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NASA NTRSDate not supplied

Aerodynamic Design Optimization for Natural Laminar Flow Airfoils

Natural laminar flow technology is a passive laminar flow control (LFC) strategy that seeks to delay the onset of boundary-layer transition (BLT) through shape optimization to reduce the drag of the aerodynamic vehicle. Adjoint-based design optimization for LFC is proposed in an integrated multidisciplinary framework, which includes the computational fluid dynamics (CFD), geometry and grid deformation, and linear stability analysis (LSA) for transition prediction. In particular, the BLT location is predicted using the dual N-factor method that is based on a linear stability theory (LST) eigenvalue problem. The dual N-factor criterion accounts for the amplification of planar Tollmien-Schlichting (TS) and stationary crossflow (CF) boundary-layer instabilities to predict the transition location in three-dimensional boundary-layer flows. The adjoint-based shape optimization procedure is based on an iteratively coupled CFD and LSA methodology to converge the transition location and flow solutions, as well as to calculate the sensitivities of the aerodynamic metrics of interest with respect to the flow and shape design parameters. The RAE 2822 airfoil at 0 and 30 degrees yaw angles, an angle of attack of 0.72 degrees, and subsonic conditions (M∞ = 0.19, Rec = 5.6 × 106 ) are used as baseline configurations for design optimization. The angle of attack and the vertical displacement of free-form-deformation control points are used as design variables to reduce the drag coefficient while reaching a specified lift coefficient. The optimized unswept airfoil designs achieve a 30% drag reduction accompanied by a downstream shift of the transition locations over both suction and pressure sides of the airfoil. The initial design iterations for the swept case also show a favorable trend in the drag reduction with transition delay over both sides.

Transition↗
NASA NTRS2015

Fast Grasp Contact Computation for a Serial Robot

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

Shi, Jianying↗
NASA NTRS1955

Longitudinal Stability and Control Characteristics as Determined by the Rocket-model Technique for an Inline, Cruciform, Canard Missile Configuration with a Low-aspect-ratio Wing Having Trailing-edge Flap Controls for a Mach Number Range of 0.7 to 1.

Two full-scale models of an inline, cruciform, canard missile configuration having a low-aspect-ratio wing equipped with flap-type controls were flight tested in order to determine the missile's longitudinal aerodynamic characteristics. Stability derivatives and control and drag characteristics are presented for a range of Mach number from 0.7 to 1.8. Nonlinear lift and moment curves were noted for the angle - of-attack range of this test (0 deg to 8 deg). The aerodynamic-center location for angles of attack near 50 remained nearly constant for supersonic speeds at 13.5 percent of the mean aerodynamic chord; whereas for angles of attack near 0 deg, there was a rapid forward movement of the aerodynamic center as the Mach number increased. At a control deflection of 0 deg, the missile's response to the longitudinal control was in an essentially fixed space plane which was not coincident with the pitch plane as a result of the missile rolling. As a consequence, stability characteristics were determined from the resultant of pitch and yaw motions. The damping-in-pitch derivatives for the two angle -of-attack ranges of the test are in close agreement and varied only slightly with Mach number. The horn-balanced trailing-edge flap was effective in producing angle of attack over the Mach number range.

Baber, Hal T , Jr↗
NASA NTRS1992

Dynamics and control of coherent structure in turbulent jets

Current understanding of coherent structure dynamics in incompressible turbulent jets as explained by the nonlinear stability theory is reviewed, focusing on nonswirling turbulent jets. Topics addressed include hydrodynamic stability theory and coherent structures; dynamics of energy transfers among different scales of motion; nonlinear development of amplitude; development of single-frequency coherent mode; fundamental-subharmonic interaction and vortex pairing; and reversal of Reynolds stresses. Attention is also given to the effect of initial phase-difference angle between fundamental and subharmonic, conditions for resonance interaction, modulation of spreading rate by controlling coherent structure, turbulence enhancement or suppression due to excitation, 3D effects, jet noise, and swirling jets.

