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At least 1,117 records · Page 62

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NASA NTRS1989

Force/torque and tactile sensors for sensor-based manipulator control

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Vanbrussel, H.↗

NASA NTRS1989

Side-wall gas 'creep' and 'thermal stress convection' in microgravity experiments on film growth by vapor transport

While 'no-slip' boundary conditions and the Navier-Stokes equations of continuum fluid mechanics have served the vapor transport community well until now, it is pointed out that transport conditions within highly nonisothermal ampoules are such that the nonisothermal side walls 'drive' the dominant convective flow, and the familiar Stokes-Fourier-Fick laws governing the molecular fluxes of momentum, energy, and (species) mass in the 'continuum' field equations will often prove to be inadequate, even at Knudsen numbers as small as 0.001. The implications of these interesting gas kinetic phenomena under microgravity conditions, and even under 'earth-bound' experimental conditions, are outlined here, along with a tractable approach to their systematic treatment.

Rosner, Daniel E.↗

NASA NTRS1989

Improving the low temperature ductility of NiAl

As part of a study aimed at developing a ductile NiAl-based alloy, ingots of Ni-Fe-Al alloys were cast and hot extruded to rods. The purpose of the iron additions was two-fold viz; to produce a change in the slip vector from 001 to 111 line and, in one alloy, to add a L1(2)-structured ductile second phase. Extruded Ni-20Al-30Fe was two-phase, containing a pro-eutectic B2 phase in a fine lamellar structure of B2+L1(2) phases. Room temperature tensile testing of both single extruded and double extruded alloys resulted in 8-percent and 22-percent plastic elongation and yield stresses of 850 and 760 MPa, respectively. Fracture in both cases occurred by ductile tearing of the eutectic and transgranular cleavage of the proeutectic phase at 1350 MPa. The ductility in double extruded condition is higher than that reported earlier in rapidly solidified wires by Inoue et al. (1984). By comparison, extruded single-phase B2-structured Ni-30Al-20Fe exhibited a fracture strength of 780 MPa, no plasticity, and a mixture of intergranular fracture and transgranular cleavage. This is contrast to earlier work by Inoue et al. where a yield stress of 400 MPa, 5 percent plastic strain, and a mixture of dimple and intergranular fracture was reported.

Guha, Sumit↗

NASA NTRS1990

An automatic editing algorithm for GPS data

An algorithm has been developed to edit automatically Global Positioning System data such that outlier deletion, cycle slip identification, and correction are independent of clock instability, selective availability, receiver-satellite kinematics, and tropospheric conditions. This algorithm, called TurboEdit, operates on undifferenced, dual frequency carrier phase data, and requires the use of P code pseudorange data and a smoothly varying ionospheric electron content. TurboEdit was tested on the large data set from the CASA Uno experiment, which contained over 2500 cycle slips.Analyst intervention was required on 1 percent of the station-satellite passes, almost all of these problems being due to difficulties in extrapolating variations in the ionospheric delay. The algorithm is presently being adapted for real time data editing in the Rogue receiver for continuous monitoring applications.

Blewitt, Geoffrey↗

NASA NTRS1990

Spread-spectrum code acquisition in the presence of Doppler shift and data modulation

A spread-spectrum code acquisition technique for a direct-sequence (DS) system in the presence of Doppler effect and data modulation is investigated. Both the carrier-frequency offset and code-frequency offset due to severe Doppler effect are considered. The code-chip slipping during the correlation process caused by code-frequency offset can degrade the acquisition performance significantly. However, this issue can be alleviated by compensating code-frequency offset in an appropriate manner. Results are presented for the cases with and without data modulation. Coherent detection is considered when there is no data modulation. If data modulation is present, the authors partition the correlation time into subintervals and the integration results in these subintervals are square-law noncoherently combined for detection. The implementation of this code acquisition technique using the fast Fourier transform (FFT) algorithm is described. The use of theoretical results to estimate the hardware complexity of an actual system is illustrated step by step, showing that implementation is feasible with existing technology. The tradeoff between hardware complexity and acquisition performance is discussed.

Cheng, Unjeng↗

NASA NTRS1990

A crystallographic model for the tensile and fatigue response for Rene N4 at 982 C

An anisotropic constitutive model based on crystallographic slip theory was formulated for nickel-base single-crystal superalloys. The current equations include both drag stress and back stress state variables to model the local inelastic flow. Specially designed experiments have been conducted to evaluate the existence of back stress in single crystals. The results showed that the back stress effect of reverse inelastic flow on the unloading stress is orientation-dependent, and a back stress state variable in the inelastic flow equation is necessary for predicting inelastic behavior. Model correlations and predictions of experimental data are presented for the single crystal superalloy Rene N4 at 982 C.

