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At least 1,225 records · Page 68

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NASA NTRS1989

Inverse dynamics of a 3 degree of freedom spatial flexible manipulator

A technique is presented for solving the inverse dynamics and kinematics of 3 degree of freedom spatial flexible manipulator. The proposed method finds the joint torques necessary to produce a specified end effector motion. Since the inverse dynamic problem in elastic manipulators is closely coupled to the inverse kinematic problem, the solution of the first also renders the displacements and rotations at any point of the manipulator, including the joints. Furthermore the formulation is complete in the sense that it includes all the nonlinear terms due to the large rotation of the links. The Timoshenko beam theory is used to model the elastic characteristics, and the resulting equations of motion are discretized using the finite element method. An iterative solution scheme is proposed that relies on local linearization of the problem. The solution of each linearization is carried out in the frequency domain. The performance and capabilities of this technique are tested through simulation analysis. Results show the potential use of this method for the smooth motion control of space telerobots.

Bayo, Eduardo↗

NASA NTRS1989

Some unsolved problems in evolutionary dynamics in the solar system

Several unsolved problems in the evolutionary histories leading to current dynamical configurations of the planets and their systems of satellites are discussed. These include the possibilities of rather tight constraints on the primordial rotation states of Mercury and Venus and the stabilizing mechanism for the latter's retrograde spin, a brief mention of the problem of origin of the moons of earth and Mars, the excessive heat flow from Jupiter's satellite Io which is not compatible with an otherwise self-consistent model of origin of the Laplace three-body libration, the mechanism for the long history of resurfacing of Saturn's satellite Enceladus and the possibly short lifetime of the A ring and the mechanisms for resurfacing the satellites of Uranus, especially Ariel, if the high stability of the mean motion orbital resonances at the 2/1 commensurability involving Ariel and Umbriel precludes a long term occupancy of the resonance. Finally, excessive times of accumulation of the outer planets in current models may possibly be reducible from the effects of nebular gas drag.

Peale, S. J.↗

NASA NTRS1991

A powerful local shear instability in weakly magnetized disks. I - Linear analysis. II - Nonlinear evolution

A broad class of astronomical accretion disks is presently shown to be dynamically unstable to axisymmetric disturbances in the presence of a weak magnetic field, an insight with consequently broad applicability to gaseous, differentially-rotating systems. In the first part of this work, a linear analysis is presented of the instability, which is local and extremely powerful; the maximum growth rate, which is of the order of the angular rotation velocity, is independent of the strength of the magnetic field. Fluid motions associated with the instability directly generate both poloidal and toroidal field components. In the second part of this investigation, the scaling relation between the instability's wavenumber and the Alfven velocity is demonstrated, and the independence of the maximum growth rate from magnetic field strength is confirmed.

Balbus, Steven A.↗

NASA NTRS1951

Empirical relation between induced velocity, thrust, and rate of descent of a helicopter rotor as determined by wind-tunnel tests on four model rotors

The empirical relation between the induced velocity, thrust, and rate of vertical descent of a helicopter rotor was calculated from wind tunnel force tests on four model rotors by the application of blade-element theory to the measured values of the thrust, torque, blade angle, and equivalent free-stream rate of descent. The model tests covered the useful range of C(sub t)/sigma(sub e) (where C(sub t) is the thrust coefficient and sigma(sub e) is the effective solidity) and the range of vertical descent from hovering to descent velocities slightly greater than those for autorotation. The three bladed models, each of which had an effective solidity of 0.05 and NACA 0015 blade airfoil sections, were as follows: (1) constant-chord, untwisted blades of 3-ft radius; (2) untwisted blades of 3-ft radius having a 3/1 taper; (3) constant-chord blades of 3-ft radius having a linear twist of 12 degrees (washout) from axis of rotation to tip; and (4) constant-chord, untwisted blades of 2-ft radius. Because of the incorporation of a correction for blade dynamic twist and the use of a method of measuring the approximate equivalent free-stream velocity, it is believed that the data obtained from this program are more applicable to free-flight calculations than the data from previous model tests.

Castles, Walter, Jr.↗

NASA NTRS1991

Spaceborne centrifugal relays for spacecraft propulsion

Acceleration using centrifugal relays is a recently discovered method for the acceleration of spaceborne payloads to high velocity at high thrust. Centrifugal relays are moving rotors which progressively accelerate reaction mass to higher velocities. One important engineering problem consists of accurately tracking the position of the projectiles and rotors and guiding each projectile exactly onto the appropriate guide tracks on each rotor. The topics of this research are the system kinematics and dynamics and the computerized guidance system which will allow the projectile to approach each rotor with exact timing with respect to the rotor rotation period and with very small errors in lateral positions. Kinematics studies include analysis of rotor and projectile positions versus time and projectile/rotor interactions. Guidance studies include a detailed description of the tracking mechanism (interrupt of optical beams) and the aiming mechanism (electromagnetic focusing) including the design of electromagnetic deflection coils and the switching circuitry.

