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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 901 records · Page 50
All sourcesNASA NTRSDOE OSTI
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 NTRS2019

Refinement of Vortex Generators in a Streamline-Traced, External-Compression Supersonic Inlet

Computational simulations of the flow within a streamline-traced, external-compression supersonic inlet for Mach 1.664 without and with vortex generators were performed to refine the characterization of the inlet performance as measured by the total pressure recovery and the radial and circumferential total pressure distortion indices at the engine face. The refinement of the simulations concerned two aspects: 1) refinement of the grid for the simulations to evaluate and reduce uncertainty, and 2) refinement of the modeling and design of the vortex generators. The vortex generators studied were rectangular vane-type vortex generators arranged in co-rotating arrays within the subsonic diffuser. The vortex generator geometric factors of interest included the height, circumferential spacing, and angle-of-incidence. The flow through the inlet was simulated numerically through the solution of the steady-state, Reynolds-averaged Navier-Stokes equations on multi-block, structured grids using the Wind-US flow solver. The vortex generators were simulated using either a vortex generator model or with grids generated about each vortex generator. Statistical methods were used to compute confidence intervals and grid convergence indices to establish the uncertainties of the analyses with respect to grid refinement. Design-of-experiments methods were applied to quantify the effects of the geometric factors of the vortex generators. The analyses of the computed results illustrate the complexities of quantifying the uncertainties of the inlet performance and the implications of the uncertainties for the design of a vortex generator array for the STEX inlet.

Slater, John W.↗
NASA NTRS1973

A comparison of discrete linear filtering algorithms.

Seven filter algorithms were presented in a recent survey paper (Kaminski, 1971), and were compared computationally (operations count) when relatively few observations were to be processed. These algorithms are now elaborated further. Details of the computations are presented, and it is shown that for problems with even moderately large amounts of data, the information matrix and square-root information matrix formulations are computationally more efficient than the other methods considered (conventional Kalman, stabilized Kalman, and square-root covariance mechanizations). It is pointed out that Schmidt's matrix factorization-Householder transformation technique leads to the same equations as those obtained via Potter's method. Several improvements in the equation mechanization are given.

Bierman, G. J.↗
NASA NTRS1980

Velocity measurements by laser resonance fluorescence

The photonburst correlation method was used to detect single atoms in a buffer gas. Real time flow velocity measurements with laser induced resonance fluorescence from single or multiple atoms was demonstrated and this method was investigated as a tool for wind tunnel flow measurement. Investigations show that single atoms and their real time diffusional motion on a buffer gas can be measured by resonance fluorescence. By averaging over many atoms, flow velocities up to 88 m/s were measured in a time of 0.5 sec. It is expected that higher flow speeds can be measured and that the measurement time can be reduced by a factor of 10 or more by careful experimental design. The method is clearly not ready for incorporation in high speed wind tunnels because it is not yet known whether the stray light level will be higher or lower, and it is not known what detection efficiency can be obtained in a wind tunnel situation.

She, C. Y.↗
NASA NTRS1980

Determination of efficiencies, loss mechanisms, and performance degradation factors in chopper controlled dc vehical motors. Section 2: The time dependent finite element modeling of the electromagnetic field in electrical machines: Methods and applications

The time dependent solution of the magnetic field is introduced as a method for accounting for the variation, in time, of the machine parameters in predicting and analyzing the performance of the electrical machines. The method of time dependent finite element was used in combination with an also time dependent construction of a grid for the air gap region. The Maxwell stress tensor was used to calculate the airgap torque from the magnetic vector potential distribution. Incremental inductances were defined and calculated as functions of time, depending on eddy currents and saturation. The currents in all the machine circuits were calculated in the time domain based on these inductances, which were continuously updated. The method was applied to a chopper controlled DC series motor used for electric vehicle drive, and to a salient pole sychronous motor with damper bars. Simulation results were compared to experimentally obtained ones.

Hamilton, H. B.↗
NASA NTRS1999

Research Priorities for the International Space Station and Beyond

Advanced technology and the desire to explore space have resulted in increasingly longer manned space missions. Long Duration Space Flights (LDSF) have provided a considerable amount of scientific research on the ability of humans to adapt and function in microgravity environments. In addition, studies conducted in analogous environments, such as winter-over expeditions in Antarctica, have complemented the scientific understanding of human performance in LDSF. These findings indicate long duration missions may take a toll on the individual, both physiologically and psychologically, with potential impacts on performance. Significant factors in any manned LDSF are habitability, workload and performance. They are interrelated and influence one another, and therefore necessitate an integrated research approach. An integral part of this approach will be identifying and developing tools not only for assessment of habitability, workload, and performance, but also for prediction of these factors as well. In addition, these tools will be used to identify and provide countermeasures to minimize decrements and maximize mission success. The purpose of this paper is to identify research goals and methods for the International Space Station (ISS) in order to identify critical factors and level of impact on habitability, workload, and performance, and to develop and validate countermeasures. Overall, this approach will provide the groundwork for creating an optimal environment in which to live and work onboard ISS as well as preparing for longer planetary missions.