Sheh, M. Y.↗

NASA NTRS1989

Creep substructure formation in sodium chloride single crystals in the power law and exponential creep regimes

Creep tests conducted on NaCl single crystals in the temperature range from 373 to 1023 K show that true steady state creep is obtained only above 873 K when the ratio of the applied stress to the shear modulus is less than or equal to 0.0001. Under other stress and temperature conditions, corresponding to both power law and exponential creep, the creep rate decreases monotonically with increasing strain. The transition from power law to exponential creep is shown to be associated with increases in the dislocation density, the cell boundary width, and the aspect ratio of the subgrains along the primary slip planes. The relation between dislocation structure and creep behavior is also assessed.

Raj, S. V.↗

NASA NTRS1989

The structure of sheared turbulence near a plane boundary

The effects of shear on the structure of turbulence near a plane boundary are examined. Inhomogeneous rapid distortion theory is applied to a uniform-shear boundary layer (USBL) with a slip velocity condition at the surface. The effects of blocking the vertical component of the turbulence by the boundary in a USBL are compared with the effects in a shear-free boundary layer. It is shown that the blocking is only slightly modified by the presence of shear. The shear does alter the way in which the boundary influences the horizontal components and the turbulent shear stress near the horizontal component.

Lee, Moon Joo↗

NASA NTRS1990

Faults in the Mojave Desert, California, as revealed on enhanced Landsat images

Landsat TM images, subjected to four-component processing through which lithologies can be discriminated by their contrasting absorption and reflection at IR wavelengths, have revealed previously unsuspected strike-slip and normal faults in the central and eastern Mojave Desert. These discriminations, which extend to ferric and ferrous iron and to hydroxyl content without compromise of landform depiction, represent a novel type of geophysical display for geologic mapping in regions of well-exposed bedrock; the faults thus discovered form part of an extensive regional network of right shear which connects Death Valley region faults with those in the San Andreas system.

Ford, J. P.↗

NASA NTRS1989

The effects of surface films on mechanical behavior of B2 ordered intermetallic alloys

Surface films deposited on body-centered cubic metals can greatly reduce the yield and flow stresses and increase the ductility at low homologous temperatures. This softening process is associated with the ability of the film-substrate interface to generate large populations of mobile edge dislocations. This phenomenon is extended to B2 ordered intermetallic alloys, which display many deformation characteristics of bcc metals. Single crystal NiAl coated with thermally formed oxide films and polycrystalline FeAl with electrochemically formed Fe-Al-O films display film softening at and below room temperature. The extent of film softening is shown to depend on many factors, including crystal orientation, deformation temperature, operative slip systems, film thickness, film adherence, and film and substrate properties.

Noebe, R. D.↗

NASA NTRS1990

Source parameters of earthquakes and intraplate deformation beneath the Shillong Plateau and the northern Indoburman ranges

The fault-plane solutions and focal depths are determined for 17 earthquakes beneath the Shillong Plateau and the northern Indoburman ranges by combining results from the inversion of long-period P and SH waveforms and amplitudes, from polarities of first motions, and from the identification of pP and sP phases on short-period seismograms. Fault-plane solutions of 15 earthquakes show mixtures of thrust and strike-slip faulting, but the P axes for these events are nearly horizontal and consistently oriented N-NE-S-SW. All of these earthquakes occurred at depths greater than 29 km. Beneath the Shillong Plateau, one event occurred at a depth of 52 km. The relatively large depths for earthquakes in an intraplate setting suggest that the Indian lithosphere in this area is especially cold.

Chen, Wang-Ping↗

NASA NTRS1990

Nonlinear inversion flight control for a supermaneuverable aircraft

This paper describes the use of nonlinear dynamic inversion for the design of a flight control system for a supermaneuverable aircraft. First, the dynamics to be controlled were separated into fast and slow variables. The fast variables were the angular rates and the slow variables were the attitude angles. Then a nonlinear inversion controller was designed for the fast variables. This stabilized the longitudinal short-period and improved the lateral-directional responses over a wide range of angle of attack by making use of a combination for aerodynamic surfaces and thrust vectoring control. Outer loops were then closed to allow the pilot to control the slow dynamics, the angle of attack, side-slip angle and the velocity bank angle. Nonlinear inversion was also used to design of the outer loop control laws. The dynamic inversion control laws were compared with more conventional, gain-scheduled control laws and were shown to yield much better performance.

