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All sourcesNASA NTRSDOE OSTI
NASA NTRS2002

Containerless Ripple Turbulence

One of the longest standing unsolved problems in physics relates to the behavior of fluids that are driven far from equilibrium such as occurs when they become turbulent due to fast flow through a grid or tidal motions. In turbulent flows the distribution of vortex energy as a function of the inverse length scale [or wavenumber 'k'] of motion is proportional to 1/k(sup 5/3) which is the celebrated law of Kolmogorov. Although this law gives a good description of the average motion, fluctuations around the average are huge. This stands in contrast with thermally activated motion where large fluctuations around thermal equilibrium are highly unfavorable. The problem of turbulence is the problem of understanding why large fluctuations are so prevalent which is also called the problem of 'intermittency'. Turbulence is a remarkable problem in that its solution sits simultaneously at the forefront of physics, mathematics, engineering and computer science. A recent conference [March 2002] on 'Statistical Hydrodynamics' organized by the Los Alamos Laboratory Center for Nonlinear Studies brought together researchers in all of these fields. Although turbulence is generally thought to be described by the Navier-Stokes Equations of fluid mechanics the solution as well as its existence has eluded researchers for over 100 years. In fact proof of the existence of such a solution qualifies for a 1 M$ millennium prize. As part of our NASA funded research we have proposed building a bridge between vortex turbulence and wave turbulence. The latter occurs when high amplitude waves of various wavelengths are allowed to mutually interact in a fluid. In particular we have proposed measuring the interaction of ripples [capillary waves] that run around on the surface of a fluid sphere suspended in a microgravity environment. The problem of ripple turbulence poses similar mathematical challenges to the problem of vortex turbulence. The waves can have a high amplitude and a strong nonlinear interaction. Furthermore, the steady state distribution of energy again follows a Kolmogorov scaling law; in this case the ripple energy is distributed according to 1/k (sup 7/4). Again, in parallel with vortex turbulence ripple turbulence exhibits intermittency. The problem of ripple turbulence presents an experimental opportunity to generate data in a controlled, benchmarked system. In particular the surface of a sphere is an ideal environment to study ripple turbulence. Waves run around the sphere and interact with each other, and the effect of walls is eliminated. In microgravity this state can be realized for over 2 decades of frequency. Wave turbulence is a physically relevant problem in its own right. It has been studied on the surface of liquid hydrogen and its application to Alfven waves in space is a source of debate. Of course, application of wave turbulence perspectives to ocean waves has been a major success. The experiment which we plan to run in microgravity is conceptually straightforward. Ripples are excited on the surface of a spherical drop of fluid and then their amplitude is recorded with appropriate photography. A key challenge is posed by the need to stably position a 10cm diameter sphere of water in microgravity. Two methods are being developed. Orbitec is using controlled puffs of air from at least 6 independent directions to provided the positioning force. This approach has actually succeeded to position and stabilize a 4cm sphere during a KC 135 segment. Guigne International is using the radiation pressure of high frequency sound. These transducers have been organized into a device in the shape of a dodecahedron. This apparatus 'SPACE DRUMS' has already been approved for use for combustion synthesis experiments on the International Space Station. A key opportunity presented by the ripple turbulence data is its use in driving the development of codes to simulate its properties.

Putterman, Seth↗
NASA NTRS2001

One-step Tape Casting of Composites via Slurry on Fiber

A process by which metal matrix composites can be made was presented. The process involves putting a powder slurry on fibers to make a precursor green tape. These green tapes are cut, stacked and hot pressed to form the fully dense composite. A computer program was presented which enables complete quantification and control of the process. Once some easily obtained properties of the slurry and its behavior are determined (such as the shrinkage from the wet to green state, and the density of the green tape) modification of the fiber spacing and blade height give the maker precise control of fiber volume fraction, and fiber architecture in the composite. The process was shown to be accurate and flexible through the production of a wide variety of volume fraction fiber composites made from a wide variety of fibers and powders. The most time consuming step of the tape casting process (other than hot pressing) was winding the fiber on the drum. The tape casting techniques developed resulted in high quality metal matrix composites, with ultimate tensile strength in the range of 215 ksi (1477 MPa), a strain at failure of 1.15 percent, and in fatigue at room temperature 0 to 120 ksi, n = 0.3 Hz, a 4-ply Ti-24Al-11Nb/SCS-6, 32 vol% fiber tape cast composite lasted 202,205 cycles with a maximum strain on the 100th cycle of 0.43 percent.