Whitmore, Mihriban↗
NASA NTRS2000

Recent Improvements in Aerodynamic Design Optimization on Unstructured Meshes

Recent improvements in an unstructured-grid method for large-scale aerodynamic design are presented. Previous work had shown such computations to be prohibitively long in a sequential processing environment. Also, robust adjoint solutions and mesh movement procedures were difficult to realize, particularly for viscous flows. To overcome these limiting factors, a set of design codes based on a discrete adjoint method is extended to a multiprocessor environment using a shared memory approach. A nearly linear speedup is demonstrated, and the consistency of the linearizations is shown to remain valid. The full linearization of the residual is used to precondition the adjoint system, and a significantly improved convergence rate is obtained. A new mesh movement algorithm is implemented and several advantages over an existing technique are presented. Several design cases are shown for turbulent flows in two and three dimensions.

Nielsen, Eric J.↗
NASA NTRS1958

Stability-Derivative Determination from Flight Data

A comprehensive discussion of the various factors affecting the determination of stability and control derivatives from flight data is presented based on the experience of the NASA High-Speed Flight Station. Factors relating to test techniques, determination of mass characteristics, instrumentation, and methods of analysis are discussed. For most longitudinal-stability-derivative analyses simple equations utilizing period and damping have been found to be as satisfactory as more comprehensive methods. The graphical time-vector method has been the basis of lateral-derivative analysis, although simple approximate methods can be useful If applied with caution. Control effectiveness has been generally obtained by relating the peak acceleration to the rapid control input, and consideration must be given to aerodynamic contributions if reasonable accuracy is to be realized.. Because of the many factors involved In the determination of stability derivatives, It is believed that the primary stability and control derivatives are probably accurate to within 10 to 25 percent, depending upon the specific derivative. Static-stability derivatives at low angle of attack show the greatest accuracy.

Holowicz, Chester H.↗
NASA NTRS1984

Circular waveguide bifurcation for asymmetric modes

An analytical solution for a circular waveguide bifurcation with incident TE(11)- and TM(11)-modes is presented using the residue calculus method. It is shown how the coupling between the TE(1n)- and TM(1n)-modes can be taken into account by expressing the coupling factor as a contour integral, which is the key step enabling the residue calculus method to be applied. Graphical results for the scattering matrix parameters of the junction are given for a range of waveguide radii of interest in the design of dual-mode coaxial prime focus feeds for paraboloidal antennas.

Schilling, H. W.↗
NASA NTRS1985

Two dimensional and axisymmetric heat transfer results with the CSCM upwind implicit algorithm

The single level conservative supra characteristic method (CSCM-S) is an upwind implicit method that is very robust and in a single level relaxation format makes efficient use of computer resources, and is very rapidly convergent. These factors render the unconditionally stable algorithm a useful compromise between Parabolized Navier-Stokes methods and two level linearized implicit time dependent methods and, thus, the method is very attractive for multidimensional Navier-Stokes problems. In this paper the heat transfer prediction capabilities of the CSCM schemes for flat plate, nozzle, blunt cone and bluff body flows are reported for the first time. Results are compared with available experimental heat transfer measurements.

Bardina, J.↗
NASA NTRS1984

Design of power-transmitting shifts

Power transmission shafting which is a vital element of all rotating machinery is discussed. Design methods, based on strength considerations for sizing shafts and axles to withstand both steady and fluctuating loads are summarized. The effects of combined bending, torsional, and axial loads are considered along with many application factors that are known to influence the fatigue strength of shafting materials. Methods are presented to account for variable amplitude loading histories and their influence on limited life designs. The influences of shaft rigidity, materials, and vibration on the design are discussed.

