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At least 181 records · Page 10

A teleoperation training simulator with visual and kinesthetic force virtual reality

A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

Kim, Won S.

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Kim, Won S.

Notes on the N.A.C.A. control force recorder

Emphasized here is the desirability of using recording instruments in the investigation of the characteristics of airplanes with particular reference to the National Advisory Committee for Aeronautics (NACA) control force recorder. Given here are photographs, records, and a description of the instrument developed by NACA for investigations on different types of aircraft. Described here is an instrument for recording control forces. At present, this control force recorder registers only the forces exerted on the stick. However, attachments are being designed to enable the forces on the rudder bar also to be recorded. The instrument in its final form will consist of three parts, namely, the recorder, the controller for the stick, and the controller for the rudder. The first two are in use now. The theory of operation is simple. In the controller, which is slipped over and fastened to the stick, are small electrical resistances which vary with the force applied to the handle. The recording apparatus then consists of suitable variable resistances properly connected to galvanometers whose deflections are proportional to the forces applied to the stick.

Reeid, H J E

Flexure and the role of inplane force around coronae on Venus

Large coronae on Venus, such as Artemis and Latona, are rimmed by conspicuous trenches and associated outer rises. Sandwell and Schubert have observed that these systems resemble terrestrial subduction zones in planform and have succeeded in fitting an elastic plate bending equation to the inferred flexural topography. However, the first zero crossing bending moments required are -2.5 x 10(exp 17) N for Artemis and -5.0 x 10(exp 16) N for Latona. Since these moments are similar in magnitude to those of subducting slabs on Earth, a rollback subduction mechanism was proposed to explain the flexure around the largest coronae, although a differential thermal subsidence model is sufficient to account for the topography around some coronae. The purpose is to investigate the effect of inplane force as a possible alternative to large applied moments in producing flexure at Artemis and Latona. The close correlation of gravity to topography on Venus implies the absence of a low viscosity zone and the strong coupling of the lithosphere to mantle convection. If coronae are the surface manifestations of mantle plumes, they may be the sites of active convective stress coupling. As the upwelling reaches the lithosphere, it spreads radially outward, inducing shear tractions on the base of the plate. In addition, the hot, expanding corona may load the surrounding plate horizonally. Both the basal shear stresses and radial loading can be treated as an equivalent compressive inplane force in the mechanical lithosphere, which contributes to the bending of the outlying plate. Using a model that relates inplane force to the measured gravity anomalies, a rough value of the inplane force at Artemis was calculated. Recent Pioneer Venus spherical harmonic gravity models indicate a geoid anomaly of about 75 m over Artemis, which corresponds to an estimated inplane force on the order of -1x10(exp 13) N/m. The gravity model is unable to resolve Latona, but an inplane force of similar dimensions is assumed. The maximum possible inplane force based on the expected rheology can be constrained by using the approximate 5 K/km thermal gradient inferred from the best fit 30 km elastic plate at Artemis and Latona. For a dry olivine flow law in the upper mantle, the compressional load limit of the 60 km thick mechanical lithosphere is -4 x 10(exp 13) N/m. This value is equivalent to a load of -8 x 10(exp 13) N/m on a 30 km thick elastic plate.

Brown, C. David

Compressibility effects on rotor forces in the leakage path between a shrouded pump impeller and its housing

A modified approach to Childs' previous work on fluid-structure interaction forces in the leakage path between an impeller shroud and its housing is presented in this paper. Three governing equations consisting of continuity, path-momentum, and circumferential-momentum equations were developed to describe the leakage path inside a pump impeller. Radial displacement perturbations were used to solve for radial and circumferential force coefficients. In addition, impeller-discharge pressure disturbances were used to obtain pressure oscillation responses due to precessing impeller pressure wave pattern. Childs' model was modified from an incompressible model to a compressible barotropic-fluid model (the density of the working fluid is a function of the pressure and a constant temperature only). Results obtained from this model yielded interaction forces for radial and circumferential force coefficients. Radial and circumferential forces define reaction forces within the impeller leakage path. An acoustic model for the same leakage path was also developed. The convective, Coriolis, and centrifugal acceleration terms are removed from the compressible model to obtain the acoustics model. A solution due to impeller discharge pressure disturbances model was also developed for the compressible and acoustics models. The results from these modifications are used to determine what effects additional perturbation terms in the compressible model have on the acoustic model. The results show that the additional fluid mechanics terms in the compressible model cause resonances (peaks) in the force coefficient response curves. However, these peaks only occurred at high values of inlet circumferential velocity ratios greater than 0.7. The peak pressure oscillation was shown to occur at the wearing ring seal. Introduction of impeller discharge disturbances with n = 11 diametral nodes showed that maximum peak pressure oscillations occurred at nondimensional precession frequencies of f = 6.4 and f = 7.8 for this particular pump. Bolleter's results suggest that for peak pressure oscillations to occur at the wearing ring seal, the nondimensional excitation frequency should be on the order of f = 2.182 for n = 11. The resonances found in this research do not match the excitation frequencies predicted by Bolleter. At the predicted peak excitation frequencies given by Bolleter, the compressible model shows an attenuation of the pressure oscillations at the seal exit. The compressibility of the fluid does not have a significant influence on the model at low values of nondimensional excitation frequency. At high values of nondimensional frequency, the effects of compressibility become more significant. For the acoustic analysis, the convective, Coriolis, and centrifugal acceleration terms do affect the results to a limited extent for precession excitation and to a large extent for a pressure excitation when the fluid operates at relatively high Mach numbers.

