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At least 1,153 records · Page 64

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Lee, Jeh Won↗

Influence of impeller shroud forces on turbopump rotor dynamics

The shrouded-impeller leakage path forces calculated by Childs have been analyzed to answer two questions. First, because of certain characteristics or the results of Childs, the forces could not be modeled with traditional approaches. Therefore, an approach has been devised to include the forces in conventional rotordynamic analyses. The forces were found to be well-modeled with this approach. Finally, the effect these forces had on a simple rotor-bearing system was analyzed, and, therefore, they, in addition to seal forces, were applied to a Jeffcott rotor. The traditional methods of dynamic system analysis were modified to incorporate the impeller forces and yielded results for the eigenproblem, frequency response, critical speed, transient response, and an iterative technique for finding the frequency of free vibration as well as system stability. All results lead to the conclusion that the forces have little influence on natural frequency but can have appreciable effects on system stability. Specifically, at higher values of fluid swirl at the leakage path entrance, relative stability is reduced. The only unexpected response characteristics that occurred are attributed to the nonlinearity of the model.

Williams, J. P.↗

Galaxy pairs in deep HST images: Evidence for evolution in the galaxy merger rate

We use four deep serendipitous fields observed with the Hubble Space Telescope (HST) Wide-Field Camera to constrain the rate of galaxy merging between the current epoch and z approximately equals 0.7. Since most mergers occur between members of bound pairs, the merger rate is given to a good approximation by (half) the rate of disappearance of galaxies in pairs. An objective criterion for pair membership shows that 34% +/- 9% of our HST galaxies with I = 18-22 belong to pairs, compared to 7% locally. This means that about 13% of the galaxy population has disappeared due to merging in the cosmic epoch corresponding to this magnitude interval (or 0.1 approximately less than z approximately less than 0.7). Our pair fraction is a lower limit: correction for pair members falling below our detection threshold might raise the fraction to approximately 50%. Since we address only two-galaxy merging, these values do not include physical systems of higher multiplicity. Incorporating I-band field-galaxy redshift distributions, the pair fraction grows with redshift as alpha(1 + z)(exp 3.5 +/- 0.5) and the merger rate as (1 + z)(exp 2.5 +/- 0.5). This may have significant implications for the interpretation of galaxy counts (disappearance of faint blue galaxies), the cosmological evolution of faint radio sources and quasars (which evolve approximately as (1 + z)(exp 3), the similarity in the power law is necessary but not sufficient evidence for a causal relation), statistics of QSO companions, the galaxy content in distant clusters, and the merging history of a 'typical' galaxy.

Burkey, Jordan M.↗

Universal Controller For Supersonic Engine Inlet

Engine-demand airflow used as primary control parameter. Optimum inlet angle depends on such other variables as mach number, altitude, and ambient temperature. Function of these variables approximated by schedule ("inlet ramp schedule") of digitized values implemented by digital control system.

Yonke, William A.↗

Experimental Investigation of Pool Boiling Heat Transfer Enhancement in Microgravity in the Presence of Electric Fields

Boiling is an effective mode of heat transfer since high heat flux levels are possible driven by relatively small temperature differences. The high heat transfer coefficients associated with boiling have made the use of these processes increasingly attractive to aerospace engineering. Applications of this type include compact evaporators in the thermal control of aircraft avionics and spacecraft environments, heat pipes, and use of boiling to cool electronic equipment. In spite of its efficiency, cooling based on liquid-vapor phase change processes has not yet found wide application in aerospace engineering due to specific problems associated with the low gravity environment. After a heated surface has reached the superheat required for the initiation of nucleate boiling, bubbles will start forming at nucleation sites along the solid interface by evaporation of the liquid. Bubbles in contact with the wall will continue growing by this mechanism until they detach. In terrestrial conditions, bubble detachment is determined by the competition between body forces (e.g. buoyancy) and surface tension forces that act to anchor the bubble along the three phase contact line. For a given body force potential and a balance of tensions along the three phase contact line, bubbles must reach a critical size before the body force can cause them to detach from the wall. In a low gravity environment the critical bubble size for detachment is much larger than under terrestrial conditions, since buoyancy is a less effective means of bubble removal. Active techniques of heat transfer enhancement in single phase and phase change processes by utilizing electric fields have been the subject of intensive research during recent years. The field of electrohydrodynamics (EHD) deals with the interactions between electric fields, flow fields and temperature fields. Previous studies indicate that in terrestrial applications nucleate boiling heat transfer can be increased by a factor of 50 as compared to values obtained for the same system without electric fields. Imposing an external electric field holds the promise to improve pool boiling heat transfer in low gravity, since a phase separation force other than gravity is introduced. The goal of our research is to experimentally investigate the potential of EHD and the mechanisms responsible for EHD heat transfer enhancement in boiling in low gravity conditions.