Loewenthal, S. H.↗
NASA NTRS2017

Characterization of the Modal Characteristics of Structures Operating in Dense Liquid Oxygen Turbopumps

A number of valuable conclusions can be drawn from this study. First, knockdown factors for a specific fluid are not constant but instead are dependent on the mode shape, although the largest this variability gets is about 10% for LOX, the densest fluid. The factors decrease the most for lower frequency shapes and less for higher ones. It follows, therefore, that mode number mismatch between air and fluid operation becomes not only possible, but common, as a knockdown factor for a particular mode shape may be higher than for another mode shape. Since this is a function of added mass, the mismatch is more prevalent for higher density fluids, but it initiates even for very low density ones. Another important conclusion reached is that it appears that the basic mode shapes of a structure do not change if it is fully symmetric, which includes its geometry and boundary conditions. There is some indication of small changes in the relative magnitudes within the mode shape. This conclusion is evident in the results from the cantilever rectangular plate and the inducer, which are not symmetric, and the fixed-fixed plate and the annular disk, which are. For non-symmetric structures, though, the mode shapes almost universally change for dense fluids, as shown by the very low MAC calculations. For the inducer in particular, the changes follow a trend of reduced parabolic and sine wavelengths with increasing density. It is critical to recognize the change in mode shape for several reasons. First, model updating with modal test becomes problematic if the shapes change. Second, design to avoid resonance is highly critical on the mode shape for modes other than the primary ones, as resonance is only a factor when the excitation shape matches the mode shape. Finally, application of the modal superposition method of forced response analysis is dependent on the use of accurate mode shapes. A more-refined assessment of the "knockdown" factor values and ranges than any previously reported in the literature for a realistic engineering structure is also presented in this paper. This data is of tremendous benefit for preliminary analysis and design, where a quick estimate is necessary. These results are important not just for rocket engine turbomachinery, but for water pumps and turbines, propellers, and any other structure operating in a heavy fluid with dynamic excitation. The clear avenue for future work for this endeavor is to expand the analytical techniques discussed in the literature to develop analytical expressions and justification for the mode shape changes and associated frequency knockdowns. These expressions must be able to accurately predict the functional relationship to the shapes, which will enable accurate tracing of the mode number from vacuum analysis (or testing in air) to analysis and operation in the intended fluid environment.

Chiu, Joseph↗
NASA NTRS1992

Analytical estimates of radial segregation in Bridgman growth from low-level steady and periodic accelerations

Approximate analytical solutions are developed that are mathematically tractable but provide the elements of CFD models for estimating convective flows subjected to low-level accelerations. The estimates are applicable to dilute systems that have horizontal temperature gradients in the vertical Bridgman configuration. The Navier-Stokes momentum equation is solved in 1D and subsequently in 2D by the first-order perturbation method. The analysis used is the case of plane-front solidification of a dilute system in the vertical thermally stable configuration. The model is found to predict the degree of radial segregation within a factor of two for a range of material and processing parameters. The method provides detailed information on the effects of processing on solute distribution in the grown crystal which are of interest in the orbital experiments emphasizing the control of radial segregation.

Naumann, Robert J.↗
NASA NTRS1993

A morphological filter for removing 'Cirrus-like' emission from far-infrared extragalactic IRAS fields

The presence of diffuse extended IR emission from the Galaxy in the form of the so called 'Galactic Cirrus' emission has hampered the exploration of the extragalactic sky at long IR wavelengths. We describe the development of a filter based on mathematical morphology which appears to be a promising approach to the problem of cirrus removal. The method of Greyscale Morphology was applied to a 100 micron IRAS image of the M81 group of galaxies. This is an extragalactic field which suffers from serious contamination from foreground Galactic 'cirrus'. Using a technique called 'sieving', it was found that the cirrus emission has a characteristic behavior which can be quantified in terms of an average spatial structure spectrum or growth function. This function was then used to attempt to remove 'cirrus' from the entire image. The result was a significant reduction of cirrus emission by an intensity factor of 15 compared with the original input image. The method appears to preserve extended emission in the spatially extended IR disks of M81 and M82 as well as distinguishing fainter galaxies within bright regions of galactic cirrus. The techniques may also be applicable to IR databases obtained with the Cosmic Background Explorer.

Appleton, P. N.↗
NASA NTRS1966

Flow losses in flexible hose.

Empirical method predicting flexible hose flow losses, with Fanning friction factor as Reynolds number and internal hose geometry function

FLEXIBLE BODY↗
NASA NTRS1972

Optimal utilization of total elastic scattering cross section data for the determination of interatomic potentials

The problem of inversion is considered in relation to absolute total cross sections Q(v) for atom-atom collisions and their velocity dependence, and the glory undulations and the transition to high velocity behavior. There is a limit to the amount of information available from Q(v) even when observations of good accuracy (e.g., + or - 0.25%) are in hand over an extended energy range (from thermal energies upward by a factor of greater than 1000 in relative kinetic energy). Methods were developed for data utilization, which take full advantage of the accuracy of the experimental Q(v) measurements.

Bernstein, R. B.↗