Ouzidane, Malika↗

NASA NTRS1951

Empirical Relation Between Induced Velocity, Thrust, and Rate of Descent of a Helicopter Rotor as Determined by Wind-tunnel Tests on Four Model Rotors

Castles, Walter, Jr↗

NASA NTRS1993

Approximate optimal guidance for the advanced launch system

A real-time guidance scheme for the problem of maximizing the payload into orbit subject to the equations of motion for a rocket over a spherical, non-rotating earth is presented. An approximate optimal launch guidance law is developed based upon an asymptotic expansion of the Hamilton - Jacobi - Bellman or dynamic programming equation. The expansion is performed in terms of a small parameter, which is used to separate the dynamics of the problem into primary and perturbation dynamics. For the zeroth-order problem the small parameter is set to zero and a closed-form solution to the zeroth-order expansion term of Hamilton - Jacobi - Bellman equation is obtained. Higher-order terms of the expansion include the effects of the neglected perturbation dynamics. These higher-order terms are determined from the solution of first-order linear partial differential equations requiring only the evaluation of quadratures. This technique is preferred as a real-time, on-line guidance scheme to alternative numerical iterative optimization schemes because of the unreliable convergence properties of these iterative guidance schemes and because the quadratures needed for the approximate optimal guidance law can be performed rapidly and by parallel processing. Even if the approximate solution is not nearly optimal, when using this technique the zeroth-order solution always provides a path which satisfies the terminal constraints. Results for two-degree-of-freedom simulations are presented for the simplified problem of flight in the equatorial plane and compared to the guidance scheme generated by the shooting method which is an iterative second-order technique.

Feeley, T. S.↗

NASA NTRS1994

Mathematical modeling of a class of multibody flexible spacecraft structures

A mathematical model for a general multibody flexible spacecraft is obtained. The generic spacecraft considered consists of a flexible central body to which a number of flexible multibody structures are attached. The coordinate systems used in the derivation allow effective decoupling of the translational motion of the entire spacecraft from its rotational motion about its center of mass. The derivation assumes that the deformations in the bodies are only due to elastic motions. The dynamic model derived is a closed-form vector-matrix differential equation. The model developed can be used for analysis and simulation of many realistic spacecraft configurations.

Kelkar, Atul, G.↗

NASA NTRS1995

Hydrodynamics of binary coalescence. 2: Polytropes with gamma = 5/3

We present a new numerical study of the equilibrium and stability properties of close binary systems. We use the smoothed-particle hydrodynamics (SPH) technique both to construct accurate equilibrium configurations in three dimensions and to follow their hydrodynamic evolution. We adopt a simple polytropic equation of state p = K(sub rho)(exp gamma) with gamma = 5/3 and K = constant within each star, applicable to low-mass degenerate dwarfs as well as low-mass main-sequence stars. For degenerate configurations, we set the two polytropic constants equal, K = K prime, independent of the mass ratio. For main-sequence stars, we adjust K and K prime so as to obtain a simple mass-radius relation of the form R/R prime = M/M prime, where R prime and M prime are the radius and mass of the secondary. Along a sequence of binary equilibrium configurations for two identical stars, we demonstrate the existence of both secular and dynamical instabilities, confirming directly the results of recent analytic work. We use the SPH method to calculate the nonlinear development of the dynamical instability and to determine the final fate of the system. We find that the two stars merge together into a single, rapidly rotating object in just a few orbital periods. Equilibrium sequences are also constructed for systems containing two nonidentical stars. These sequences terminate at a Roche limit, which we can determine very accurately using SPH. For two low-mass main-sequence stars with mass ratio q approximately less than 0.4 we find that the (synchronized) Roche limit configuration is secularly unstable. We discuss the implications of our results for the evolution of double white-dwarf systems and W Ursae Majoris binaries.