Snell, S. Antony↗

NASA NTRS1990

Extensional reactivation of an abandoned thrust - A bound on shallowing in the brittle regime

Shallow dip angles (not greater than 45 deg) suggested by field observations of continental extensional faults are not predicted by classical isotropic Mohr-Coulomb-Anderson theory. Earthquake data indicate that normal faults exist in the upper crust with dip angles commonly as shallow as 30 deg. One explanation of the apparent conflict between theory and structural/seismic observations is that intrinsically weak, shallow-dipping pre-existing faults are preferentially reactivated. An analytical treatment clarifies the roles of geometry, intact/preexisting fault strengths and fluid pore pressures. Frictional strength ratios of 3 or greater could account for extremely shallow normal faults (dips 10-20 deg) without consideration of pore pressures in excess of the least principal stress or of principal stress systems rotated away from the gravity vector. Moderate reduction in friction (3/4) with respect to wall rock can reduce the dip to 30 deg and can account for shallow normal-slip earthquakes.

Ivins, E. R.↗

NASA NTRS1990

Investigation of the asymmetric misfit dislocation morphology in epitaxial layers with the zinc-blende structure

The source of the asymmetry in the dislocation morphology exhibited in the epitaxial growth of compound semiconductors on (100) was investigated. A thickness wedge of p- and n-type GaAs(0.95)P(0.05) was grown on GaAs by metalorganic chemical vapor deposition, and the effect of misorientation on the resolved shear stress for each slip system was calculated and eliminated as the source of the asymmetry. Another potential source of asymmetry, the thickness gradient, was also eliminated. Results show that the substrate misorientation and the thickness gradient do not significantly contribute to the asymmetry and that the dominant contributor to the asymmetry of misfit dislocations in the (001) epitaxial interface can be attributed to the differences in the Peierls barriers between the two types of dilocations in GaAsP/GaAs.

Fox, Bradley A.↗

NASA NTRS1991

Human Error In Complex Systems

Report presents results of research aimed at understanding causes of human error in such complex systems as aircraft, nuclear powerplants, and chemical processing plants. Research considered both slips (errors of action) and mistakes (errors of intention), and influence of workload on them. Results indicated that: humans respond to conditions in which errors expected by attempting to reduce incidence of errors; and adaptation to conditions potent influence on human behavior in discretionary situations.

Morris, Nancy M.↗

NASA NTRS1989

A zonal Navier-Stokes methodology for flow simulation about a complete aircraft

The thin layer, Reynolds-averaged, Navier-Stokes equations are used to simulate the transonic viscous flow about the complete F-16A fighter aircraft. These computations demonstrate how computational fluid dynamics can be used to simulate turbulent viscous flow about realistic aircraft geometries. A zonal grid approach is used to provide adequate viscous grid clustering on all aircraft surfaces. Zonal grids extend inside the F-16A inlet and up to the compressor face while power on conditions are modeled by employing a zonal grid extending from the exhaust nozzle to the far field. Computations are compared with existing experimental data and are in fair agreement. Computations for the F-16A in side slip are also presented.

Flores, Jolen↗

NASA NTRS1990

Origin and dynamics of emission line clouds in cooling flow environments

The author suggests that since clouds are born co-moving in a turbulent intra-cluster medium (ICM), the allowed parameter space can now be opened up to a more acceptable range. Large-scale motions can be driven in the central parts of cooling flows by a number of mechanisms including the motion of the central and other galaxies, and the dissipation of advected, focussed rotational and magnetic energy. In addition to the velocity width paradox, two other paradoxes (Heckman et al. 1989) can be solved if the ICM is turbulent. Firstly, the heating source for the emission line regions has always been puzzling - line luminosities are extremely high for a given (optical or radio) galaxy luminosity compared to those in non-cooling flow galaxies, therefore a mechanism peculiar to cooling flows must be at work. However most, if not all, previously suggested heating mechanisms either fail to provide enough ionization or give the wrong line ratios, or both. The kinetic energy in the turbulence provides a natural energy source if it can be efficiently converted to cloud heat. Researchers suggest that this can be done via magneto-hydrodynamic waves through plasma slip. Secondly, while the x ray observations indicate extended mass deposition, the optical line emission is more centrally concentrated. Since many of the turbulence-inducing mechanisms are strongest in the central regions of the ICM, so is the method of heating. In other words material is dropping out everywhere but only being lit up in the center.

Loewenstein, Michael↗

NASA NTRS1990

Asymmetric supersonic flow around cones with noncircular sections

The unsteady, compressible, single and double thin-layer, Navier-Stokes equations are used to solve for steady and unsteady, asymmetric, supersonic flow around pointed bodies with noncircular sections at high incidence and zero side slip. The equations are solved by using an implicit, upwind, flux-difference splitting finite-volume scheme. Since the flow is locally conical, the solutions are presented on a cross-flow plane at the axial station of unit. The grid is generated by using a modified Joukowski transformation. The computational applications cover noncircular sections with elliptic and diamond shapes. Unsteady asymmetric vortex shedding has been captured at large angles of attack. It is shown that for the same flow conditions and same cross-section fineness ratio, the diamond-section cones develop less flow asymmetry than the elliptic-section cones. Passive control of flow asymmetry was also demonstrated computationally.

Kandil, Osama A.↗