Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “framing”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,135 records · Page 63
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Impact evaluation of composite floor sections

Graphite-epoxy floor sections representative of aircraft fuselage construction were statically and dynamically tested to evaluate their response to crash loadings. These floor sections were fabricated using a frame-stringer design typical of present aluminum aircraft without features to enhance crashworthiness. The floor sections were tested as part of a systematic research program developed to study the impact response of composite components of increasing complexity. The ultimate goal of the research program is to develop crashworthy design features for future composite aircraft. Initially, individual frames of six-foot diameter were tested both statically and dynamically. The frames were then used to construct built-up floor sections for dynamic tests at impact velocities of approximately 20 feet/sec to simulate survivable crash velocities. In addition, static tests were conducted to gain a better understanding of the failure mechanisms seen in the dynamic tests.

Boitnott, Richard L.↗
NASA NTRS1990

Cartesian-based control of a deformable robot manipulator

A control scheme for the 6-DOF Cincinnati-Milacron T3 robot arm is developed and demonstrated by means of numerical simulations. The arm is modeled as an open-loop articulated system with both actuators and position and velocity sensors at each joint, and a Cartesian-frame control algorithm is constructed in which (1) an adaptive scheme decouples the end-effector subsystem from the complex highly nonlinear main system and (2) a servo scheme drives the reduced system to follow a presumed end-effector trajectory on the basis of the Cartesian-frame feedback gains. The velocity transformation used to transfer the control forces from the Cartesian frame to joint-based space is explained, and the simulation results are presented in extensive graphs and diagrams. The control is found to respond well to system-topology changes and robot-environment impacts.

Chang, C. W.↗
NASA NTRS1990

The pdf approach to turbulent flow

This paper provides a detailed discussion of the theory and application of probability density function (pdf) methods, which provide a complete statistical description of turbulent flow fields at a single point or a finite number of points. The basic laws governing the flow of Newtonian fluids are set up in the Eulerian and the Lagrangian frame, and the exact and linear equations for the characteristic functionals in those frames are discussed. Pdf equations in both frames are derived as Fourier transforms of the equations of the characteristic functions. Possible formulations for the nonclosed terms in the pdf equation are discussed, their properties are assessed, and closure modes for the molecular-transport and the fluctuating pressure-gradient terms are reviewed. The application of pdf methods to turbulent combustion flows, supersonic flows, and the interaction of turbulence with shock waves is discussed.

Kollmann, W.↗
NASA NTRS1991

Half-Tone Video Images Of Drifting Sinusoidal Gratings

Digital technique for generation of slowly moving video image of sinusoidal grating avoids difficulty of transferring full image data from disk storage to image memory at conventional frame rates. Depends partly on trigonometric identity by which moving sinusoidal grating decomposed into two stationary patterns spatially and temporally modulated in quadrature. Makes motion appear smooth, even at speeds much less than one-tenth picture element per frame period. Applicable to digital video system in which image memory consists of at least 2 bits per picture element, and final brightness of picture element determined by contents of "lookup-table" memory programmed anew each frame period and indexed by coordinates of each picture element.

Mulligan, Jeffrey B.↗
NASA NTRS1991

Spot-Welding Gun Is Easy To Use

Electrical-resistance spot-welding gun designed to produce more welds per unit time by decreasing technician's effort and fatigue. Vacuum cups on frame secure welding gun to workpiece while compressed air drives welding tip against workpiece to make spot resistance weld. When weld completed, vacuum in frame cups released so frame and gun moved to position of next spot weld.

Morgan, Gene E.↗
NASA NTRS1990

Compliant joint

A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.

