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Digital computer program determines the dynamic response of circular cylinders subjected to pressure transient forms commonly encountered in propulsion systems. The method can be readily used to obtain solutions for all possible combinations of admissible boundary conditions.
Linear equation solutions for small symmetrical deformation of shallow spherical sandwich shells under local loading
Research was carried out to determine whether an oxide dispersion hardened alloy, TD-Ni, Cr, and low volume fraction gamma prime strengthened nickel-base alloy, Modified Waspaloy, were susceptible to time-dependent edge-notch sensitivity. The results were evaluated in terms of the mechanical characteristics of the alloys and the dislocation motion mechanisms operative. As far as could be determined, the results of the investigation were consistent with the following important concepts developed for Waspaloy and Inconel 718: (1) Time-dependent edge-notch sensitivity occurs when notched specimens are loaded below the approximate 0.2 percent smooth specimen offset yield strength and when data from smooth specimens indicate that small amounts of creep consume large rupture life fractions. (2) When precipitate particles are sheared by dislocations, the deformation is localized and time-dependent notch sensitivity occurs. When dislocations by-pass precipitate particles the deformation is homogeneous. Under these conditions, no time-dependent notch sensitivity has been observed.
Tectonic deformation in the plains of Venus is pervasive, with virtually every area of the planet showing evidence for faulting or fracturing. This deformation can be classified into three general categories, defined by the intensity and areal extent of the surface deformation: distributed deformation, concentrated deformation, and local fracture patterns.
Results from a numerical study of the response of thin-walled compression-loaded quasi-isotropic laminated composite cylindrical shells with unreinforced and reinforced square cutouts are presented. The effects of cutout reinforcement orthotropy, size, and thickness on the nonlinear response of the shells are described. A nonlinear analysis procedure has been used to predict the nonlinear response of the shells. The results indicate that a local buckling response occurs in the shell near the cutout when subjected to load and is caused by a nonlinear coupling between local shell-wall deformations and in-plane destabilizing compression stresses near the cutout. In general, reinforcement around a cutout in a compression-loaded shell is shown to retard or eliminate the local buckling response near the cutout and increase the buckling load of the shell. However, some results show that certain reinforcement configurations can cause an unexpected increase in the magnitude of local deformations and stresses in the shell and cause a reduction in the buckling load. Specific cases are presented that suggest that the orthotropy, thickness, and size of a cutout reinforcement in a shell can be tailored to achieve improved buckling response characteristics.
Results from a numerical study of the response of thin-wall compression-loaded quasi-isotropic laminated composite cylindrical shells with reinforced and unreinforced square cutouts are presented. The effects of cutout reinforcement orthotropy, size, and thickness on the nonlinear response of the shells are described. A high-fidelity nonlinear analysis procedure has been used to predict the nonlinear response of the shells. The analysis procedure includes a nonlinear static analysis that predicts stable response characteristics of the shells and a nonlinear transient analysis that predicts unstable dynamic buckling response characteristics. The results illustrate how a compression-loaded shell with an unreinforced cutout can exhibit a complex nonlinear response. In particular, a local buckling response occurs in the shell near the cutout and is caused by a complex nonlinear coupling between local shell-wall deformations and in-plane destabilizing compression stresses near the cutout. In general, the addition of reinforcement around a cutout in a compression-loaded shell can retard or eliminate the local buckling response near the cutout and increase the buckling load of the shell, as expected. However, results are presented that show how certain reinforcement configurations can actually cause an unexpected increase in the magnitude of local deformations and stresses in the shell and cause a reduction in the buckling load. Specific cases are presented that suggest that the orthotropy, thickness, and size of a cutout reinforcement in a shell can be tailored to achieve improved response characteristics.
The vibration and buckling of a double wedge square cantilever plate has been investigated. It is shown that the free vibration modes, which occur at Delta T ref = 0, transition into the buckled modes which occur at Delta T ref = Delta T ref-cr for the respective mode. Delta T ref-cr for a particular mode is defined as the magnitude of thermal load at which the frequency of the particular mode vanishes. The analysis yields the same number of buckling eigenvalues and buckling modes as there are vibration eigenvalues and vibration modes. Gradual application of the load in the analysis permits the change in each vibration frequency of interest and its associated mode to be followed up to the load at which the frequency of the mode becomes zero. This constitutes the limit of linear theory. As the load is increased, the thin edges of the plate begin to deform during vibration. This local deformation, which begins in the vibration mode, is shown to transition into the phenomena of local edge buckling at Delta T ref-cr for the mode.