Mankbadi, Reda R.↗
NASA NTRS1989

Experimental Aerodynamic Characteristics of a Joined-wing Research Aircraft Configuration

A wind-tunnel test was conducted at Ames Research Center to measure the aerodynamic characteristics of a joined-wing research aircraft (JWRA). This aircraft was designed to utilize the fuselage and engines of the existing NASA AD-1 aircraft. The JWRA was designed to have removable outer wing panels to represent three different configurations with the interwing joint at different fractions of the wing span. A one-sixth-scale wind-tunnel model of all three configurations of the JWRA was tested in the Ames 12-Foot Pressure Wind Tunnel to measure aerodynamic performance, stability, and control characteristics. The results of these tests are presented. Longitudinal and lateral-directional characteristics were measured over an angle of attack range of -7 to 14 deg and over an angle of sideslip range of -5 to +2.5 deg at a Mach number of 0.35 and a Reynolds number of 2.2x10(6)/ft. Various combinations of deflected control surfaces were tested to measure the effectiveness and impact on stability of several control surface arrangements. In addition, the effects on stall and post-stall aerodynamic characteristics from small leading-edge devices called vortilons were measured. The results of these tests indicate that the JWRA had very good aerodynamic performance and acceptable stability and control throughout its flight envelope. The vortilons produced a profound improvement in the stall and post-stall characteristics with no measurable effects on cruise performance.

Smith, Stephen C.↗
NASA NTRS1950

Theoretical Investigation of a Proportional-Plus-Flicker Automatic Pilot

The proportional-plus-flicker automatic pilot operates by a nonlinear principle whereby a fast-acting flicker servomotor response is combined with a low-speed proportional servomotor response for the purpose of obtaining supersonic stability and control. Essentially, the autopilot maintains a zero reference about which the output is proportional to the input. However, a flicker response overrides this proportional response at a fixed angle of gimbal displacement on either side of the zero gyroscope reference. Therefore, in contrast to other high speed control systems, the design requirements are simplified because the two components of the proportional-flicker control system are easy to build separately and they can be combined in a relatively simple manner. By application of the proportional-flicker principle, satisfactory stability can be obtained by the proper adjustment of the variable factors in the autopilot mechanism; namely, the proportional gain, the amplitude of flicker control deflection, the autopilot time-lag factor (the time-lag between flicker and proportional operation), and the point in the range that the autopilot switches from a flicker to a proportional system. There is a possibility that these factors can be adjusted so that a more rapid response time (the time to reach steady state) is obtained with the non-linear proportional-flicker autopilot than with a purely linear proportional autopilot. For the main part of this analysis, the proportional part of the system is approximated by a zero-phase-lag proportional autopilot with the assumption that the control surface moves instantaneously at the point where the system switches from flicker to proportional. Good correlation is shown between the results obtained by this method and results obtained by using a close approximation of an actual autopilot transfer function for proportional autopilot operation.

Seaberg, Ernest C.↗
NASA NTRS2004

Resolving the Issues with Flywheel Position Sensors

For the past few years, the Advanced Electrical Systems Branch here at NASA Glenn has been pursuing research in the area of flywheels. The purpose of these pursuits has been t o explore the potential for flywheels to replace current battery-powered systems in space. So far it has been learned that flywheels offer large momentum storage capacity, comparatively small volume, high durability, and near- complete discharge capabilities, all of which are advancements over the existing nickel hydrogen and nickel cadmium batteries. Another significant advantage of flywheels is the potential they offer for combining the function of attitude control with energy storage. During the summer of 2004, I worked with Dr. Barbara Kenny in the Advanced Electrical Systems Branch, supporting the work she is doing by analyzing and testing some new components for the new Generation-2 flywheel. To monitor the speed and angular position of the flywheel rotor, a once-around (OAR) signal along with a sensorless algorithm is used. The OAR signal is used for the magnetic bearings that keep the flywheel suspended for frictionless operation. The sensorless algorithm is used for the flywheel motor/generator control. The OAR is generated from position sensors that monitor a circular plate. The plate has a cut down the middle such that one half of the circle is on a slightly lower level than the other. Every half-turn, or 180, the sensors detect the "cut" on the plate, and trigger the OAR, telling the computer that the rotor has made half a revolution. This, however, doesn't provide needed detailed information about the angular position of the rotor, since it only provides a signal alert every half- revolution. This is enough information for the magnetic bearing control but is insufficient for the motor/generator control. A new resolver was designed such that it would give continuous angle information rather than the 180 degree information of the OAR. The new resolver has two separate observable pieces: a flat middle section to monitor vertical motion, and an angled section around the circumference, which, when observed from above, produces a sine-wave displacement through the entire 360" revolution. My first job when I arrived this summer was to calibrate the sensors that would be mounted on the inside of the flywheel casing to monitor the position (angular and vertical) of the shaft. After calibration, I used the sensors to evaluate voltage outputs created by position differences between two pairs of sensors on the angled portion of the resolver for eight different angular positions, moving the resolver vertically and laterally through its entire potential range of motion. The results of these tests will be used to determine the rotor angular (and axial) position from the sensor readings once the new flywheel unit is assembled. The sensorless algorighm mentioned above consists of two operations: the signal injection method and the back electro-motive force (EMF). The signal injection is meant to work at low speeds, while the back EMF algorithm is meant to work at higher speeds. Both work together to determine the correct estimate of rotor position and speed based on the measured motor/generator current. It was determined that we wanted to know exactly how accurate our estimation methods were, and so a resolver (a commercially available mechanical sensor mounted to the motor/generator shaft to measure rotor position and speed) and a "Resolver to Digital" (R2D) circuit board was purchased to make the comparison to the existing estimation. My work related to the R2D board has included the following: creating two connector cables (one to power the circuit and one to get readable output off the board), writing Simulink code to process the board's output, and building a dSpace panel to control and monitor the circuit. The next step in the process will be to perform tests to compare the estimated rotor position and speed from the sensorless algorithm to the actual rotor and speed from the resolver signal.

