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NASA NTRS1992

Task-based configuration control of redundant manipulators

This article establishes new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals can be accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical advantages and velocity ratio are also used as performance measurements to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy-resolution criteria. The new goals for redundancy resolution presented in this article allow a more efficient utilization of the redundant joints based on the desired task requirements. Simple case studies using computer simulations are described for illustration.

Seraji, Homayoun↗

NASA NTRS1992

Electron acceleration by Alfven waves in the magnetosphere

The self-consistent electron kinetics of Alfven waves on the electron inertial scale is studied using a 2D hybrid-kinetic description. The ions follow a fluid description for Alfven waves at frequencies below the ion cyclotron frequency. The parallel electron dynamics is treated kinetically using particle-in-cell techniques. In this model, the electron plasma mode is eliminated, and only the physics of the Alfven waves is retained. At sufficiently large amplitudes, it is found that oblique Alfven waves break due to finite electron inertia in a cold plasma. The consequence of wave breaking is the formation of an electron beam which can be unstable to the beam-plasma instability. The electrons supporting the parallel current thermalize into a non-Maxwellian distribution with an energetic tail up to several keV, assuming a reasonable magnetospheric Alfven speed. In hot plasma simulations, electron trapping is the principal mechanism of electron acceleration. It is proposed that wave breaking or electron trapping of oblique Alfven waves at 1 R(E) can result in electron acceleration and may explain some observed auroral phenomena.

Hui, C.-H.↗

NASA NTRS1992

Fully integrated aerodynamic/dynamic optimization of helicopter rotor blades

This paper describes a fully integrated aerodynamic/dynamic optimization procedure for helicopter rotor blades. The procedure combines performance and dynamics analyses with a general purpose optimizer. The procedure minimizes a linear combination of power required (in hover, forward flight, and maneuver) and vibratory hub shear. The design variables include pretwist, taper initiation, taper ratio, root chord, blade stiffnesses, tuning masses, and tuning mass locations. Aerodynamic constraints consist of limits on power required in hover, forward flight and maneuver; airfoil section stall; drag divergence Mach number; minimum tip chord; and trim. Dynamic constraints are on frequencies, minimum autorotational inertia, and maximum blade weight. The procedure is demonstrated for two cases. In the first case the objective function involves power required (in hover, forward flight, and maneuver) and dynamics. The second case involves only hover power and dynamics. The designs from the integrated procedure are compared with designs from a sequential optimization approach in which the blade is first optimized for performance and then for dynamics. In both cases, the integrated approach is superior.

Walsh, Joanne L.↗

NASA NTRS1992

Thermonuclear flash model for long X-ray tails from Aquila X-1

Attention is given to a thermonuclear flash model for long X-ray tails from the recurrent transient Aql X-1, in which the extended phase of nuclear burning is due to the fact that the envelope is out of thermal equilibrium. Only the first X-ray burst emitted by Aql X-1 during its transient outburst exhibits a long X-ray tail. The properties of subsequent bursts are distinguished by a lack of an X-ray tail reflecting the much smaller accumulated masses which result from the effects of thermal inertia in the neutron star envelope. The characteristics of the latter bursts are similar to those of typical X-ray bursters. For a neutron star characterized by a mass and radius of 1.4 solar mass and 9.1 km, respectively, the occurrence of the long X-ray tail requires that the mass of the accumulated layer be less than 10 exp 23 g and that the envelope temperatures of the neutron star be less than 1.5 x 10 exp 7. This interpretation is found to be consistent with the thermal relaxation of the neutron star envelope during the quiescent state of Aql X-1 and with the mass accretion rates inferred for the transient outburst itself.

Fushiki, Ikko↗

NASA NTRS1991

Thermal environment of Mars

Thermal observations of Mars are reviewed focusing on surface and atmospheric temperatures. Data obtained indicate that the effect of increasing dust in the atmosphere is to reduce diurnal temperature variation at the surface, while enhancing atmospheric thermal variation. Atmospheric thermal effects can be induced by global dust storms even in regions of polar night. Maximum temperatures occur near the equator in summer or at local sites with sunward facing slopes, where low surface thermal inertias make it possible to achieve values up to about 310 K. Radiation and convection in the daytime affect atmospheric temperatures near the surface, which are limited by radiation at night. Results of thermal observations confirm that Mars' thermal state and climate can significantly vary from year to year, due to the variation in dust activity.