Cao, Nhai The

Radiative forcing perturbation due to observed increases in tropospheric ozone at Hohenpeissenberg

The effect on surface temperature due to changes in atmospheric O3 depends highly on the latitude where the change occurs. Previous sensitivity calculations indicate that ozone changes in the upper troposphere and lower stratosphere are more effective in causing surface temperature change (Wang et al., 1980). Long term ground-based observations show that tropospheric ozone, especially at the tropopause region, has been increasing at middle and high latitudes in the Northern Hemisphere (NATO, 1988; Quadrennial Ozone Symposium, 1992). These increases will enhance the greenhouse effect and increase the radiative forcing to the troposphere-surface system, which is opposite to the negative radiative forcing calculated from the observed stratospheric ozone depletion recently reported in WMO (1992). We used more than two thousands regularly measured ozonesondes providing reliable vertical O3 distribution at Hohenpeissenberg (47N; 11E) for the 1967-1990 to study the instantaneous solar and longwave radiative forcing the two decades 1971-1990 and compare the forcing with those caused by increasing CO2, CH4, N2O, and CFCs. Calculations are also made to compare the O3 radiative forcing between stratospheric depletion and tropospheric increase. Results indicate that the O3 changes will induce a positive radiative forcing dominated by tropospheric O3 increase and the magnitude of the forcing is comparable to that due to CO2 increases during the two decades. The significant implications of the tropospheric O3 increase to the global climate are discussed.

Wang, Wei-Chyung

Control of parallel manipulators using force feedback

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Nanua, Prabjot

Seasonal variation of surface and atmospheric cloud radiative forcing over the globe derived from satellite data

Global distributions of surface and atmospheric cloud radiative forcing parameters have been derived using parameterized radiation models with satellite meteorological data from the International Satellite Cloud Climatology Project, and directly measured top-of-atmosphere radiative fluxes from the Earth Radiation Budget Experiment. Specifically, shortwave, longwave, and total cloud forcing at the surface, and column-averaged values of longwave cloud forcing of the atmosphere were derived for the midseasonal months of April, July, and October 1985 and January 1986, covering a complete annual cycle. Seasonal variability is illustrated by comparing the results for July 1985 and January 1986, which represent the seasonal extremes. Surface shortwave cloud forcing is always negative, representing a cooling of the surface, with strongest cooling (-120 to -180 W/sq m) occurring over midlatitude storm tracks of the summer hemisphere. Surface longwave cloud forcing is always positive, representing a warming of the surface, with strongest warming (60 to 75 W/sq m) occurring over storm tracks of the winter hemisphere. Zonal averages show the entire summer hemisphere dominated by shortwave cooling, the middle and high latitudes of the winter hemisphere dominated by longwave warming, and a broad zone of transition in between. The globally averaged total cloud forcing amounts to a cooling throughout the year, ranging from a low of about -12 W/sq m for July 1985 to a high of about -25 W/sq m for January 1986. The longwave cloud forcing of the atmosphere shows a strong warming over deep convective regions in the tropics and a moderate cooling outside the tropics, amounting to a weak cooling (-2 to -5 W/sq m) in the global average. Comparisons of the results with general circulation model simulations show broad qualitative agreement regarding the locations of prominent warming and cooling regions. Quantitative comparisons, on the other hand, show significant differences between the magnitudes of warming and cooling in these regions. Most of the larger differences can be attributed to known deficiences of the general circulation model simulations. Comparisons with satellite-derived results of other investigators show much better agreement.

Gupta, Shashi K.

