Engineering topics

Moore, C. L.

Publications and source records attributed to Moore, C. L..

3 records

NASA NTRS1990

Telefunctioning - An approach to telerobotic manipulations

This study introduces three concepts: telefunctioning, a control method for achieving telefunctioning, and an approach to the analysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates maneuvering of loads by creating a perpetual sense of the load dynamics for the operator. Telefunctioning is defined as a robotic manipulation method in which the dynamic behaviors of the slave robot and the master robot are functions of each other; these functions are the designer's choice and depend on the application. In a subclass of telefunctioning called telepresence, all of the relationships between the master and the slave are specified as unity so that all of the master and slave variables (e.g., position and velocity) are dynamically equal. To create telefunctioning, a minimum number of functions relating the robots' variables is identified. A control architecture which guarantees that the defined functions govern the dynamic behavior of the system is then developed. The stability of the closed-loop system (master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived.

Kazerooni, H.↗

NASA NTRS1985

Effects of velocity profile and inclination on dual-jet-induced pressures on a flat plate in a crosswind

An experimental study was conducted to determine surface pressure distributions on a flat plate with dual subsonic, circular jets exhausting from the surface into a crossflow. The jets were arranged in both side-by-side and tandem configurations and were injected at 90 deg and 60 deg angles to the plate, with jet-to-crossflow velocity ratio of 2.2 and 4. The major objective of the study was to determine the effect of a nonuniform (vs uniform) jet velocity profile, simulating the exhaust of a turbo-fan engine. Nonuniform jets with a high-velocity outer annulus and a low-velocity core induced stronger negative pressure fields than uniform jets with the same mass flow rate. However, nondimensional lift losses (lift loss/jet thrust lift) due to such nonuniform jets were lower than lift losses due to uniform jets. Changing the injection angle from 90 deg to 60 deg resulted in moderate (for tandem jets) to significant (for side-by-side jets) increases in the induced negative pressures, even though the surface area influenced by the jets tended to reduce as the angle decreased. Jets arranged in the side-by-side configuration led to significant jet-induced lift losses exceeding, in some cases, lift losses reported for single jets.

Jakubowski, A. L.↗

NASA NTRS1985

Effects of non-uniform velocity profiles on dual jets in a crossflow

The interaction between engine exhaust jets and the freestream affects the aerodynamic and stability characteristics of VTOL aircraft during the transition from hover to forward flight. This interaction is often modeled as a simple uniform jet issuing from a flat plate into a subsonic crossflow. The distribution of pressures induced by the jet on the surface of the plate can be used to predict the lift loss and pitching moment for a full-scale aircraft. The uniform jet model has limitations because an actual turbofan engine generates a rather nonuniform exit velocity profile. The purpose of this work is to study the effect of a nonuniform velocity profile on the surface pressure distribution. The mutual interaction of dual jets also is investigated in side-by-side and tandem configurations. Detailed pressure distributions are presented for two jet-to-freestream velocity ratios of 2.2 and 4.0. One important finding is that a nonuniform jet with a high velocity periphery and a low velocity core has a higher effective velocity ratio than a uniform jet with the same mass flow.

Moore, C. L.↗