Eklund, Wayne D.↗
NASA NTRS1990

Lightning observations from space shuttle

The experimental program of the Earth Sciences and Applications Division at NASA/MSFC includes development of the Lightning Imaging Sensor (LIS) for the NOAA Earth Observing System (EOS) Polar Platform. The research plan is to use existing lightning information to generate simulated data for the LIS experiment. Navigation algorithms were used to transform pixel locations to latitude and longitude values. The simulated data would then be used to test and develop algorithms for the analysis of LIS data. Individual frames of video imagery obtained from Space Shuttle Missions provide the raw data for the simulation. Individual video frames were digitized to get the pixel locations of lightning flashes. The pixel locations will be used to locate the geographical position of the event. Because of a lack of detailed knowledge of camera orientation with respect to the Space Shuttle, video scenes that contain identifiable city lights were chosen for analysis. A method for locating the payload bay camera axis was developed and tested. Two measurements are needed: the pixel location of the apparent horizon and a timed siting of a known location passing the principal line of the image. Individual video frames were navigated and lightning illuminated clouds were located on the map. Satisfactory agreement in location was achieved for cities and LLP lightning locations. Ground truth measurements were compared to satellite observations. A vertical lightning event was identified on the horizon. Very low frequency (VLF) transmission on this particular occassion shows a strong response to negative cloud to cloud flashes.

Boeck, William L.↗
NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗
NASA NTRS1991

Vibration suppression and slewing control of a flexible structure

Examined here are the effects of motor dynamics and secondary piezoceramic actuators on vibration suppression during the slewing of flexible structures. The approach focuses on the interaction between the structure, the actuators, and the choice of control law. The results presented here are all simulated, but are based on experimentally determined parameters for the motor, structure, piezoceramic actuators, and piezofilm sensors. The simulation results clearly illustrate that the choice of motor inertia relative to beam inertia makes a critical difference in the performance of the system. In addition, the use of secondary piezoelectric actuators reduces the load requirements on the motor and also reduces the overshoot of the tip deflection. The structures considered here are a beam and a frame. The majority of results are based on a Euler Bernoulli beam model. The slewing frame introduces substantial torsional modes and a more realistic model. The slewing frame results are incomplete and represent work in progress.

Inman, Daniel J.↗
NASA NTRS1991

Particle displacement tracking applied to air flows

Electronic Particle Image Velocimeter (PIV) techniques offer many advantages over conventional photographic PIV methods such as fast turn around times and simplified data reduction. A new all electronic PIV technique was developed which can measure high speed gas velocities. The Particle Displacement Tracking (PDT) technique employs a single cw laser, small seed particles (1 micron), and a single intensified, gated CCD array frame camera to provide a simple and fast method of obtaining two-dimensional velocity vector maps with unambiguous direction determination. Use of a single CCD camera eliminates registration difficulties encountered when multiple cameras are used to obtain velocity magnitude and direction information. An 80386 PC equipped with a large memory buffer frame-grabber board provides all of the data acquisition and data reduction operations. No array processors of other numerical processing hardware are required. Full video resolution (640x480 pixel) is maintained in the acquired images, providing high resolution video frames of the recorded particle images. The time between data acquisition to display of the velocity vector map is less than 40 sec. The new electronic PDT technique is demonstrated on an air nozzle flow with velocities less than 150 m/s.

Wernet, Mark P.↗
NASA NTRS1990

Advanced CCD imager technology for use from 1 to 10,000 A

A low-noise, high-sensitivity charge-coupled-device (CCD) technology for imaging applications extending from the soft X-ray (1 A) to the near-infrared (10,000 A) regimes was developed together with a fabrication technology for making back-illuminated versions of these devices with quantum efficiencies as high as 90 percent from 5000 to 7000 A. The efforts have focused on two devices, a 64 x 64 pixel back-illuminated imager with two output ports that operates at 2000 frames per second with 23 electrons read noise, and a larger device, with 420 x 420 pixel format, designed for lower frame rates with noise as low as 1.5 electrons and used at visible, UV, and X-ray wavelengths. Applications to plasma diagnostics include Thomson scattering and high-frame-rate imaging in the visible, as well as X-ray imaging and bolometry.