Force-velocity and power characteristics of rat soleus muscle fibers after hindlimb suspension

The effects of 1, 2, and 3 wk of hindlimb suspension (HS) on force-velocity and power characteristics of single rat soleus fibers were determined. After 1, 2, or 3 wk of HA, small fiber bundles were isolated, placed in skinning solution, and stored at -20 C until studied. Single fibers were isolated and placed between a motor arm and force transducer, functional properties were studied, and fiber protein content was subsequently analyzed by sodium dodecyl sulfate-polyacrylamide gel electrophoresis (SDS-PAGE). Additional fibers were isolated from soleus of control after 1 and 3 wk of HS, and fiber type distribution and myosin light chain stoichiometry were determined from SDS-PAGE analysis. After 1 wk of HS, percent type I fibers declined from 82 to 74%, whereas hybrid fibers increased from 10 to 18%. Percent fast type II fibers increased from 8% in control and 1 wk of HS to 26% by 3 wk of HS. Most fibers showed an increased unloaded maximal shortening velocity (V sub O)), but myosin heavy chain remained entirely slow type I. The mechanism for increased V(sub O) is unknown. There was a progressive decrease in fiber diameter and peak force after 1, 2, and 3 wk of HS, respectively. One week of HS resulted in a shift of the force-velocity curve, and between 2 and 3 wk of HS the curve shifted further such that V(sub O) was higher than control at all relative loads less than 45% peak isometric force. Peak absolute power output of soleus fibers progressively decreased through 2 wk of HS but showed no further change at 3 wk. The results suggest that between 2 and 3 wk the HS-induced alterations in the force-velocity relationship act to maintain the power output of single soleus fibers despite a continued reduction in fiber force.

Mcdonald, K. S.

Element Library for Three-Dimensional Stress Analysis by the Integrated Force Method

The Integrated Force Method, a recently developed method for analyzing structures, is extended in this paper to three-dimensional structural analysis. First, a general formulation is developed to generate the stress interpolation matrix in terms of complete polynomials of the required order. The formulation is based on definitions of the stress tensor components in term of stress functions. The stress functions are written as complete polynomials and substituted into expressions for stress components. Then elimination of the dependent coefficients leaves the stress components expressed as complete polynomials whose coefficients are defined as generalized independent forces. Such derived components of the stress tensor identically satisfy homogenous Navier equations of equilibrium. The resulting element matrices are invariant with respect to coordinate transformation and are free of spurious zero-energy modes. The formulation provides a rational way to calculate the exact number of independent forces necessary to arrive at an approximation of the required order for complete polynomials. The influence of reducing the number of independent forces on the accuracy of the response is also analyzed. The stress fields derived are used to develop a comprehensive finite element library for three-dimensional structural analysis by the Integrated Force Method. Both tetrahedral- and hexahedral-shaped elements capable of modeling arbitrary geometric configurations are developed. A number of examples with known analytical solutions are solved by using the developments presented herein. The results are in good agreement with the analytical solutions. The responses obtained with the Integrated Force Method are also compared with those generated by the standard displacement method. In most cases, the performance of the Integrated Force Method is better overall.

Kaljevic, Igor

Soleus Fiber Force and Maximal Shortening Velocity After Non-Weight Bearing with Intermittent Activity

This study examined the effectiveness of intermittent weight bearing (IWB) as a countermeasure to non-weight-bearing (NWB)-induced alterations in soleus type 1 fiber force (in mN), tension (P(sub o); force per fiber cross-sectional area in kN/sq m), and maximal unloaded shortening velocity (V(sub o), in fiber lengths/s). Adult rats were assigned to one of the following groups: normal weight bearing (WB), 14 days of hindlimb NWB (NWB group), and 14 days of hindlimb NWB with IWB treatments (IWB group). The IWB treatment consisted of four 10-min periods of standing WB each day. Single, chemically permeabilized soleus fiber segments were mounted between a force transducer and position motor and were studied at maximal Ca(2+) activation, after which type 1 fiber myosin heavy-chain composition was confirmed by sodium dodecyl sulfate-polyacrylamide gel electrophoresis. NWB resulted in a loss in relative soleus mass (-45%), with type 1 fibers displaying reductions in diameter (-28%) and peak isometric force (-55%) and an increase in V(sub o) (+33%). In addition, NWB induced a 16% reduction in type 1 fiber P., a 41% reduction in type 1 fiber peak elastic modulus [E(sub o), defined as ((delta)force/(delta)length x (fiber length/fiber cross-sectional area] and a significant increase in the P(sub o)/E(sub o) ratio. In contrast to NWB, IWB reduced the loss of relative soleus mass (by 22%) and attenuated alterations in type 1 fiber diameter (by 36%), peak force (by 29%), and V(sub o)(by 48%) but had no significant effect on P(sub o), E(sub o) or P(sub o)/E(sub o). These results indicate that a modest restoration of WB activity during 14 days of NWB is sufficient to attenuate type 1 fiber atrophy and to partially restore type 1 peak isometric force and V(sub o) to WB levels. However, the NWB-induced reductions in P(sub o) and E(sub o) which we hypothesize to be due to a decline in the number and stiffness of cross bridges, respectively, are considerably less responsive to this countermeasure treatment.