Fehrmann, Elizabeth A.↗
NASA NTRS1979

Rotary balance data for a typical single-engine general aviation design for an angle-of-attack range of 8 deg to 90 deg. 2: Low-wing model B

Aerodynamic characteristics obtained in a rotational flow environment utilizing a rotary balance located in the spin tunnel are presented in plotted form for a 1/6.5 scale, single engine, low wing, general aviation airplane model. The configurations tested included the basic airplane, various wing leading-edge devices, tail designs, and rudder control settings as well as airplane components. Data are presented without analysis for an angle-of-attack range of 8 deg to 90 deg and clockwise and counter-clockwise rotations covering an (omega)(b)/2V range from 0 to 0.85.

Bihrle, W., Jr.↗
NASA NTRS1998

Simulation-Based Analysis of Reentry Dynamics for the Sharp Atmospheric Entry Vehicle

This thesis describes the analysis of the reentry dynamics of a high-performance lifting atmospheric entry vehicle through numerical simulation tools. The vehicle, named SHARP, is currently being developed by the Thermal Protection Materials and Systems branch of NASA Ames Research Center, Moffett Field, California. The goal of this project is to provide insight into trajectory tradeoffs and vehicle dynamics using simulation tools that are powerful, flexible, user-friendly and inexpensive. Implemented Using MATLAB and SIMULINK, these tools are developed with an eye towards further use in the conceptual design of the SHARP vehicle's trajectory and flight control systems. A trajectory simulator is used to quantify the entry capabilities of the vehicle subject to various operational constraints. Using an aerodynamic database computed by NASA and a model of the earth, the simulator generates the vehicle trajectory in three-dimensional space based on aerodynamic angle inputs. Requirements for entry along the SHARP aerothermal performance constraint are evaluated for different control strategies. Effect of vehicle mass on entry parameters is investigated, and the cross range capability of the vehicle is evaluated. Trajectory results are presented and interpreted. A six degree of freedom simulator builds on the trajectory simulator and provides attitude simulation for future entry controls development. A Newtonian aerodynamic model including control surfaces and a mass model are developed. A visualization tool for interpreting simulation results is described. Control surfaces are roughly sized. A simple controller is developed to fly the vehicle along its aerothermal performance constraint using aerodynamic flaps for control. This end-to-end demonstration proves the suitability of the 6-DOF simulator for future flight control system development. Finally, issues surrounding real-time simulation with hardware in the loop are discussed.

Tillier, Clemens Emmanuel↗
NASA NTRS1985

Optimal landing of a helicopter in autorotation

Gliding descent in autorotation is a maneuver used by helicopter pilots in case of engine failure. The landing of a helicopter in autorotation is formulated as a nonlinear optimal control problem. The OH-58A helicopter was used. Helicopter vertical and horizontal velocities, vertical and horizontal displacement, and the rotor angle speed were modeled. An empirical approximation for the induced veloctiy in the vortex-ring state were provided. The cost function of the optimal control problem is a weighted sum of the squared horizontal and vertical components of the helicopter velocity at touchdown. Optimal trajectories are calculated for entry conditions well within the horizontal-vertical restriction curve, with the helicopter initially in hover or forwared flight. The resultant two-point boundary value problem with path equality constraints was successfully solved using the Sequential Gradient Restoration Technique.