Rasio, Frederic A.↗

NASA NTRS2000

TAILSIM Users Guide

The TAILSIM program uses a 4th order Runge-Kutta method to integrate the standard aircraft equations-of-motion (EOM). The EOM determine three translational and three rotational accelerations about the aircraft's body axis reference system. The forces and moments that drive the EOM are determined from aerodynamic coefficients, dynamic derivatives, and control inputs. Values for these terms are determined from linear interpolation of tables that are a function of parameters such as angle-of-attack and surface deflections. Buildup equations combine these terms and dimensionalize them to generate the driving total forces and moments. Features that make TAILSIM applicable to studies of tailplane stall include modeling of the reversible control System, modeling of the pilot performing a load factor and/or airspeed command task, and modeling of vertical gusts. The reversible control system dynamics can be described as two hinged masses connected by a spring. resulting in a fifth order system. The pilot model is a standard form of lead-lag with a time delay applied to an integrated pitch rate and/or airspeed error feedback. The time delay is implemented by a Pade approximation, while the commanded pitch rate is determined by a commanded load factor. Vertical gust inputs include a single 1-cosine gust and a continuous NASA Dryden gust model. These dynamic models. coupled with the use of a nonlinear database, allow the tailplane stall characteristics, elevator response, and resulting aircraft response, to be modeled. A useful output capability of the TAILSIM program is the ability to display multiple post-run plot pages to allow a quick assessment of the time history response. There are 16 plot pages currently available to the user. Each plot page displays 9 parameters. Each parameter can also be displayed individually. on a one plot-per-page format. For a more refined display of the results the program can also create files of tabulated data. which can then be used by other plotting programs. The TAILSIM program was written straightforwardly assuming the user would want to change the database tables, the buildup equations, the output parameters. and the pilot model parameters. A separate database file and input file are automatically read in by the program. The use of an include file to set up all common blocks facilitates easy changing of parameter names and array sizes.

Hiltner, Dale W.↗

NASA NTRS2004

Magnectic Probing of Core Geodynamics

To better understand geomagnetic theory and observation, we can use spatial magnetic spectra for the main field and secular variation to test core dynamical hypotheses against seismology. The hypotheses lead to theoretical spectra which are fitted to observational spectra. Each fit yields an estimate of the radius of Earth s core and uncertainty. If this agrees with the seismologic value, then the hypotheses pass the test. A new way to obtain theoretical spectra extends the hydromagnetic scale analysis of Benton to scale-variant field and flow. For narrow scale flow and a dynamically weak field by the top of Earth s core, this yields a JGR-PI, and a secular variation spectrum modulated by a cubic polynomial in spherical harmonic degree n. The former passes the tests. The latter passes many tests, but does not describe rapid dipole decline and quadrupole rebound; some tests suggest it is a bit hard, or rich in narrow scale change.In a core geodynamo, motion of the fluid conductor does work against the Lorentz force. This converts kinetic into magnetic energy which, in turn, is lost to heat via Ohmic dissipation. In the analysis at length- scale l/k, if one presumes kinetic energy is converted in either eddy- overturning or magnetic free-decay time-scales, then Kolmogorov or other spectra in conflict with observational spectra can result. Instead, the rate work is done roughly balances the dissipation rate, which is consistent with small scale flow. The conversion time-scale depends on dynamical constraints. These are summarized by the magneto- geostrophic vertical vorticity balance by the top of the core, which includes anisotropic effects of rotation, the magnetic field, and the core-mantle boundary. The resulting theoretical spectra for the core- source field and its SV are far more compatible with observation. The conversion time-scale of order 120 years is pseudo-scale-invariant. Magnetic spectra of other planets may differ; however, if a transition to non-conducting fluid hydrogen in Jupiter acts as barrier to vertical flow, as well as current, then the shape of the jovi-magnetic spectrum could be remarkably Earth-like.

