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At least 1,621 records · Page 90
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

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

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

Lee, Jeh Won↗
NASA NTRS1951

Aerodynamic characteristics of four bodies of revolution showing some effects of afterbody shape and fineness ratio at free-stream Mach numbers from 1.50 to 1.99

The effects of fineness ratio (14.2 and 12.2) and boattailing on aerodynamic characteristics of four bodies of revolution at Mach numbers from 1.50 to 1.99 within a range of angles of attack from 0 degrees 10 degrees at an approximate Reynolds number of 35x10(superscript)6 based on body length were investigated. A comparison of experimental data with available theory is included. At zero angle of attack, fineness ratio has no appreciable effect on model characteristics while boattailing and boattail convergence significantly affect fore drag and base drag. At angle of attack the effects are singular. The theory presented by H. J. Allen is a significant improvement over linearized potential theory in predicting aerodynamic characteristics.

BODIES - FITNESS RATIO↗
NASA NTRS1951

Flow through cascades in tandem

An exact treatment of the problem of finding the incompressible, inviscid two-dimensional flow around two cascades in tandem is presented. The analysis includes solutions of both the direct and the inverse problems. These problems are solved by conformally mapping the tandem cascade onto the region between two concentric circles in which region there are suitably placed flow singularities. Formulas for the velocity and the potential in the annular region are presented in a closed form by means of elliptic functions. The equations are presented in a form suitable for computation.

Spraglin, William E↗
NASA NTRS1944

On the flow of a compressible fluid by the hodograph method II : fundamental set of particular flow solutions of the Chaplygin differential equation

The differential equation of Chaplygin's jet problem is utilized to give a systematic development of particular solutions of the hodograph flow equations, which extends the treatment of Chaplygin into the supersonic range and completes the set of particular solutions. The particular solutions serve to place on a reasonable basis the use of velocity correction formulas for the comparison of incompressible and compressible flows. It is shown that the geometric-mean type of velocity correction formula introduced in part I has significance as an over-all type of approximation in the subsonic range. A brief review of general conditions limiting the potential flow of an adiabatic compressible fluid is given and application is made to the particular solutions, yielding conditions for the existence of singular loci in the supersonic range. The combining of particular solutions in accordance with prescribed boundary flow conditions is not treated in the present paper.

Garrick, I E↗
NASA NTRS1955

On the Kernel function of the integral equation relating the lift and downwash distributions of oscillating finite wings in subsonic flow

This report treats the Kernel function of an integral equation that relates a known prescribed downwash distribution to an unknown lift distribution for a harmonically oscillating finite wing in compressible subsonic flow. The Kernel function is reduced to a form that can be accurately evaluated by separating the Kernel function into two parts: a part in which the singularities are isolated and analytically expressed and a nonsingular part which may be tabulated. The form of the Kernel function for the sonic case (Mach number 1) is treated separately. In addition, results for the special cases of Mach number of 0 (incompressible case) and frequency of 0 (steady case) are given. The derivation of the integral equation which involves this Kernel function is reproduced as an appendix. Another appendix gives the reduction of the form of the Kernel function obtained herein for the three-dimensional case to a known result of Possio for two-dimensional flow. A third appendix contains some remarks on the evaluation of the Kernel function, and a fourth appendix presents an alternate form of expression for the Kernel function.

Watkins, Charles E↗
NASA NTRS1956

On the Kernel function of the integral equation relating lift and downwash distributions of oscillating wings in supersonic flow

This report treats the Kernel function of the integral equation that relates a known or prescribed downwash distribution to an unknown lift distribution for harmonically oscillating wings in supersonic flow. The treatment is essentially an extension to supersonic flow of the treatment given in NACA report 1234 for subsonic flow. For the supersonic case the Kernel function is derived by use of a suitable form of acoustic doublet potential which employs a cutoff or Heaviside unit function. The Kernel functions are reduced to forms that can be accurately evaluated by considering the functions in two parts: a part in which the singularities are isolated and analytically expressed, and a nonsingular part which can be tabulated.