Herman, Cila↗

Heat Capacity Anomaly Near the Lower Critical Consolute Point of Triethylamine-Water

The heat capacity of the binary liquid mixture triethylamine-water has been measured near its lower critical consolute point using a scanning, adiabatic calorimeter. Two data runs are analyzed to provide heat capacity and enthalpy data that are fitted by equations with background terms and a critical term that includes correction to scaling. The critical exponent a was determined to be 0.107 +/- 0.006, consistent with theoretical predictions. When alpha was fixed at 0.11 to determine various amplitudes consistently, our values of A(+) and A(-) agreed with a previous heat capacity measurement, but the value of A(-) was inconsistent with values determined by density or refractive index measurements. While our value for the amplitude ratio A(+)/ A(-) = 0.56 +/- 0.02 was consistent with other recent experimental determinations in binary liquid mixtures, it was slightly larger than either theoretical predictions or recent experimental values in liquid-vapor systems. The correction to scaling amplitude ratio D(+)/D(-) = 0.5 +/- 0.1 was half of that predicted. As a result of several more precise theoretical calculations and experimental determinations, the two-scale-factor universality ratio X, which we found to be 0.019 +/- 0.003, now is consistent among experiments and theories. A new 'universal' amplitude ratio R(sup +/-)(sub Bcr) involving the amplitudes for the specific heat was tested. Our determination of R(sup +/-)(sub Bcr) = -0.5 +/- 0.1 and R(sup -)(sub Bcr) = 1.1 +/- 0.1 is smaller in magnitude than predicted and is the first such determination in a binary fluid mixture.

Flewelling, Anne C.↗

Low-Visibility Visual Simulation with Real Fog

An environmental fog simulation (EFS) attachment was developed to aid in the study of natural low-visibility visual cues and subsequently used to examine the realism effect upon the aircraft simulator visual scene. A review of the basic fog equations indicated that the two major factors must be accounted for in the simulation of low visibility-one due to atmospheric attenuation and one due to veiling luminance. These factors are compared systematically by: comparing actual measurements lo those computed from the Fog equations, and comparing runway-visual-range-related visual-scene contrast values with the calculated values. These values are also compared with the simulated equivalent equations and with contrast measurements obtained from a current electronic fog synthesizer to help identify areas in which improvements are needed. These differences in technique, the measured values, the Features of both systems, a pilot opinion survey of the EFS fog, and improvements (by combining features of both systems) that are expected to significantly increase the potential as well as flexibility for producing a very high-fidelity, low-visibility visual simulation are discussed.

Chase, Wendell D.↗

Investigation of the Errors of an Inertial Guidance System during Satellite Re-Entry

During the re-entry phase of a manned satellite, some equipment for continuous on-board indication of position will be required. Since radio and radar may be useless during part of the re-entry, inertial guidance equipment may be required. Such equipment, however, has an inherent instability in the computation of altitude. The present study of an inertial guidance system shows that for reasonable values of initial-condition errors and equipment biases. the resultant position indication errors will not become excessive unless the re-entry maneuver time is greater than 45 minutes to an hour. Further, the position indication error caused by accelerometer uncertainties can be reduced by switching off the accelerometers until their output becomes significantly greater than their uncertainty.

White, John S.↗

Model Refinement Using Eigensystem Assignment

IA novel approach for the refinement of finite-element-based analytical models of flexible structures is presented. The proposed approach models the possible refinements in the mass, damping, and stiffness matrices of the finite element model in the form of a constant gain feedback with acceleration, velocity, and displacement measurements, respectively. Once the free elements of the structural matrices have been defined, the problem of model refinement reduces to obtaining position, velocity, and acceleration gain matrices with appropriate sparsity that reassign a desired subset of the eigenvalues of the model, along with partial mode shapes, from their baseline values to those obtained from system identification test data. A sequential procedure is used to assign one conjugate pair of eigenvalues at each step using symmetric output feedback gain matrices, and the eigenvectors are partially assigned, while ensuring that the eigenvalues assigned in the previous steps are not disturbed. The procedure can also impose that gain matrices be dissipative to guarantee the stability of the refined model. A numerical example, involving finite element model refinement for a structural testbed at NASA Langley Research Center (Controls-Structures-Interaction Evolutionary model) is presented to demonstrate the feasibility of the proposed approach.