Martin, T. Z.↗

NASA NTRS1991

Surface knowledge and risks to landing and roving - The scale problem

The role of surface information in the performance of surface exploration missions is discussed. Accurate surface models based on direct measurements or inference are considered to be an important component in mission risk management. These models can be obtained using high resolution orbital photography or a combination of laser profiling, thermal inertia measurements, and/or radar. It is concluded that strategies for Martian exploration should use high confidence models to achieve maximum performance and low risk.

Bourke, Roger D.↗

NASA NTRS1991

Structural scaling approximations for solar arrays

General scaling rules for a photovoltaic array structure are required in order to compare the effectiveness of different cell technologies. Important evaluation criteria for an array are moment of inertia, resonant frequency of vibrational modes, stiffness against acceleration, and resistance losses in the wiring. Approximate scaling relationships for these parameters for a generic solar array structure are presented.

Landis, Geoffrey A.↗

NASA NTRS1991

Dynamics and control of a tumbling satellite retrieval device

The problem of capturing a satellite in an uncontrolled three-axis tumble is addressed. The proposed solution is a truss which opens and engulfs the satellite, resulting in coincident centers of mass. Torques are then applied to the truss so that it matches the tumble rates of the satellite and remains motionless in the satellite's reference frame. Equations are derived which show how to vary the mass distribution to match any set of inertia moment ratios. The physical system is shown to be controllable. An optimal control algorithm for tumble matching is then derived and a computer simulation is developed.

Neff, J. M.↗

NASA NTRS1992

Medium-frequency impulsive-thrust-excited slosh waves during propellant reorientation with a geyser

Slosh wave excitation induced by a resettling flowfield activated by 1.0-Hz impulsive thrust during the course of liquid reorientation with the initiation of geyser for liquid-fill levels of 30, 50, 65, 70, and 80 percent has been studied. Characteristics of slosh waves of various frequencies excited by the resettling flowfield are discussed. Slosh wave excitations shift the fluid mass distribution in the container which imposes time-dependent variations in spacecraft moment of inertia. This information is important for spacecraft control during the course of liquid reorientation.

Hung, R. J.↗

NASA NTRS1991

Structural design of the Large Deployable Reflector (LDR)

An integrated Large Deployable Reflector (LDR) analysis model was developed to enable studies of system responses to the mechanical and thermal disturbances anticipated during on-orbit operations. Functional requirements of the major subsystems of the LDR are investigated, design trades are conducted, and design options are proposed. System mass and inertia properties are computed in order to estimate environmental disturbances, and in the sizing of control system hardware. Scaled system characteristics are derived for use in evaluating launch capabilities and achievable orbits. It is concluded that a completely passive 20-m primary appears feasible for the LDR from the standpoint of both mechanical vibration and thermal distortions.

Satter, Celeste M.↗

NASA NTRS1992

Numerical simulation of fluid flow and heat transfer in a thin liquid film over a rotating disk

The results of a numerical simulation of the flow field and associated heat transfer coefficient are presented for the free surface flow of a thin liquid film adjacent to a horizontal rotating disk. The computation has been performed for different flow rates and rotational velocities using a three-dimensional boundary-fitted coordinate system. Since the geometry of the free surface is unknown and dependent on flow rate, rate of rotation, and other parameters, an interative procedure had to be used to ascertain its location. The computed film height agreed well with existing experimental measurements. The flow was dominated by inertia near the entrance and close to the free surface, and dominated by centrifugal force at larger radii and adjacent to the disk. The rotation enhanced the heat transfer coefficient by a significant amount.

Rahman, M. M.↗

NASA NTRS1992

Analysis and testing of propellant feed system priming process

This paper presents the analytical and the experimental results pertaining to the priming process of the propellant feed system with initial line pressures starting from 0 psia and greater. The analytical methods employ the method of characteristics to solve for the one-dimensional liquid transients in the liquid-full segments and the lumped inertia technique to model the dynamics of the partially filled segments or the two-phase segments. The advantages of these methods are (1) fluid compressibility and piping flexibility are accounted for in the solution; and (2) the characteristics method can be used in the solution of a complex system. The analytical results were compared with test results. Excellent correlation was obtained between predictions and test results verifying the essential aspects of the analytical modeling techniques and providing the foundation for analyzing a complicated network system.