Watkins, Charles E↗
NASA NTRS1954

On the determination of certain basic types of supersonic flow fields

A discussion is given of the application of Fourier series techniques to the problems of linearized supersonic flow. The formulation presented is an extension of the doublet type of "fundamental solution" to higher order types of singularity. The equations developed have application to wing theory but are primarily of importance in wing-body interaction problems. A specific example of a wing-body interference problem is discussed in light of the presented methods.

BODIES - AERODYNAMIC THEORY↗
NASA NTRS1952

Concerning the flow about ring-shaped cowlings of finite thickness Part I

It is shown how one may obtain, in a simple manner, the forms of ring-shaped bodies from existing tables of functions according to the customary method of superposition of flow due to singularities and parallel flow. A number of examples of the forms and pressure distributions of annular source bodies with and without hub body are given, and the inlet conditions of such ring-shaped cowlings are investigated. Furthermore, the annular bodies of finite length are indicated that correspond to Joukowsky profiles for the two-dimensional case. The examples are to give a basis for the design of cross-sectional forms of ring-shaped cowlings and a survey of the flows to be expected.

FLOW, INCOMPRESSIBLE↗
NASA NTRS1994

Efficient Kinematic Computations For 7-DOF Manipulators

Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

Seraji, Homayoun↗
NASA NTRS1990

Bifurcations and sensitivity in parametric nonlinear programming

The parametric nonlinear programming problem is that of determining the behavior of solution(s) as a parameter or vector of parameters alpha belonging to R(sup r) varies over a region of interest for the problem: Minimize over x the set f(x, alpha):h(x, alpha) = 0, g(x, alpha) is greater than or equal to 0, where f:R(sup (n+r)) approaches R, h:R(sup (n+r)) approaches R(sup q) and g:R(sup (n+r)) approaches R(sup p) are assumed to be at least twice continuously differentiable. Some of these parameters may be fixed but not known precisely and others may be varied to enhance the performance of the system. In both cases a fundamentally important problem in the investigation of global sensitivity of the system is to determine the stability boundaries of the regions in parameter space which define regions of qualitatively similar solutions. The objective is to explain how numerical continuation and bifurcation techniques can be used to investigate the parametric nonlinear programming problem in a global sense. Thus, first the problem is converted to a closed system of parameterized nonlinear equations whose solution set contains all local minimizers of the original problem. This system, which will be represented as F(z,alpha) = O, will include all Karush-Kuhn-Tucker and Fritz John points, both feasible and infeasible solutions, and relative minima, maxima, and saddle points of the problem. The local existence and uniqueness of a solution path (z(alpha), alpha) of this system as well as the solution type persist as long as a singularity in the Jacobian D(sub z)F(z,alpha) is not encountered. Thus the nonsingularity of this Jacobian is characterized in terms of conditions on the problem itself. Then, a class of efficient predictor-corrector continuation procedures for tracing solution paths of the system F(z,alpha) = O which are tailored specifically to the parametric programming problem are described. Finally, these procedures and the obtained information are illustrated within the context of design optimization.

Lundberg, Bruce N.↗
NASA NTRS1993

Lee waves: Benign and malignant

The flow of an incompressible fluid over an obstacle will produce an oscillation in which buoyancy is the restoring force, called a gravity wave. For disturbances of this scale, the atmosphere may be treated as dynamically incompressible, even though there exists a mean static upward density gradient. Even in the linear approximation - i.e., for small disturbances - this model explains a great many of the flow phenomena observed in the lee of mountains. However, nonlinearities do arise importantly, in three ways: (1) through amplification due to the decrease of mean density with height; (2) through the large (scaled) size of the obstacle, such as a mountain range; and (3) from dynamically singular levels in the fluid field. These effects produce a complicated array of phenomena - large departure of the streamlines from their equilibrium levels, high winds, generation of small scales, turbulence, etc. - that present hazards to aircraft and to lee surface areas. The nonlinear disturbances also interact with the larger-scale flow in such a manner as to impact global weather forecasts and the climatological momentum balance. If there is no dynamic barrier, these waves can penetrate vertically into the middle atmosphere (30-100 km), where recent observations show them to be of a length scale that must involve the coriolis force in any modeling. At these altitudes, the amplitude of the waves is very large, and the phenomena associated with these wave dynamics are being studied with a view to their potential impact on high performance aircraft, including the projected National Aerospace Plane (NASP). The presentation shows the results of analysis and of state-of-the-art numerical simulations, validated where possible by observational data, and illustrated with photographs from nature.