deGroh, Henry C., III↗
NASA NTRS2004

Sensory-Feedback Exoskeletal Arm Controller

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

An, Bin↗
NASA NTRS2003

Software Computes Tape-Casting Parameters

Tcast2 is a FORTRAN computer program that accelerates the setup of a process in which a slurry containing metal particles and a polymeric binder is cast, to a thickness regulated by a doctor blade, onto fibers wound on a rotating drum to make a green precursor of a metal-matrix/fiber composite tape. Before Tcast2, setup parameters were determined by trial and error in time-consuming multiple iterations of the process. In Tcast2, the fiber architecture in the final composite is expressed in terms of the lateral distance between fibers and the thickness-wise distance between fibers in adjacent plies. The lateral distance is controlled via the manner of winding. The interply spacing is controlled via the characteristics of the slurry and the doctor-blade height. When a new combination of fibers and slurry is first cast and dried to a green tape, the shrinkage from the wet to the green condition and a few other key parameters of the green tape are measured. These parameters are provided as input to Tcast2, which uses them to compute the doctor-blade height and fiber spacings needed to obtain the desired fiber architecture and fiber volume fraction in the final composite.

deGroh, Henry C., III↗
NASA NTRS1979

A fast-reacting and versatile optokinetic stimulus pattern by computer graphics with application examples

A computer graphics method for the generation of horizontally moving vertical stripes which serve as stimuli for optokinetic nystagmus is presented. The pattern is generated by the successive addition of a constant in a digital register, leading to its periodic overflow. Digital to analog conversion of the register contents results in a staircase waveform, which is converted into a pattern of vertical lines on a CRT. The addition of any number to the reference buffer shifts all lines uniformly, so that the group velocity of the pattern is easily controlled. The computer controlled display allows an accurate realization of a commanded velocity profile with practically no time delay and facilitates study under conditions of variable feedback. The display software can be easily modified to limit stimulation to a selected area of the moving retina, and the method has been used to simulate central scotomata. It is pointed out that the technique, while more accurate, versatile and responsive than a rotating drum device, may be less useful in experiments requiring a wide field display.

Yasui, S.↗
DOE OSTI2026

Electrospinning of ultra-high molecular weight polymers into aligned nanofibers and their application in chemical separations

Ultra-high molecular weight (UHMW, >10 6 g mol −1 ) vinyl polymers are increasingly accessible through photoiniferter polymerization, yet their behavior in electrospinning has received comparatively little attention. Here, we explore the electrospinning of UHMW poly(methyl acrylate), poly(methyl methacrylate), poly(N,N-dimethylacrylamide), and poly(styrene-co-pentafluorostyrene) synthesized by photoiniferter polymerization, with number-average molecular weights (M n ) greater than 1000 kDa and dispersities below 1.4. UHMW polymers form stable Taylor cones and discrete fibers at solution concentrations as low as 0.5 wt% due to their large number of entanglements, a threshold unachievable with low molecular weight (M n = 20–54 kDa) polymers of the same chemistry. Using poly(methyl methacrylate) and poly(styrene-co-pentafluorostyrene) as model systems, we demonstrate that fiber diameter can be tuned from 350 nm to 20 μm through systematic variation of polymer concentration (0.01 to 4 wt%) and flow rate (0.5 to 10 mL h −1 ). Additionally, we find that collector rotation rate governs fiber alignment, with highly aligned mats obtained with drum rotation speeds of 1000 RPM. Reversing the polarity of the electric field during electrospinning reorients the surface chemistry of these fiber mats without altering their microscale morphology, shifting the water contact angle by 7° (89° to 96°) and providing a two-fold binding capacity enhancement in cationic dye uptake. These results show that the high entanglement densities of UHMW vinyl polymers shift the accessible electrospinning window to dilute solutions and that electric-field polarity is a useful lever to control the surface chemistry in the resulting fibers.

Marquez, Joshua D. [University of Florida, Gainesv↗
NASA NTRS1982

Flexible radiator system: Executive summary

A full scale prototype flexible radiator panel was designed, built and tested. The panel, has approximately 173 sq ft of radiating area and is designed to reject 1.33 kW of heat to a 0 F sink with a 100 F fluid inlet. The panel is constructed from a flexible Teflon/silver mesh fin surrounding 1/8 inch Teflon tubes. The prototype panel is stowed on a 10 inch diameter by 4 foot wide drum. (It rolls up to a diameter of 17 inches when fully stowed). Deployment of the soft tube prototype is via two four inch diameter Kevlar/Mylar inflation tubes with flat springs incorporated in each tube. Nitrogen is normally used for the deployment with approximately 1 psi required. The springs retract the panels when the inflation tubes are deflated. Another method of deployment available for the soft tube flexible is a motor driven deployable boom. This eliminates the need for expendables when the panel area is varied during the mission for heat load control. The soft tube panel is designed for a 90% probability of no punctured tube in a 30 day mission. The acceptable working fluids for this soft tube flexible are Coolanol 15, Coolanol 20 and Glycol/water (a eutectic mixture).