Lin, T. Y.↗

NASA NTRS1992

On the drag of model dendrite fragments at low Reynolds number

An experimental study of low Reynolds number drag on laboratory models of dendrite fragments has been conducted. The terminal velocities of the dendrites undergoing free fall along their axis of symmetry were measured in a large Stokes flow facility. Corrections for wall interference give nearly linear drag vs Reynolds number curves. Corrections for both wall interference and inertia effects show that the dendrite Stokes settling velocities are always less than that of a sphere of equal mass and volume. In the Stokes limit, the settling speed ratio is found to correlate well with the primary dendrite arm aspect ratio and a second dimensionless shape parameter which serves as a measure of the fractal-like nature of the dendrite models. These results can be used to estimate equiaxed grain velocities and distance of travel in metal castings. The drag measurements may be used in numerical codes to calculate the movement of grains in a convecting melt in an effort to determine macrosegregation patterns caused by the sink/float mechanism.

Zakhem, R.↗

NASA NTRS1992

A seasonal radiative-dynamic model of Saturn's troposphere

The present steady-state, linearized and zonally-averaged model of the thermal response of Saturn's atmosphere to seasonal insolation is compared with extant data in order to extract diagnostic information on the planet's troposphere and stratosphere. The planet's rings are shown to constitute a strong modulator of the seasonal insolation function. A detailed comparison of the model with existing temperature measurements shows that the large thermal inertia of Saturn and uncertainties in the wind and thermal measurements overwhelm the rings' thermal effects. A meridional asymmetry in heating is noted which is consistent with an enhancement of aerosols and of photochemically generated ethane and acetylene in the southern hemisphere's summer.

Barnet, C. D.↗

NASA NTRS1991

Implementation and control of a 3 degree-of-freedom force-reflecting manual controller

An implementation of a manual controller system is described in which a parallel 3-DOF spherical structure (for compactness and reduced weight) is combined with high-gear-ratio reducers using a force control algorithm to produce a 'power steering' effect for enhanced smoothness and transparency. The force control algorithm has the further benefit of minimizing the effect of the system friction and nonlinear inertia forces. The required analyses for a universal force-reflecting manual controller application are presented, as are test results for a prototype system.

Kim, Whee K.↗

NASA NTRS1992

Multi-dimensional analysis of combustion instabilities in liquid rocket motors

A three-dimensional analysis of combustion instabilities in liquid rocket engines is presented based on a mixed finite difference/spectral solution methodology for the gas phase and a discrete droplet tracking formulation for the liquid phase. Vaporization is treated by a simplified model based on an infinite thermal conductivitiy assumption for spherical liquid droplets of fuel in a convective environment undergoing transient heating. A simple two parameter phenomenological combustion response model is employed for validation of the results in the small amplitude regime. The computational procedure is demonstrated to capture the phenomena of wave propagation within the combustion chamber accurately. Results demonstrate excellent amplitude and phase agreement with analytical solutions for properly selected grid resolutions under both stable and unstable operating conditions. Computations utilizing the simplified droplet model demonstrate stable response to arbitrary pulsing. This is possibly due to the assumption of uniform droplet temperature which removes the thermal inertia time-lag response of the vaporization process. The mixed-character scheme is sufficiently efficient to allow solutions on workstations at a modest increase in computational time over that required for two-dimensional solutions.

Grenda, Jeffrey M.↗

NASA NTRS1992

Computation of antenna vibration mode elastic-rigid and effective-weight coefficients

A significant amount of both qualitative and quantitative information about structures can be derived from the elastic-rigid structural coupling matrices, and from the effective modal inertias and masses. Typical finite-element analysis programs do not provide this information as part of the regular output. This report presents an easy way to develop the necessary information from ordinary program output, and shows how to deal with alternative origins for the reference coordinate system.

Levy, R.↗

NASA NTRS1992

Asymmetric gravity jitter excited slosh waves at a liquid-vapor-solid interface in microgravity

The dynamical behavior of fluids affected by the asymmetric gravity jitter oscillations is investigated focusing on the surface tension effect on partially filled rotating fluids in a sub-scale gravity probe-B spacecraft propellant dewar tank. Data obtained revealed that the lower frequency gravity jitter imposed on the time-dependent variations of the background gravity direction induced a greater amplitude of oscillations and a stronger degree of asymmetry in liquid-vapor interface geometry than that caused by the higher frequency gravity jitter. It is also found that the greater the components of background gravity in radial and circumferential directions the greater the contribution to driving more toward increasing amplitude and degrees of asymmetry of the liquid-vapor interface profiles, which in turn modify the disturbance of moment of inertia and angular momentum of spacecraft.

Hung, R. J.↗