Maghami, Peiman G.↗

Optical Control of Intersubband Absorption in a Multiple Quantum Well-Embedded Semiconductor Microcravity

Optical intersubband response of a multiple quantum well (MQW)-embedded microcavity driven by a coherent pump field is studied theoretically. The n-type doped MQW structure with three subbands in the conduction band is sandwiched between a semi-infinite medium and a distributed Bragg reflector (DBR). A strong pump field couples the two upper subbands and a weak field probes the two lower subbands. To describe the optical response of the MQW-embedded microcavity, we adopt a semi-classical nonlocal response theory. Taking into account the pump-probe interaction, we derive the probe-induced current density associated with intersubband transitions from the single-particle density-matrix formalism. By incorporating the current density into the Maxwell equation, we solve the probe local field exactly by means of Green's function technique and the transfer-matrix method. We obtain an exact expression for the probe absorption coefficient of the microcavity. For a GaAs/Al(sub x)Ga(sub 1-x)As MQW structure sandwiched between a GaAs/AlAs DBR and vacuum, we performed numerical calculations of the probe absorption spectra for different parameters such as pump intensity, pump detuning, and cavity length. We find that the probe spectrum is strongly dependent on these parameters. In particular, we find that the combination of the cavity effect and the Autler-Townes effect results in a triplet in the optical spectrum of the MQW system. The optical absorption peak value and its location can be feasibly controlled by varying the pump intensity and detuning.

Liu, Ansheng↗

Experimental Investigation of Pool Boiling Heat Transfer Enhancement in Microgravity in the Presence of Electric Fields

The research carried out in the Heat Transfer Laboratory of the Johns Hopkins University was motivated by previous studies indicating that in terrestrial applications nucleate boiling heat transfer can be increased by a factor of 50 when compared to values obtained for the same system without electric fields. Imposing an external electric field holds the promise to improve pool boiling heat transfer in low gravity, since a phase separation force other than gravity is introduced. The influence of electric fields on bubble formation has been investigated both experimentally and theoretically.

Herman, C.↗

Entropy Splitting and Numerical Dissipation

A rigorous stability estimate for arbitrary order of accuracy of spatial central difference schemes for initial-boundary value problems of nonlinear symmetrizable systems of hyperbolic conservation laws was established recently by Olsson and Oliger (1994) and Olsson (1995) and was applied to the two-dimensional compressible Euler equations for a perfect gas by Gerritsen and Olsson (1996) and Gerritsen (1996). The basic building block in developing the stability estimate is a generalized energy approach based on a special splitting of the flux derivative via a convex entropy function and certain homogeneous properties. Due to some of the unique properties of the compressible Euler equations for a perfect gas, the splitting resulted in the sum of a conservative portion and a non-conservative portion of the flux derivative. hereafter referred to as the "Entropy Splitting." There are several potential desirable attributes and side benefits of the entropy splitting for the compressible Euler equations that were not fully explored in Gerritsen and Olsson. The paper has several objectives. The first is to investigate the choice of the arbitrary parameter that determines the amount of splitting and its dependence on the type of physics of current interest to computational fluid dynamics. The second is to investigate in what manner the splitting affects the nonlinear stability of the central schemes for long time integrations of unsteady flows such as in nonlinear aeroacoustics and turbulence dynamics. If numerical dissipation indeed is needed to stabilize the central scheme, can the splitting help minimize the numerical dissipation compared to its un-split cousin? Extensive numerical study on the vortex preservation capability of the splitting in conjunction with central schemes for long time integrations will be presented. The third is to study the effect of the non-conservative proportion of splitting in obtaining the correct shock location for high speed complex shock-turbulence interactions. The fourth is to determine if this method can be extended to other physical equations of state and other evolutionary equation sets. If numerical dissipation is needed, the Yee, Sandham, and Djomehri (1999) numerical dissipation is employed. The Yee et al. schemes fit in the Olsson and Oliger framework.