Widrick, Jeffrey J.

A Model for Space Shuttle Orbiter Tire Side Forces Based on NASA Landing Systems Research Aircraft Test Results

Forces generated by the Space Shuttle orbiter tire under varying vertical load, slip angle, speed, and surface conditions were measured using the Landing System Research Aircraft (LSRA). Resulting data were used to calculate a mathematical model for predicting tire forces in orbiter simulations. Tire side and drag forces experienced by an orbiter tire are cataloged as a function of vertical load and slip angle. The mathematical model is compared to existing tire force models for the Space Shuttle orbiter. This report describes the LSRA and a typical test sequence. Testing methods, data reduction, and error analysis are presented. The LSRA testing was conducted on concrete and lakebed runways at the Edwards Air Force Flight Test Center and on concrete runways at the Kennedy Space Center (KSC). Wet runway tire force tests were performed on test strips made at the KSC using different surfacing techniques. Data were corrected for ply steer forces and conicity.

Carter, John F.

Force-Velocity and Power Characteristics of Rat Soleus Muscle Fibers after Hindlimb Suspension

The effects of 1, 2, and 3 wk of Hindlimb Suspension (HS) on force-velocity and power characteristics of single rat soleus fibers were determined. After 1, 2, or 3 wk of HS, small fiber bundles were isolated, placed in skinning solution, and stored at -20 C until studied. Single fibers were isolated and placed between a motor arm and force transducer, functional properties were studied, and fiber protein content was subsequently analyzed by sodium dodecyl sulfate-polyacrylamide gel electrophoresis (SDS-PAGE). Additional fibers were isolated from soleus of control and after 1 and 3 wk of HS, and fiber type distribution and myosin light chain stoichiometry were determined from SDS-PAGE analysis. After 1 wk of HS, percent type I fibers declined from 82 to 74%, whereas hybrid fibers increased from 10 to 18%. Percent fast type 11 fibers increased from 8% in control and 1 wk of HS to 26% by 3 wk of HS. Most fibers showed an increased unloaded maximal shortening velocity (V(sub 0)), but myosin heavy chain remained entirely slow type I. The mechanism for increased V(sub 0) is unknown. There was a progressive decrease in fiber diameter (14, 30, and 38%) and peak force (38, 56, and 63%) after 1, 2, and 3 wk of HS, respectively. One week of HS resulted in a shift of the force-velocity curve, and between 2 and 3 wk of HS the curve shifted further such that V(sub 0) was higher than control at all relative loads less than 45% peak isometric force. Peak absolute power output of soleus fibers progressively decreased through 2 wk of HS but showed no further change at 3 wk. The results suggest that between 2 and 3 wk the HS-induced alterations in the force-velocity relationship act to maintain the power output of single soleus fibers despite a continued reduction in fiber force.

McDonald, K. S.

Climate Forcings in the Industrial Era

The forcings that drive long-term climate change are not known with an accuracy sufficient to define future climate change. Anthropogenic greenhouse gases (GHGs), which are well measured, cause a strong positive (warming) forcing. But other, poorly measured, anthropogenic forcings, especially changes of atmospheric aerosols, clouds, and land-use patterns, cause a negative forcing that tends to offset greenhouse warming. One consequence of this partial balance is-that the natural forcing due to solar irradiance changes may play a larger role in long-term climate change than inferred from comparison with GHGs alone. Current trends in GHG climate forcings are smaller than in popular "business as usual" or 1% per year CO2 growth scenarios. The summary implication is a paradigm change for long-term climate projections: uncertainties in climate forcings have supplanted global climate sensitivity as the predominant issue.

Hansen, James E.