Voorhies, Coerte↗

NASA NTRS2011

NASA Tech Briefs, July 2011

Topics covered include: 1) Collaborative Clustering for Sensor Networks; 2) Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures; 3) Automated Verification of Spatial Resolution in Remotely Sensed Imagery; 4) Electrical Connector Mechanical Seating Sensor; 5) In Situ Aerosol Detector; 6) Multi-Parameter Aerosol Scattering Sensor; 7) MOSFET Switching Circuit Protects Shape Memory Alloy Actuators; 8) Optimized FPGA Implementation of Multi-Rate FIR Filters Through Thread Decomposition; 9) Circuit for Communication Over Power Lines; 10) High-Efficiency Ka-Band Waveguide Two-Way Asymmetric Power Combiner; 11) 10-100 Gbps Offload NIC for WAN, NLR, and Grid Computing; 12) Pulsed Laser System to Simulate Effects of Cosmic Rays in Semiconductor Devices; 13) Flight Planning in the Cloud; 14) MPS Editor; 15) Object-Oriented Multi Disciplinary Design, Analysis, and Optimization Tool; 16) Cryogenic-Compatible Winchester Connector Mount and Retaining System for Composite Tubes; 17) Development of Position-Sensitive Magnetic Calorimeters for X-Ray Astronomy; 18) Planar Rotary Piezoelectric Motor Using Ultrasonic Horns; 19) Self-Rupturing Hermetic Valve; 20) Explosive Bolt Dual-Initiated from One Side; 21) Dampers for Stationary Labyrinth Seals; 22) Two-Arm Flexible Thermal Strap; 23) Carbon Dioxide Removal via Passive Thermal Approaches; 24) Polymer Electrolyte-Based Ambient Temperature Oxygen Microsensors for Environmental Monitoring; 25) Pressure Shell Approach to Integrated Environmental Protection; 26) Image Quality Indicator for Infrared Inspections; 27) Micro-Slit Collimators for X-Ray/Gamma-Ray Imaging; 28) Scatterometer-Calibrated Stability Verification Method; 29) Test Port for Fiber-Optic-Coupled Laser Altimeter; 30) Phase Retrieval System for Assessing Diamond Turning and Optical Surface Defects; 31) Laser Oscillator Incorporating a Wedged Polarization Rotator and a Porro Prism as Cavity Mirror; 32) Generic, Extensible, Configurable Push-Pull Framework for Large-Scale Science Missions; 33) Dynamic Loads Generation for Multi-Point Vibration Excitation Problems; 34) Optimal Control via Self-Generated Stochasticity; 35) Space-Time Localization of Plasma Turbulence Using Multiple Spacecraft Radio Links; 36) Surface Contact Model for Comets and Asteroids; 37) Dust Mitigation Vehicle; 38) Optical Coating Performance for Heat Reflectors of the JWST-ISIM Electronic Component; 39) SpaceCube Demonstration Platform; 40) Aperture Mask for Unambiguous Parity Determination in Long Wavelength Imagers; 41) Spaceflight Ka-Band High-Rate Radiation-Hard Modulator; 42) Enabling Disabled Persons to Gain Access to Digital Media; 43) Cytometer on a Chip; 44) Principles, Techniques, and Applications of Tissue Microfluidics; and 45) Two-Stage Winch for Kites and Tethered Balloons or Blimps.

Source record↗

NASA NTRS2013

Aerodynamic Stability and Performance of Next-Generation Parachutes for Mars Descent

The Low Density Supersonic Decelerator Project is developing a next-generation supersonic parachute for use on future Mars missions. In order to determine the new parachute configuration, a wind tunnel test was conducted at the National Full-scale Aerodynamics Complex 80- by 120-foot Wind Tunnel at the NASA Ames Research Center. The goal of the wind tunnel test was to quantitatively determine the aerodynamic stability and performance of various canopy configurations in order to help select the design to be flown on the Supersonic Flight Dynamics tests. Parachute configurations included the diskgap- band, ringsail, and ringsail-variant designs referred to as a disksail and starsail. During the wind tunnel test, digital cameras captured synchronized image streams of the parachute from three directions. Stereo hotogrammetric processing was performed on the image data to track the position of the vent of the canopy throughout each run. The position data were processed to determine the geometric angular history of the parachute, which were then used to calculate the total angle of attack and its derivatives at each instant in time. Static and dynamic moment coefficients were extracted from these data using a parameter estimation method involving the one-dimensional equation of motion for a rotation of parachute. The coefficients were calculated over all of the available canopy states to reconstruct moment coefficient curves as a function of total angle of attack. From the stability curves, useful metrics such as the trim total angle of attack and pitch stiffness at the trim angle could be determined. These stability metrics were assessed in the context of the parachute's drag load and geometric porosity. While there was generally an inverse relationship between the drag load and the stability of the canopy, the data showed that it was possible to obtain similar stability properties as the disk-gap-band with slightly higher drag loads by appropriately tailoring the geometric porosity distribution.

