quite general and can be extended to include mirrors of other ceramic materials such as TiB2 and B4C.

Goela, Jitendra S.↗

NASA NTRS1989

Performance impacts of look-ahead execution in the conversation scheme

The look-ahead execution approach, which allows participant processes that exist early to exit from a conversation before other participants finish their conversation activities, is presented here as a fundamental approach to reducing the synchronization overhead. Queuing network models are developed for systems operating under the basic conversation execution scheme and systems operating under the look-ahead execution scheme. Based on the models, various performance indicators such as the system throughput, the average number of processors idling inside a conversation due to the synchronization required, and the average time spent in conversation are evaluated numerically for different application environments. The results provide insights into the extent of benefits provided by the look-ahead execution approach.

Kim, K. H.↗

NASA NTRS1988

Tribological composition optimization of chromium-carbide-based solid lubricant coatings for foil gas bearings at temperatures to 650 C

The determination of the tribilogically optimum composition of chromium-carbide-based solid lubricant coatings using a foil gas bearing test apparatus is described. The coatings contain a wear resistant chromium carbide `base stock' with the lubricant additives silver and BaF2-CaF2 eutectic. The coating composition is optimized for air-lubricated foil gas bearings at temperatures ranging from 25 to 650 C. The various compositions were prepared by powder blending, then plasma sprayed onto Inconel 718 test journals and diamond ground to the desired coating thickness and surface finish. The journals were operated against preoxidized Ni-Cr alloy foils, and the test bearings were subjected to repeated start-stop cycles under a bearing unit of 14 kPa. Sliding contact between the coated journal and the smooth foil occurs during bearing start-up before lift-off or hydrodynamic lubrication by the air film and during bearing coast-down. The bearings were tested for 9000 start-stop cycles or until specimen reached a predetermined failure level.

Dellacorte, Christopher↗

NASA NTRS1990

S-Chart - Scheduling-Chart Program

Schedule Chart Program (S-Chart) produces quickly, through array of simple menu choices, high-quality Gantt-type scheduling and production time-line charts with minimal data-entry requirements. Significant features include: speed and ease of use with menu-driven selections from start to finish; storage and catalogs of all sets of data for rapid access and manipulation; compact program to permit storage of dozens of sets of data on program disk; and creation of ASCII text files of graphs for rapid printing. Written in ASCII code.

Klinkner, Eric R.↗

NASA NTRS1989

Stratiform clouds and their interaction with atmospheric motions

During the 1987 to 1988 academic year, three projects were finished and plans were made to redirect and focus work in a proposal now being reviewed. The completed work involves study of waves on an equatorial beta-plane in shear flow, investigation of the influence of orography on the index cycle, and analysis of a model of cloud street development in a thermally-forced, sheared environment. The proposed work involves study of boundary layer circulations supporting stratocumulus decks and investigation of how the radiative effects of these clouds modulate larger-scale flows such as those associated with the index oscillation.

Clark, John H. E.↗

NASA NTRS1987

Design and fabrication requirements for low noise supersonic/hypersonic wind tunnels

A schematic diagram of the new proposed Supersonic Low Disturbance Tunnel (SLDT) is shown. Large width two dimensional rapid expansion nozzles guarantee wide quiet test cores that are well suited for testing models at large angle of attack and for swept wings. Hence, this type of nozzle will be operated first in the new proposed large scale SLDT. Test results indicate that the surface finish of pilot nozzles is critical. The local roughness Reynolds number criteria R sub k is approx. = 10 will be used to specify allowable roughness on new pilot nozzles and the new proposed tunnel. Experimental data and calculations for M = 3.0, 3.5, and 5.0 nozzles give N-factors from 6 to 10 for transition caused by Goertler vortices. The use of N is approx. = 9.0 for the Goertler instability predicts quiet test cores in the new M = 3.5 and M = 6.0 axisymmetric long pilot nozzles that are 3 to 4 times longer than observed in the test nozzles to date. The new nozzles utilize a region of radial flow which moves the inflection point far downstream and delays the onset and amplification of the Goertler vortices.

Beckwith, Ivan E.↗