Yee, H. C.↗

NASA Space Missions to Asteroids: Protecting the Earth from NEO Impacts

There is now a general recognition of the hazard of impacts on Earth by comets and asteroids, but there is yet no consensus concerning international actions that should be taken to protect the planet from such impacts. An essential step in the analysis of the situation involves estimating the relative hazard posed by comets and asteroids of different sizes and orbits. All recent studies agree that the larger impacts pose the greater danger, and that our primary concern from the perspective of total risk should be on impacts that are large enough to cause global ecological catastrophe. These global catastrophes are also of special interest, since they (alone among natural disasters) have the potential to destroy civilization. Studies of the sensitivity of the Earth's environment suggest that the energy threshold energy for causing a global catastrophe is at about 1 million megatons, corresponding to impactor diameters of 1.5 to 2 km. This information leads naturally to a strategy of concentrating on the larger NEOs, say those 1 km or more in diameter. This is the rationale for the Spaceguard Survey, which must be the highest priority in mitigation efforts. The second question concerns the value of developing standing defensive systems that could deflect or destroy an incoming NEO. In the case of the asteroids larger than 1 km in diameter, no such system is needed, since there will be ample time (at least several decades) between the discovery of the threatening object by Spaceguard and the requirement to take action against it. In the case of objects smaller than 1 km diameter, development of defensive systems is not cost-effective; there are many greater dangers to persons and property that are much more urgent. Only in the case of large long-period comets is there a rationale for standing defense systems. The question is also raised whether the risks inherent in developing and maintaining a defense system might be greater than the impact risks it is intended to guard against. These and related issues are the focus of much current international debate on defense of the planet against NEO impacts. Meanwhile, the most critical issue remains the expansion of the telescopic search for NEOs.

Morrison, David↗

High Pressure X-Ray Diffraction Studies on Nanocrystalline Materials

Application of in situ high pressure powder diffraction technique for examination of specific structural properties of nanocrystals based on the experimental data of SiC nanocrystalline powders of 2 to 30 nrn diameter in diameter is presented. Limitations and capabilities of the experimental techniques themselves and methods of diffraction data elaboration applied to nanocrystals with very small dimensions (< 30 nm) are discussed. It is shown that due to the complex structure, constituting a two-phase, core/surface shell system, no unique lattice parameter value and, consequently, no unique compressibility coefficient can satisfactorily describe the behavior of nanocrystalline powders under pressure. We offer a tentative interpretation of the distribution of macro- and micro-strains in nanoparticles of different grain size.

Palosz, B.↗

Interstellar Deuterium Chemistry

The presence of isotopic anomalies is the most unequivocal demonstration that meteoritic material contains circumstellar or interstellar components. In the case of organic compounds in meteorites and interplanetary dust particles (IDPs), the most useful isotopic tracer of interstellar components has been deuterium (D) excesses. In some cases these enrichments are seen in bulk meteoritic materials, but D enrichments have also been observed in meteoritic subfractions and even within specific classes of molecular species, such as amino and carboxylic acids. These anomalies are not thought to be the result of nucleosynthetic processes, but are instead ascribed to chemical and physical processes occurring in the interstellar medium (ISM). The traditional explanation of these D excesses has been to invoke the presence of materials made in the ISM by low temperature gas phase ion-molecule reactions. Indeed, the DM ratios seen in the simple interstellar gas phase molecules in cold dense clouds amenable to measurement using radio spectral techniques are generally considerably higher than the values seen in enriched Solar System materials. However, the true linkage between the DM ratios in interstellar and meteoritic materials is obscured by several effects. First, current observations of D enrichment in the ISM have been made of only a few simple molecules, molecules that are not the main carriers of D in Solar System materials. Second, some of the interstellar D enrichment is likely to reside on labile moieties that will have exchanged to some degree with more isotopically normal material during incorporation into the warm protosolar nebula, parent body processing, delivery, recovery, and analysis. Third, ion-molecule reactions represent only one of at least four processes that can produce strong D-H fractionation in the ISM.

Sandford, S. A.↗

Model Refinement Using Eigensystem Assignment

This paper presented a novel approach for the refinement of finite-element-based analytical models of flexible structures is presented. The proposed approach models the possible refinements in the mass, damping, and stiffness matrices of the finite element model in the form of a constant gain feedback with acceleration, velocity, and displacement measurements, respectively. Once, the free elements of the structural matrices have been defined, the problem of model refinement reduces to obtaining position, velocity, and acceleration gain matrices, which reassign a desired subset of the eigenvalues of the model, along with partial mode shapes, from their baseline values to those obtained from system identification test data. A sequential procedure is used to assign one self-conjugate pair of closed-loop eigenvalues at each step using symmetric output feedback gain matrices, and the closed-loop eigenvectors are partially assigned, while ensuring that the eigenvalues assigned in the previous steps are not disturbed. The procedure can also impose that gain matrices be dissipative in order to guarantee the stability of the refined model. A numerical example, involving finite element model refinement for a structural testbed at NASA Langley (CSI Evolutionary Model) is presented to demonstrate the feasibility of the proposed approach.