Wurtele, M. G.↗
NASA NTRS1993

A Galilean and tensorial invariant k-epsilon model for near wall turbulence

A k-epsilon model is proposed for wall bounded turbulent flows. In this model, the eddy viscosity is characterized by a turbulent velocity scale and a turbulent time scale. The time scale is bounded from below by the Kolmogorov time scale. The dissipation rate equation is reformulated using this time scale and no singularity exists at the wall. A new parameter R = k/S(nu) is introduced to characterize the damping function in the eddy viscosity. This parameter is determined by local properties of both the mean and the turbulent flow fields and is free from any geometry parameter. The proposed model is then Galilean and tensorial invariant. The model constants used are the same as in the high Reynolds number Standard k-epsilon Model. Thus, the proposed model will also be suitable for flows far from the wall. Turbulent channel flows and turbulent boundary layer flows with and without pressure gradients are calculated. Comparisons with the data from direct numerical simulations and experiments show that the model predictions are excellent for turbulent channel flows and turbulent boundary layers with favorable pressure gradients, good for turbulent boundary layers with zero pressure gradients, and fair for turbulent boundary layer with adverse pressure gradients.

Yang, Z.↗
NASA NTRS1993

On nonlinear Tollmien-Schlichting/vortex interaction in three-dimensional boundary layers

The instability of an incompressible three-dimensional boundary layer (that is, one with cross-flow) is considered theoretically and computationally in the context of vortex/wave interactions. Specifically the work centers on two low amplitude, lower-branch Tollmien-Schlichting waves which mutually interact to induce a weak longitudinal vortex flow; the vortex motion, in turn, gives rise to significant wave-modulation via wall-shear forcing. The characteristic Reynolds number is taken as a large parameter and, as a consequence, the waves' and the vortex motion are governed primarily by triple-deck theory. The nonlinear interaction is captured by a viscous partial-differential system for the vortex coupled with a pair of amplitude equations for each wave pressure. Three distinct possibilities were found to emerge for the nonlinear behavior of the flow solution downstream - an algebraic finite-distance singularity, far downstream saturation or far-downstream wave-decay (leaving pure vortex flow) - depending on the input conditions, the wave angles, and the size of the cross-flow.

Davis, Dominic A. R.↗
NASA NTRS1993

Dynamics of adaptive structures: Design through simulations

The use of a helical bi-morph actuator/sensor concept by mimicking the change of helical waveform in bacterial flagella is perhaps the first application of bacterial motions (living species) to longitudinal deployment of space structures. However, no dynamical considerations were analyzed to explain the waveform change mechanisms. The objective is to review various deployment concepts from the dynamics point of view and introduce the dynamical considerations from the outset as part of design considerations. Specifically, the impact of the incorporation of the combined static mechanisms and dynamic design considerations on the deployment performance during the reconfiguration stage is studied in terms of improved controllability, maneuvering duration, and joint singularity index. It is shown that intermediate configurations during articulations play an important role for improved joint mechanisms design and overall structural deployability.

Park, K. C.↗
NASA NTRS1993

Pinching solutions of slender cylindrical jets

Simplified equations for slender jets are derived for a circular jet of one fluid flowing into an ambient second fluid, the flow being confined in a circular tank. Inviscid flows are studied which include both surface tension effects and Kelvin-Helmholtz instability. For slender jets a coupled nonlinear system of equations is found for the jet shape and the axial velocity jump across it. The equations can break down after a finite time and similarity solutions are constructed, and studied analytically and numerically. The break-ups found pertain to the jet pinching after a finite time, without violation of the slender jet ansatz. The system is conservative and admissible singular solutions are those which conserve the total energy, mass, and momentum. Such solutions are constructed analytically and numerically, and in the case of vortex sheets with no surface tension certain solutions are given in closed form.