Some objectives of this geodynamic program are: (1) optimal utilization of laser and VLBI observations as reference frames for geodynamics, (2) utilization of range difference observations in geodynamics, and (3) estimation techniques in crustal deformation analysis. The determination of Earth rotation parameters from different space geodetic systems is studied. Also reported on is the utilization of simultaneous laser range differences for the determination of baseline variation. An algorithm for the analysis of regional or local crustal deformation measurements is proposed along with other techniques and testing procedures. Some results of the reference from comparisons in terms of the pole coordinates from different techniques are presented.
An analytical evaluation of the perturbations to mesoscale atmospheric flows induced by thermal inhomogeneities in the convective boundary layer is presented. The time evolution of these perturbations as a function of the intensity and of the horizontal and vertical scales of the diabatic forcing is studied. The problem is approached using Laplace transform theory for the time behavior and Green function theory for the spatial structure. Results show that the growth of the atmospheric perturbations closely follows the growth of the convective boundary layer; the transient being characterized by a number of inertia-gravity oscillations of decreasing intensity. The vertical scale is determined by the depth of the convective boundary layer; and the horizontal scale is determined by the local Rossby deformation radius. Sinusoidally periodic thermal forcing induce periodic atmospheric cells of the same horizontal scale. The intensity of mesoscale cells increases for increasing values of the wave number, reaches its maximum value when the wavelength of the forcing is of the order of the local Rossby radius, and then decreases as the wavelength of the forcing decreases.
Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.
Axially symmetric dynamic response solutions for cylinders subjected to pressure transients arising in propulsion systems
Users manual for general purpose digital computer program for predicting dynamic response of cylinders subjected to ramp and sinusoidal pressure transients
The deformation substructures observed by TEM in breccia returned by the Apollo 14 mission are illustrated and their significance is discussed in the context of earlier work on mineral deformation. Shock-produced glass and heavily deformed mineral grains indicate severe shock deformation. Extensive local recovery and sub-microscopic recrystallization are evident and suggest that the coherency of the breccias is caused by a 'shock sintering' mechanism.
Time dependent notch sensitivity was observed in Udimet 700 sheet, bar, and investment castings between 1000 and 1400 F (538 -760 C), but not at 1600 F (871 C). As was the case for modified Waspaloy, Waspaloy and Inconel 718, it occurred in notched specimens loaded below the yield strength when the creep deformation was localized. For each alloy and notched specimen geometry, a stress-average particle size zone can be defined that characterizes the notch sensitive behavior.
Time-dependent notch sensitivity of Udimet 700 sheet, bar, and investment castings was observed between 1000 and 1400 F (538-760 C) but not at 1600 F (871 C). As was the case for Modified Waspaloy, Waspaloy, Rene 41, Inconel 718, and TD-NiCr, it occurred when notched specimens were loaded below the yield strength and when creep deformation was localized. For each gamma-prime strengthened alloy and notched specimen geometry, a stress-average particle size zone can be defined to characterize the notch-sensitive behavior.
The problem of controlling the vibrations of a large space structures by the use of actively augmented damping devices distributed throughout the structure is addressed. The gyrodamper which consists of a set of single gimbal control moment gyros which are actively controlled to extract the structural vibratory energy through the local rotational deformations of the structure, is described and analyzed. Various linear and nonlinear dynamic simulations of gyrodamped beams are shown, including results on self-induced vibrations due to sensor noise and rotor imbalance. The complete nonlinear dynamic equations are included. The problem of designing and sizing a system of gyrodampers for a given structure, or extrapolating results for one gyrodamped structure to another is solved in terms of scaling laws. Novel scaling laws for gyro systems are derived, based upon fundamental physical principles, and various examples are given.
The dynamic behavior of aircraft fuselage structures subject to various impact conditions was investigated. An analytical model was developed based on a self-consistent finite element (CFE) formulation utilizing shell, curved beam, and stringer type elements. Equations of motion were formulated and linearized (i.e., for small displacements), although material nonlinearity was retained to treat local plastic deformation. The equations were solved using the implicit Newmark-Beta method with a frontal solver routine. Stiffened aluminum fuselage models were also tested in free flight using the UTIAS pendulum crash test facility. Data were obtained on dynamic strains, g-loads, and transient deformations (using high speed photography in the latter case) during the impact process. Correlations between tests and predicted results are presented, together with computer graphics, based on the CFE model. These results include level and oblique angle impacts as well as the free-flight crash test. Comparisons with a hybrid, lumped mass finite element computer model demonstrate that the CFE formulation provides the test overall agreement with impact test data for comparable computing costs.
The experiments carried out at MIT during 1984 focussed on two aspects of Loran-C relative navigation that would impact system performance at the sub-microsecond level of accuracy: tracking loop bandwidth and localized field deformation. Figures are given to illustrate the results from both effects.