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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Method for separating translational and rotational motion of turbulent structures using optical correlation of laser schlieren signals
Methylamine crystals lattice vibrations IR spectra recordings, making spectral band assignments according to translational and librational motions
Remote sensing tool reliably measures statistical properties of supersonic turbulence. Tool neither affects nor is adversely affected by flow field. Device determines characteristics of supersonic flow with optical system and provides method and apparatus for separating translational and rotational motions of turbulent structures in supersonic flow.
Rotating space station simulator for translational and rotational motion determination under gravity gradient torque action and control under input state conditions
A new mathematical model is presented which describes the image produced by a focal plane shutter-equipped camera. The model is based upon the well-known collinearity condition equations and incorporates both the translational and rotational motion of the camera during the exposure interval. The first differentials of the model with respect to exposure interval, delta t, yield the general matrix expressions for image velocities which may be simplified to known cases. The exposure interval, delta t, may be replaced under certain circumstances with a function incorporating blind velocity and image position if desired. The model is tested using simulated Lunar Orbiter data and found to be computationally stable as well as providing excellent results, provided that some external information is available on the velocity parameters.
The digital program, 2BODY, which simulates the translational and rotational motion of two connected rigid bodies and provides both digital and plot output is described. Relative rotation of the bodies at the connection is allowed, thereby providing a model suitable for studying system stability and response during a soft-dock regime. A users manual for the program is given as well as all the details and background pertaining to the equations of motion and mathematical models, integration scheme, and input/output routines.
An integrated flight controller, display, and power management system design, suitable for all-weather VTOL flight operations onto small ships, is described. The flight controller uncouples the aircraft's translational and attitude motions, which are then commanded by the pilot, through separate controls. A head-up display provides situation and flight director information sufficient to permit zero-zero landings. The system was applied to a VTOL transport model and simulated on moving base simulators at Ames Research Center. Presented herein are results concerning the aircraft's general handling qualities and, in particular, its handling qualities during IFR landings onto a moving ship.
An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accomodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction.
A daze fastener system for connecting two or more structural elements wherein the structural elements and fastener parts have substantially different coefficient of thermal expansion physical property characteristics is employed in this invention. By providing frusto-conical abutting surfaces between the structural elements and fastener parts any differences in thermal expansion/contraction between the parts is translated to sliding motion and avoids deleterious thermal stresses in the connection. An essential feature for isotropic homogeneous material connections is that at least two sets of mating surfaces are required wherein each set of mating surfaces have line element extensions that pass through a common point.
A daze fastener system for connecting two or more structural elements wherein the structural elements and fastener parts have substantially different coefficient of thermal expansion physical property characteristics is employed in this invention. By providing frusto-conical abutting surfaces between the structural elements and fastener parts any differences in thermal expansion/contraction between the parts is translated to sliding motion and avoids deleterious thermal stresses in the connection. An essential feature for isotropic homogeneous material connections is that at least two sets of mating surfaces are required wherein each set of mating surfaces has line element extensions that pass through a common point.
The forced translational and rotational motion of a magnetically suspended flywheel due to mass unbalance is investigated. It is found that a magnetically suspended flywheel can tolerate greater mass unbalance than a conventional rotor system because in a magnetic suspension system, vibration and the transmission of dynamic loads are eliminated in the absence of mechanical contact. It is shown that although vibration and dynamic loads are not transmitted between the rotor and stator of a magnetically suspended flywheel, inertial forces and moments due to mass unbalance are generated when the flywheel is spinning. Numerical results demonstrate that the inertial forces and moments cause the flywheel to tilt and to displace radially from its centered position.
A robot with a long extendible flexible arm which can also undergo both vertical translation and rotary motion is considered. First, A distributed-parameter model for the robot arm dynamics is developed. It is found that the extending motion could enhance the arm vibrations. Then, a Galerkin-type approximation based on an appropriate time-dependent basis for the solution space is used to obtain an approximate finite-dimensional model for simulation studies. A feedback control for damping the motion-induced vibrations is derived by considering the time rate-of-change of the total vibrational energy of the flexible arm. The authors conclude with some simulation results for a special case with the proposed control law.
A methodology is described for developing a task complexity index based on combining the six basic motion primitives (three translation, three orientation) with force control and accuracy requirements. The result of this development is a set of complexity values that can be assigned to the high-level task primitives derived from a relatively shallow top-down mission analysis. These values are then averaged to arrive at total average mission complexities, such as for the mission of exchanging the Hubble Space Telescope (HST) battery modules. Application of this metric to a candidate set of NASA Flight Telerobotic Servicer evaluation tasks is discussed using the HST battery module mission for an in-depth example.
The highlights are presented of an Engineering Memorandum, Dynamic Estimation for Floated Gradiometers. The original impetus for the work was that gradiometers, in principle, measure components of the gravity gradient tensor, plus rotation effects, similar to centrifugal and Coriolis effects in accelerometers. The problem is that the rotation effects are often quite large, compared to the gradient, and that available inertial instruments can't measure them to adequate accuracy. The paper advances the idea that, if the instruments can be floated in a package subject to very low disturbances, a dynamic estimation, based on the Euler and translational equations of motion, plus models of all the instruments, can be used to greatly strengthen the estimates of the gradient and the rotation parameters. Moreover, symmetry constraints can be imposed directly in the filter, further strengthening the solution.
The invention is a suspension mechanism and method for suspending a flexible test structure T(sub s) subjected to large horizontal translational and vibratory motions. A zero-spring rate mechanism between air cushions A-1 and A-2 established by air bearings support an end of the test structure T(sub s) on a flat surface of a table permitting up to six degrees of freedom of motion of the suspended test structure T(sub s) substantially unconstrained by the suspension mechanism.
Nap-of-the-earth flight mode is extremely demanding on the rotorcraft pilots. This fact has motivated the research in automating various components of low altitude rotorcraft flight operations. Concurrent with the development of guidance laws, efforts are under way to develop systems for locating the terrain and the obstacles using inputs from passive electrooptical sensors such as TV cameras and infrared imagers. A passive obstable location algorithm that uses image sequences from cameras undergoing translational and rotational motion is developed. The algorithm is in a general form and can operate in multicamera imaging environments. Performance results using an image sequence from an airborne camera are given.
A 'Mighty Worm' actuator with the active member capable of carrying large loads during the launch phase was developed for adaptive structures applications. Two types of Mighty Worm performance are characterized, namely, long-stroke motion and incremental positioning at 0, 25, 50, 75, and 100 lb. Long-stroke motion involves successive translations of all Mighty Worm moving elements, and incremental positioning involves only in-place stack expansion.
Low altitude flight is extremely demanding on the rotorcraft pilots. This fact has motivated the research in automating various components of low altitude rotorcraft flight operations. Concurrent with the development of guidance laws, efforts are underway to develop systems for locating the terrain and the obstacles using inputs from passive electro-optical sensors such as TV cameras and infrared imagers. A passive obstacle location algorithm that uses image sequences from cameras undergoing translational and rotational motion is developed. The algorithm is in a general form and can operate in multicamera imaging environments. Performance results using an image sequence from an airborne camera are given.