Twichell, J. C.↗
NASA NTRS1989

Electromagnetic wave extinction within a forested canopy

A forested canopy is modeled by a collection of randomly oriented finite-length cylinders shaded by randomly oriented and distributed disk- or needle-shaped leaves. For a plane wave exciting the forested canopy, the extinction coefficient is formulated in terms of the extinction cross sections (ECSs) in the local frame of each forest component and the Eulerian angles of orientation (used to describe the orientation of each component). The ECSs in the local frame for the finite-length cylinders used to model the branches are obtained by using the forward-scattering theorem. ECSs in the local frame for the disk- and needle-shaped leaves are obtained by the summation of the absorption and scattering cross-sections. The behavior of the extinction coefficients with the incidence angle is investigated numerically for both deciduous and coniferous forest. The dependencies of the extinction coefficients on the orientation of the leaves are illustrated numerically.

Karam, M. A.↗
NASA NTRS1990

Local gravitomagnetism

In a simple two-body system, the gravitomagnetic components of the metric in the local quasi-inertial frame of one of the bodies is calculated. The local geometry in this frame which is freely falling along the geodesic but is directionally fixed with respect to distant stars is primarily defined by the gravitomagnetic components of the local metric. This metric serves to track down the various contributions from the local and distant source and thus provides further insight to the nature of gravitomagnetism. As a result it is shown that in the quasi-inertial frame geodetic precession is a gravitomagnetic phenomenon. Furthermore a connection between local gravitomagnetic effects and Einstein's principle of equivalence is established.

Shahid-Saless, Bahman↗
NASA NTRS1990

Terrain interaction with the quarter scale beam walker

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Chun, Wendell H.↗
NASA NTRS1990

A computational model for dynamic vision

This paper describes a novel computational model for dynamic vision which promises to be both powerful and robust. Furthermore the paradigm is ideal for an active vision system where camera vergence changes dynamically. Its basis is the retinotopically indexed object-centered encoding of the early visual information. Specifically, the relative distances of objects to a set of referents is encoded in image registered maps. To illustrate the efficacy of the method, it is applied to the problem of dynamic stereo vision. Integration of depth information over multiple frames obtained by a moving robot generally requires precise information about the relative camera position from frame to frame. Usually, this information can only be approximated. The method facilitates the integration of depth information without direct use or knowledge of camera motion.

Moezzi, Saied↗
NASA NTRS1990

Optimal displacement in apparent motion and quadrature models of motion sensing

A grating appears to move if it is displaced by some amount between two brief presentations, or between multiple successive presentations. A number of recent experiments have examined the influence of displacement size upon either the sensitivity to motion, or upon the induced motion aftereffect. Several recent motion models are based upon quadrature filters that respond in opposite quadrants in the spatiotemporal frequency plane. Predictions of the quadrature model are derived for both two-frame and multiframe displays. Quadrature models generally predict an optimal displacement of 1/4 cycle for two-frame displays, but in the multiframe case the prediction depends entirely on the frame rate.

Watson, Andrew B.↗
NASA NTRS1991

An evaluation of probable bedrock exposure in the Sinus Meridiani region of the Martian highlands

Estimates of the amount of probable bedrock exposures visible in the highest-resolution Viking imaging data for a selected region of the Martian surface are presented. The study region includes portions of the classical low-albedo regions of Sinus Meridiani and Sinus Sabaeus and the high-albedo region of Arabia, and is completely within the cratered highlands of Mars. More than 400 images were used to estimate the percentage of the area of each frame having locally steep slopes. It is seen that 42 percent of the high-resolution frames have less than one percent probable bedrock exposure while three percent of the frames have 15 percent probable bedrock exposure.

Zimbelman, J. R.↗
NASA NTRS1991

Computations of the three-dimensional flow and heat transfer within a coolant passage of a radial turbine blade

A numerical code is developed for computing three-dimensional, turbulent, compressible flow within coolant passages of turbine blades. The code is based on a formulation of the compressible Navier-Stokes equations in a rotating frame of reference in which the velocity dependent variable is specified with respect to the rotating frame instead of the inertial frame. The algorithm employed to obtain solutions to the governing equation is a finite-volume LU algorithm that allows convection, source, as well as diffusion terms to be treated implicitly. In this study, all convection terms are upwind differenced by using flux-vector splitting, and all diffusion terms are centrally differenced. This paper describes the formulation and algorithm employed in the code. Some computed solutions for the flow within a coolant passage of a radial turbine are also presented.

Shih, T. I.-P.↗