Lee, A. Y. N.↗
NASA NTRS1993

Adjustable Bracket For Entry Of Welding Wire

Wire-entry bracket on welding torch in robotic welding system provides for adjustment of angle of entry of welding wire over range of plus or minus 30 degrees from nominal entry angle. Wire positioned so it does not hide weld joint in view of through-the-torch computer-vision system part of robot-controlling and -monitoring system. Swiveling bracket also used on nonvision torch on which wire-feed-through tube interferes with workpiece. Angle simply changed to one giving sufficient clearance.

Gilbert, Jeffrey L.↗
NASA NTRS1989

Low-speed Wind-Tunnel Study of Reaction Control-jet Effectiveness for Hover and Transition of a STOVL Fighter Concept

A brief wind-tunnel study was conducted in the Langley 12-Foot Low-Speed Tunnel to determine reaction control-jet effectiveness and some associated aerodynamic characteristics of a 15 percent scale model of the General Dynamics E-7A STOVL fighter/attack aircraft concept applicable to hover and transition flight. Tests were made with the model at various attitude angles in the tunnel test section and at various tunnel airspeeds for a range of control-jet nozzle pressure ratios. Eight reaction control-jets were tested individually. Four jets were at the design baseline locations providing roll, pitch, and yaw control. Comparisons of measured data with values calculated using empirical methods were made where possible.

Riley, Donald R.↗
NASA NTRS2007

Control Code for Bearingless Switched-Reluctance Motor

A computer program has been devised for controlling a machine that is an integral combination of magnetic bearings and a switched-reluctance motor. The motor contains an eight-pole stator and a hybrid rotor, which has both (1) a circular lamination stack for levitation and (2) a six-pole lamination stack for rotation. The program computes drive and levitation currents for the stator windings with real-time feedback control. During normal operation, two of the four pairs of opposing stator poles (each pair at right angles to the other pair) levitate the rotor. The remaining two pairs of stator poles exert torque on the six-pole rotor lamination stack to produce rotation. This version is executable in a control-loop time of 40 s on a Pentium (or equivalent) processor that operates at a clock speed of 400 MHz. The program can be expanded, by addition of logic blocks, to enable control of position along additional axes. The code enables adjustment of operational parameters (e.g., motor speed and stiffness, and damping parameters of magnetic bearings) through computer keyboard key presses.

Morrison, Carlos R.↗
NASA NTRS1955

Longitudinal Stability and Control Characteristics as Determined by the Rocket-Model Technique for an Inline, Cruciform, Canard Missile Configuration with a Low-Aspect-Ratio Wing Having Trailing-Edge Flap Controls for a Mach Number Range of 0.7 to 1.8

Two full-scale models of an inline, cruciform, canard missile configuration having a low-aspect-ratio wing equipped with flap-type controls were flight tested in order to determine the missile's longitudinal aerodynamic characteristics. Stability derivatives and control and drag characteristics are presented for a range of Mach number from 0.7 to 1.8. Nonlinear lift and moment curves were noted for the angle-of-attack range of this test (0 deg to 8 deg ). The aerodynamic-center location for angles of attack near 5 deg remained nearly constant for supersonic speeds at 13.5 percent of the mean aerodynamic chord; whereas for angles of attack near O deg, there was a rapid forward movement of the aerodynamic center as the Mach number increased. At a control deflection of O deg, the missile's response to the longitudinal control was in an essentially fixed space plane which was not coincident with the pitch plane as a result of the missile rolling. As a consequence, stability characteristics were determined from the resultant of pitch and yaw motions. The damping-in-pitch derivatives for the two angle-of-attack ranges of the test are in close agreement and varied only slightly with Mach number. The horn-balanced trailing-edge flap was effective in producing angle of attack over the Mach number range.