Low Density Supersonic Decelerator (LDSD)↗

NASA NTRS2016

Structure and Composition of the Distant Lunar Exosphere: Constraints from ARTEMIS Observations of Ion Acceleration in Time-Varying Fields

By analyzing the trajectories of ionized constituents of the lunar exosphere in time-varying electromagnetic fields, we can place constraints on the composition, structure, and dynamics of the lunar exosphere. Heavy ions travel slower than light ions in the same fields, so by observing the lag between field rotations and the response of ions from the lunar exosphere, we can place constraints on the composition of the ions. Acceleration, Reconnection, Turbulence, and Electrodynamics of Moon's Interaction with the Sun (ARTEMIS) provides an ideal platform to utilize such an analysis, since its two-probe vantage allows precise timing of the propagation of field discontinuities in the solar wind, and its sensitive plasma instruments can detect the ion response. We demonstrate the utility of this technique by using fully time-dependent charged particle tracing to analyze several minutes of ion observations taken by the two ARTEMIS probes ~3000-5000 km above the dusk terminator on 25 January 2014. The observations from this time period allow us to reach several interesting conclusions. The ion production at altitudes of a few hundred kilometers above the sunlit surface of the Moon has an unexpectedly significant contribution from species with masses of 40 amu or greater. The inferred distribution of the neutral source population has a large scale height, suggesting that micrometeorite impact vaporization and/or sputtering play an important role in the production of neutrals from the surface. Our observations also suggest an asymmetry in ion production, consistent with either a compositional variation in neutral vapor production or a local reduction in solar wind sputtering in magnetic regions of the surface.

Moon↗

NASA NTRS2018

Aerodynamics and Aeroacoustic Sources of a Coaxial Rotor

Vehicles with coaxial, contra-rotating rotor systems (CACR) are being considered for a range of applications. Design parameters are identified that effect the fundamental aerodynamics and fluid dynamic features of a CACR in hover, vertical, and edgewise flight. Understanding the fluid dynamic features is a precursor to studying the aeroacoustics of a coaxial rotor. Rotor performance was computed initially using Navier-Stokes solver with prescribed blade section aerodynamic properties, the results validated against generic experimental test cases. Using a A 2D potential flow code and 2D OVERFLOW compressible-flow Navier-Stokes solver, the fluid dynamics of blade interactions was simplified and broken into a 2D blade crossing problem, with crossing locations and velocity fields from the rotor results to understand circulation, thickness, compressibility, shed vorticity, downwash, and viscosity effects. A calculation tool has been developed to identify time and location of blade overlap and BVI time location for CACR. Specific aerodynamic phenomena that occur for each noise source relevant to CACR are presented, along with computational tools to predict these occurrences.

Aeroacoustic↗

NASA NTRS1994

On the vertical thermal structure of Io's atmosphere

A radiative-thermal conduction model for the vertical thermal structure of Io's atmosphere is developed with solar heating by SO2 absorption in UV and near-IR bands and non-local thermodynamic equilibrium (LTE) cooling by SO2 nu(sub 1), nu(sub 2), nu(sub 3), vibrational bands and rotational lines. The model predicts the existence of a mesopause in Io's atmosphere when the surface pressure exceeds approximately 10 nbar. The radiative time constant for establishing a mesosphere/mesopause on Io is only approximately 20 min, whereas the thermospheric radiative time constant is about 1 hr. These time constants are significantly shorter than the diurnal time scale and competitive with dynamic time scales. In the thermosphere when solar UV heating dominates, the asymptotic thermospheric temperature is approximately 270 K, only 140 K greater than the surface temperature because at high altiudes non-LTE cooling by SO2 rotation lines exceeds cooling in the nu(sub 2) virbrational band. Solar-heating-only modles are incapable of generating warm enough atmospheres to satisfy the observational inferences from UV and especially millimeter-wave meausrements. Joule heating driven by the penetration of Jupiter's corotational electric field into Io's conducting ionosphere is demonstrated to be the dominant heating mechanism in the subnanobar regions of Io's atmosphere with tempertures ranging from 150 to 1000 K as a function of decreasing pressure from 1 to 0.1 nbar, The asymoptotic thermospheric temperature can attain a value as high as 1800 K.

Strobel, Darrell F.↗

NASA NTRS1978

The dynamical evolution and origin of the Martian moons

The orbital evolution of Phobos and Deimos is considered from the standpoints of today's orbit, the semimajor axis, and eccentricity and inclination. The synchronous rotations of the moons are discussed, and attention is given to the origin (i.e., accretion and capture) of the moons.

Burns, J. A.↗

NASA NTRS1981

Slosh dynamics of a spin-stabilized spacecraft comprising off-axis tanks filled partially with liquid propellant

The fundamental nonlinear equations of motion were derived and the specialized to a steady-state rotation of the vehicle about a given axis of rotation. A thrust about the spin axis was introduced. A perturbation solution was derived which linearizes the problem. The effect of the centrifugal and coriolis accelerations together with vorticity are implicitly taken into consideration in the formulation. A variational formulation of the associated boundary conditions is presented. For practical cases it is shown that the simple classical pendulum representation for slosh is not very appealing for a spinning spacecraft unless severe restrictions are allowed.

Fontenot, L. L.↗