Maghami, Pieman G.↗

Usability Evaluation of a Flight-Deck Airflow Hazard Visualization System

Many aircraft accidents each year are caused by encounters with unseen airflow hazards near the ground, such as vortices, downdrafts, low level wind shear, microbursts, or turbulence from surrounding vegetation or structures near the landing site. These hazards can be dangerous even to airliners; there have been hundreds of fatalities in the United States in the last two decades attributable to airliner encounters with microbursts and low level wind shear alone. However, helicopters are especially vulnerable to airflow hazards because they often have to operate in confined spaces and under operationally stressful conditions (such as emergency search and rescue, military or shipboard operations). Providing helicopter pilots with an augmented-reality display visualizing local airflow hazards may be of significant benefit. However, the form such a visualization might take, and whether it does indeed provide a benefit, had not been studied before our experiment. We recruited experienced military and civilian helicopter pilots for a preliminary usability study to evaluate a prototype augmented-reality visualization system. The study had two goals: first, to assess the efficacy of presenting airflow data in flight; and second, to obtain expert feedback on sample presentations of hazard indicators to refine our design choices. The study addressed the optimal way to provide critical safety information to the pilot, what level of detail to provide, whether to display specific aerodynamic causes or potential effects only, and how to safely and effectively shift the locus of attention during a high-workload task. Three-dimensional visual cues, with varying shape, color, transparency, texture, depth cueing, and use of motion, depicting regions of hazardous airflow, were developed and presented to the pilots. The study results indicated that such a visualization system could be of significant value in improving safety during critical takeoff and landing operations, and also gave clear indications of the best design choices in producing the hazard visual cues.

Aragon, Cecilia R.↗

The Ares I-1 Flight Test--Paving the Road for the Ares I Crew Launch Vehicle

In accordance with the U.S. Vision for Space Exploration and the nation's desire to again send humans to explore beyond Earth orbit, NASA has been tasked to send human beings to the moon, Mars, and beyond. It has been 30 years since the United States last designed and built a human-rated launch vehicle. NASA is now building the Ares I crew launch vehicle, which will loft the Orion crew exploration vehicle into orbit, and the Ares V cargo launch vehicle, which will launch the Lunar Surface Access Module and Earth departure stage to rendezvous Orion for missions to the moon. NASA has marshaled unique resources from the government and private sectors to perform the technically and programmatically complex work of delivering astronauts to orbit early next decade, followed by heavy cargo late next decade. Our experiences with Saturn and the Shuttle have taught us the value of adhering to sound systems engineering, such as the "test as you fly" principle, while applying aerospace best practices and lessons learned. If we are to fly humans safely aboard a launch vehicle, we must employ a variety of methodologies to reduce the technical, schedule, and cost risks inherent in the complex business of space transportation. During the Saturn development effort, NASA conducted multiple demonstration and verification flight tests to prove technology in its operating environment before relying upon it for human spaceflight. Less testing on the integrated Shuttle system did not reduce cost or schedule. NASA plans a progressive series of demonstration (ascent), verification (orbital), and mission flight tests to supplement ground research and high-altitude subsystem testing with real-world data, factoring the results of each test into the next one. In this way, sophisticated analytical models and tools, many of which were not available during Saturn and Shuttle, will be calibrated and we will gain confidence in their predictions, as we gain hands-on experience in operating the first of two new launch vehicle systems. The Ares I-1 flight test vehicle (FTV) will incorporate a mix of flight and mockup hardware, reflecting a configuration similar in mass, weight, and shape (outer mold line or OML) to the operational vehicle. It will be powered by a four-segment reusable solid rocket booster (RSRB), which is currently in Shuttle inventory, and will be modified to include a fifth, inert segment that makes it approximately the same size and weight as the five segment RSRB, which will be available for the second flight test in 2012. The Ares I-1 vehicle configuration is shown. Each test flight has specific objectives appropriate to the design analysis cycle in progress. The Ares I-1 demonstration test, slated for April 2009, gives NASA its first opportunity to gather critical data about the flight dynamics of the integrated launch vehicle stack, understand how to control its roll during flight, and other characterize the severe stage separation environment that the upper stage will experience during future operational flights. NASA also will begin the process of modifying the launch infrastructure and fine-tuning ground and mission operational scenarios, as NASA transitions from the Shuttle to the Ares/Orion system.

Davis, Stephan R.↗