Baber, H. T., Jr.↗
NASA NTRS1961

Investigation of Low-Subsonic Flight Characteristics of a Model of a Hypersonic Boost-Glide Configuration Having a 78 deg. Delta Wing

An investigation of the low-subsonic stability and control characteristics of a model of a hypersonic boost-glide configuration having 78 deg. sweep of the leading edge has been made in the Langley full-scale tunnel. The model was flown over an angle-of-attack range from 10 to 35 deg. Static and dynamic force tests were made in the Langley free-flight tunnel. The investigation showed that the longitudinal stability and control characteristics were generally satisfactory with neutral or positive static longitudinal stability. The addition of artificial pitch damping resulted in satisfactory longitudinal characteristics being obtained with large amounts of static instability. The most rearward center-of-gravity position for which sustained flights could be made either with or without pitch damper corresponded to the calculated maneuver point. The lateral stability and control characteristics were satisfactory up to about 15 deg. angle of attack. The damping of the Dutch roll oscillation decreased with increasing angle of attack; the oscillation was about neutrally stable at 20 deg. angle of attack and unstable at angles of attack of about 25 deg. and above. Artificial damping in roll greatly improved the lateral characteristics and resulted in flights being made up to 35 deg. angle of attack.

Paulson, John W.↗
NASA NTRS2003

Martian and Terrestrial Rock Abrasion from Wind Tunnel and Field Studies

Earth and Mars exhibit ventifacts, rocks that have been abraded by saltating sand. Previous theoretical and laboratory studies have determined abrasion susceptibilities of rocks as a function of sand type and impact angle and rock material strengths. For the last two years we have been engaged in wind tunnel and field studies to better understand the fundamental factors which control and influence rock abrasion and ventifact formation on Earth and Mars. In particular, we are examining: 1) What types of rocks (composition, texture, and shape) preferentially erode and what are the relative rates of one type vs. another? 2) What are the controlling factors of the aeolian sand cloud (flux, particle speed, surface roughness, etc) which favor rock abrasion?, 3) How do specific ventifact characteristics tie into their mode of formation and rock properties? We find several important factors: 1) Initial rock shape controls the rate of abrasion, with steeper faces abrading faster than shallower ones. The relationship is partly dependent on angle-dependent flux (proportional to sin[theta]) but exhibits additional non-linear effects from momentum transfer efficiency and rebound effects that vary with incidence angle. 2) Irregular targets with pits or grooves abrade at greater rates than targets with smooth surfaces, with indentations generally enlarging with time. Surfaces become rougher with time. 3) Targets also abrade via slope retreat, which is roughly dependent on the slope of the front face. The formation of basal sills is common, as observed on terrestrial and Martian ventifacts.

Bridges, N. T.↗
NASA NTRS1955

Theoretical and Analog Studies of the Effects of Nonlinear Stability Derivatives on the Longitudinal Motions of an Aircraft in Response to Step Control Deflections and to the Influence of Proportional Automatic Control

Through theoretical and analog results the effects of two nonlinear stability derivatives on the longitudinal motions of an aircraft have been investigated. Nonlinear functions of pitching-moment and lift coefficients with angle of attack were considered. Analog results of aircraft motions in response to step elevator deflections and to the action of the proportional control systems are presented. The occurrence of continuous hunting oscillations was predicted and demonstrated for the attitude stabilization system with proportional control for certain nonlinear pitching-moment variations and autopilot adjustments.

Curfman, Howard J , Jr↗
NASA NTRS2011

Evaluation of the Rotational Throttle Interface for Converting Aircraft Utilizing the NASA Ames Vertical Motion Simulator

An experiment was conducted to compare a conventional helicopter Thrust Control Lever (TCL) to the Rotational Throttle Interface (RTI) for tiltrotor aircraft. The RTI is designed to adjust its orientation to match the angle of the tiltrotor s nacelles. The underlying principle behind the design is to increase pilot awareness of the vehicle s configuration state (i.e. nacelle angle). Four test pilots flew multiple runs on seven different experimental courses. Three predominant effects were discovered in the testing of the RTI: 1. Unintentional binding along the control axis resulted in difficulties with precision power setting, 2. Confusion in which way to move the throttle grip was present during RTI transition modes, and 3. Pilots were not able to distinguish small angle differences during RTI transition. In this experiment the pilots were able to successfully perform all of the required tasks with both inceptors although the handling qualities ratings were slightly worse for the RTI partly due to unforeseen deficiencies in the design. Pilots did however report improved understanding of nacelle movement during transitions with the RTI.

Rozovski, David↗