Perspective: Climate Forcings in the Industrial Era

The forcings that drive long-term climate change are not known with an accuracy sufficient to define future climate change. Anthropogenic greenhouse gases (GHGs), which are well measured, cause a strong positive (warming) forcing. But other, poorly measured, anthropogenic forcings, especially changes of atmospheric aerosols, clouds, and land-use patterns, cause a negative forcing that tends to offset greenhouse warming. One consequence of this partial balance is that the natural forcing due to solar irradiance changes may play a larger role in long-term climate change than inferred from comparison with GHGs alone. Current trends in GHG climate forcings are smaller than in popular "business as usual" or 1% per year CO growth scenarios. The summary implication is a paradigm change for long-term climate projections: uncertainties in climate forcings have supplanted global climate sensitivity as the predominant issue.

Hansen, James E.

Direct Radiative Forcing by Anthropogenic Airborne Mineral Aerosols

Although airborne mineral aerosols are traditionally considered a natural component of the earth-atmosphere climate system, an examination of dust production mechanisms and dust source regions reveals that a significant fraction of the dust loading could be due to human activities. We find that the global mean direct solar radiative forcing by anthropogenically generated mineral aerosols may be comparable to the direct solar radiative forcing by other anthropogenic aerosols. The net regional forcing by mineral aerosols can greatly exceed the regional forcing by sulfate aerosol and can even be comparable to the net forcing by clouds. An improved understanding of the radiative forcing due to mineral aerosols requires better knowledge of the regional patterns of dust production rates and dust optical depths, more comprehensive measurements of dust microphysical and optical characteristics, as well as a comprehensive assessment of the role of dust aerosols on infrared radiative forcing.

Sokolik, Irina N.

Climate Forcing in the Industrial Era

The forcings that drive long-term climate change are not known with an accuracy sufficient to define future climate change. Anthropogenic greenhouse gases (GHGs), which are well measured, cause a strong positive (warming) forcing. But other, poorly measured, anthropogenic forcings, especially changes of atmospheric aerosols, clouds, and land-use patterns, cause a negative forcing that tends to offset greenhouse warming. One consequence of this partial balance is that the natural forcing due to solar irradiance changes may play a larger role in long-term climate change than inferred from comparison with GHGs alone. Current trends in GHG climate forcings are smaller than in popular "business as usual" or 1% per year CO2 growth scenarios. The summary implication is a paradigm change for long-term climate projections: uncertainties in climate forcings have supplanted global climate sensitivity as the predominant issue.

Hansen, James E.

Microgravity Experiments to Evaluate Electrostatic Forces in Controlling Cohesion and Adhesion of Granular Materials

The bulk behavior of dispersed, fluidized, or undispersed stationary granular systems cannot be fully understood in terms of adhesive/cohesive properties without understanding the role of electrostatic forces acting at the level of the grains themselves. When grains adhere to a surface, or come in contact with one another in a stationary bulk mass, it is difficult to measure the forces acting on the grains, and the forces themselves that induced the cohesion and adhesion are changed. Even if a single gain were to be scrutinized in the laboratory, it might be difficult, perhaps impossible, to define the distribution and character of surface charging and the three- dimensional relationship that charges (electrons, holes) have to one another. The hypothesis that we propose to test in microgravity (for dielectric materials) is that adhesion and cohesion of granular matter are mediated primarily by dipole forces that do not require the presence of a net charge; in fact, nominally electrically neutral materials should express adhesive and cohesive behavior when the neutrality results from a balance of positive and negative charge carriers. Moreover, the use of net charge alone as a measure of the electrical nature of grain-to-grain relationships within a granular mass may be misleading. We believe that the dipole forces arise from the presence of randomly-distributed positive and negative fixed charge carriers on grains that give rise to a resultant dipole moment. These dipole forces have long-range attraction. Random charges are created whenever there is triboelectrical activity of a granular mass, that is, whenever the grains experience contact/separation sequences or friction. Electrostatic forces are generally under-estimated for their role in causing agglomeration of dispersed grains in particulate clouds, or their role in affecting the internal frictional relationships in packed granular masses. We believe that electrostatic, in particular dipole-mediated processes, are pervasive and probably affect, at some level, everything from astrophysical-scale granular systems such as interstellar nebulae, protoplanetary dust and debris disks, planetary-scale systems such as debris palls from meteorite impact, volcanic eruptions, and aeolian dust storms, all the way to industrial-scale systems in mining, powder and grain processing, pharmaceuticals, and smoke-stack technologies. NASA must concern itself with the electrostatic behavior of dust and sand on Mars because of its potentially critical importance to human exploration. The motion and adhesion of martian surface materials will affect the design and performance of spacesuits, habitats, processing plants, solar panels, and any externally exposed equipment such as surface rovers or communication and weather stations. Additionally, the adhesion of dust and sand could greatly enhance contact with the potentially toxic components of the martian soil.

Marshall, J.