Oren, J. R.↗
NASA NTRS1985

What Is Being Done to Control Motion Sickness?

AFT (Autogenic Feedback Training) involves practicing a series of mental exercises to speed up or slow down the control of autonomic activity. This produces a reduced tendency for autonomic activity levels to diverge from baseline (at rest) under stressful motion-sickness-inducing conditions. Subjects conditions. Subjects engaged in applying AFT exercises are required to closely monitor their own bodily sensations during motion-sickness-eliciting tests. These tests include the Coriolis Sickness Susceptibility Index (CSSI), which consists of sitting a subject into a rotating chair that moves at various speeds while a visual background turns at differing speeds and directions, and the Vertical Acceleration Rotation Device (VARD) test, which involves the placing of a subject in a drum that moves in an upward and downward motion until he or she is sick, while simultaneously monitoring the subject's vital signs. These tests provide investigators with evidence of slight changes in autonomic activities such as increases in heart rate, skin temperature, and sweat. All of these symptoms occur in subjects that experience bodily weakness or discomfort with the onset of motion sickness.

Hall, Y. D.↗
DOE OSTI2024

Wear of Wave Energy Converters Mooring Lines Belts

Using a belt as a replacement for a rope on a rotary power take-offs (PTOs) system has become more common for wave energy converters, improving cyclic bend over sheave performance with a smaller bending thickness for belts. However, the service life predictions of PTOs are a major concern in design, because belt performance under harsh underwater environments is largely less studied. Here, in this work, the effect of fleet and twist angles on wear life is being investigated both experimentally and numerically. Two three-dimensional equivalent static finite element models are constructed to evaluate the complex stress state of polyurethane-steel belts around steel drums. The first is to capture the response of the experimental investigation performed on the wear life, and the second to predict the wear life of an existing functional PTO. The results show a significant effect for fleet and twist angles on stress concentrations and estimated service life.

16 TIDAL AND WAVE POWER↗
NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Reinforcement Learning

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.

rassor↗
NASA NTRS2009

Radial Halbach Magnetic Bearings

Radial Halbach magnetic bearings have been investigated as part of an effort to develop increasingly reliable noncontact bearings for future high-speed rotary machines that may be used in such applications as aircraft, industrial, and land-vehicle power systems and in some medical and scientific instrumentation systems. Radial Halbach magnetic bearings are based on the same principle as that of axial Halbach magnetic bearings, differing in geometry as the names of these two types of bearings suggest. Both radial and axial Halbach magnetic bearings are passive in the sense that unlike most other magnetic bearings that have been developed in recent years, they effect stable magnetic levitation without need for complex active control. Axial Halbach magnetic bearings were described in Axial Halbach Magnetic Bearings (LEW-18066-1), NASA Tech Briefs, Vol. 32, No. 7 (July 2008), page 85. In the remainder of this article, the description of the principle of operation from the cited prior article is recapitulated and updated to incorporate the present radial geometry. In simplest terms, the basic principle of levitation in an axial or radial Halbach magnetic bearing is that of the repulsive electromagnetic force between (1) a moving permanent magnet and (2) an electric current induced in a stationary electrical conductor by the motion of the magnetic field. An axial or radial Halbach bearing includes multiple permanent magnets arranged in a Halbach array ("Halbach array" is defined below) in a rotor and multiple conductors in the form of wire coils in a stator, all arranged so the rotary motion produces an axial or radial repulsion that is sufficient to levitate the rotor. A basic Halbach array (see Figure 1) consists of a row of permanent magnets, each oriented so that its magnetic field is at a right angle to that of the adjacent magnet, and the right-angle turns are sequenced so as to maximize the magnitude of the magnetic flux density on one side of the row while minimizing it on the opposite side. The advantage of this configuration is that it makes it possible to approach the theoretical maximum force per unit area that could be exerted by a given amount of permanent-magnet material. The configuration is named after physicist Klaus Halbach, who conceived it for use in particle accelerators. Halbach arrays have also been studied for use in magnetic-levitation ("maglev") railroad trains. In a radial Halbach magnetic bearing, the basic Halbach arrangement is modified into a symmetrical arrangement of sector-shaped permanent magnets mounted on the outer cylindrical surface of a drum rotor (see Figure 2). The magnets are oriented to concentrate the magnetic field on their radially outermost surface. The stator coils are mounted in a stator shell surrounding the rotor.

Eichenberg, Dennis J.↗