Papageorgiou, Demetrios T.↗
NASA NTRS1992

Teamwork for Oversight of Processes and Systems (TOPS). Implementation guide for TOPS version 2.0, 10 August 1992

As the nation redefines priorities to deal with a rapidly changing world order, both government and industry require new approaches for oversight of management systems, particularly for high technology products. Declining defense budgets will lead to significant reductions in government contract management personnel. Concurrently, defense contractors are reducing administrative and overhead staffing to control costs. These combined pressures require bold approaches for the oversight of management systems. In the Spring of 1991, the DPRO and TRW created a Process Action Team (PAT) to jointly prepare a Performance Based Management (PBM) system titled Teamwork for Oversight of Processes and Systems (TOPS). The primary goal is implementation of a performance based management system based on objective data to review critical TRW processes with an emphasis on continuous improvement. The processes are: Finance and Business Systems, Engineering and Manufacturing Systems, Quality Assurance, and Software Systems. The team established a number of goals: delivery of quality products to contractual terms and conditions; ensure that TRW management systems meet government guidance and good business practices; use of objective data to measure critical processes; elimination of wasteful/duplicative reviews and audits; emphasis on teamwork--all efforts must be perceived to add value by both sides and decisions are made by consensus; and synergy and the creation of a strong working trust between TRW and the DPRO. TOPS permits the adjustment of oversight resources when conditions change or when TRW systems performance indicate either an increase or decrease in surveillance is appropriate. Monthly Contractor Performance Assessments (CPA) are derived from a summary of supporting system level and process-level ratings obtained from objective process-level data. Tiered, objective, data-driven metrics are highly successful in achieving a cooperative and effective method of measuring performance. The teamwork-based culture developed by TOPS proved an unequaled success in removing adversarial relationships and creating an atmosphere of continuous improvement in quality processes at TRW. The new working relationship does not decrease the responsibility or authority of the DPRO to ensure contract compliance and it permits both parties to work more effectively to improve total quality and reduce cost. By emphasizing teamwork in developing a stronger approach to efficient management of the defense industrial base TOPS is a singular success.

Strand, Albert A.↗
NASA NTRS1992

Formally biorthogonal polynomials and a look-ahead Levinson algorithm for general Toeplitz systems

Systems of linear equations with Toeplitz coefficient matrices arise in many important applications. The classical Levinson algorithm computes solutions of Toeplitz systems with only O(n(sub 2)) arithmetic operations, as compared to O(n(sub 3)) operations that are needed for solving general linear systems. However, the Levinson algorithm in its original form requires that all leading principal submatrices are nonsingular. An extension of the Levinson algorithm to general Toeplitz systems is presented. The algorithm uses look-ahead to skip over exactly singular, as well as ill-conditioned leading submatrices, and, at the same time, it still fully exploits the Toeplitz structure. In our derivation of this algorithm, we make use of the intimate connection of Toeplitz matrices with formally biorthogonal polynomials.

Freund, Roland W.↗
NASA NTRS1993

Mechanical energy absorber

An energy absorbing system for controlling the force where a moving object engages a stationary stop and where the system utilized telescopic tubular members, energy absorbing diaphragm elements, force regulating disc springs, and a return spring to return the telescoping member to its start position after stroking is presented. The energy absorbing system has frusto-conical diaphragm elements frictionally engaging the shaft and are opposed by a force regulating set of disc springs. In principle, this force feedback mechanism serves to keep the stroking load at a reasonable level even if the friction coefficient increases greatly. This force feedback device also serves to desensitize the singular and combined effects of manufacturing tolerances, sliding surface wear, temperature changes, dynamic effects, and lubricity.

Wesselski, Clarence J.↗