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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2010

Low-Friction, Low-Profile, High-Moment Two-Axis Joint

The two-axis joint is a mechanical device that provides two-degrees-of-freedom motion between connected components. A compact, moment-resistant, two-axis joint is used to connect an electromechanical actuator to its driven structural members. Due to the requirements of the overall mechanism, the joint has a low profile to fit within the allowable space, low friction, and high moment-reacting capability. The mechanical arrangement of this joint can withstand high moments when loads are applied. These features allow the joint to be used in tight spaces where a high load capability is required, as well as in applications where penetrating the mounting surface is not an option or where surface mounting is required. The joint consists of one base, one clevis, one cap, two needle bearings, and a circular shim. The base of the joint is the housing (the base and the cap together), and is connected to the grounding structure via fasteners and a bolt pattern. Captive within the housing, between the base and the cap, are the rotating clevis and the needle bearings. The clevis is attached to the mechanical system (linear actuator) via a pin. This pin, and the rotational movement of the clevis with respect to the housing, provides two rotational degrees of freedom. The larger diameter flange of the clevis is sandwiched between a pair of needle bearings, one on each side of the flange. During the assembly of the two-axis joint, the circular shims are used to adjust the amount of preload that is applied to the needle bearings. The above arrangement enables the joint to handle high moments with minimal friction. To achieve the high-moment capability within a low-profile joint, the use of depth of engagement (like that of a conventional rotating shaft) to react moment is replaced with planar engagement parallel to the mounting surface. The needle bearings with the clevis flange provide the surface area to react the clevis loads/moments into the joint housing while providing minimal friction during rotation. The diameter of the flange and the bearings can be increased to react higher loads and still maintain a compact surface mounting capability. This type of joint can be used in a wide variety of mechanisms and mechanical systems. It is especially effective where precise, smooth, continuous motion is required. For example, the joint can be used at the end of a linear actuator that is required to extend and rotate simultaneously. The current design application is for use in a spacecraft docking-system capture mechanism. Other applications might include industrial robotic or assembly line apparatuses, positioning systems, or in the motion-based simulator industry that employs complex, multi-axis manipulators for various types of motions.

Lewis, James L.↗
NASA NTRS1993

Planar reorientation of a free-free beam in space using embedded electromechanical actuators

It is demonstrated that the planar reorientation of a free-free beam in zero gravity space can be accomplished by periodically changing the shape of the beam using embedded electromechanical actuators. The dynamics which determine the shape of the free-free beam is assumed to be characterized by the Euler-Bernoulli equation, including material damping, with appropriate boundary conditions. The coupling between the rigid body motion and the flexible motion is explained using the angular momentum expression which includes rotatory inertia and kinematically exact effects. A control scheme is proposed where the embedded actuators excite the flexible motion of the beam so that it rotates in the desired sense with respect to a fixed inertial reference. Relations are derived which relate the average rotation rate to the amplitudes and the frequencies of the periodic actuation signal and the properties of the beam. These reorientation maneuvers can be implemented by using feedback control.

Kolmanovsky, Ilya V.↗
NASA NTRS2009

Visual Target Tracking in the Presence of Unknown Observer Motion

Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario.

image mosaic↗
NASA NTRS2004

Quantification Of 4H- To 3C-Polymorphism In Silicon Carbide (SiC) Epilayers And An Investigation Of Recombination-Enhanced Dislocation Motion In SiC By Optical Emission Microscopy (Oem) Techniques

Environments that impose operational constraints on conventional silicon-(Si) based semiconductor devices frequently appear in military- and space-grade applications. These constraints include high temperature, high power, and high radiation environments. Silicon carbide (SiC), an alternative type of semiconductor material, has received abundant research attention in the past few years, owing to its radiation-hardened properties as well as its capability to withstand high temperatures and power levels. However, the growth and manufacture of SiC devices is still comparatively immature, and there are severe limitations in present crystal growth and device fabrication processes. Among these limitations is a variety of crystal imperfections known as defects. These imperfections can be point defects (e.g., vacancies and interstitials), line defects (e.g., edge and screw dislocations), or planar defects (e.g., stacking faults and double-positioning boundaries). All of these defects have been experimentally shown to be detrimental to the performance of electron devices made from SiC. As such, it is imperative that these defects are significantly reduced in order for SiC devices to become a viable entity in the electronics world. The NASA Glenn High Temperature Integrated Electronics & Sensors Team (HTIES) is working to identify and eliminate these defects in SiC by implementing improved epitaxial crystal growth procedures. HTIES takes two-inch SiC wafers and etches patterns, producing thousands of mesas into each wafer. Crystal growth is then carried out on top of these mesas in an effort to produce films of improved quality-resulting in electron devices that demonstrate superior performance-as well as fabrication processes that are cost-effective, reliable, and reproducible. In this work, further steps are taken to automate HTIES' SiC wafer inspection system. National Instruments LabVIEW image processing and pattern recognition routines are developed that are capable of quantifying and mapping defects on both the substrate and mesa surfaces, and of quantifying polymorphic changes in the grown materials. In addition, an optical emission microscopy (OEM) system is developed that will facilitate comprehensive study of recombination-enhanced dislocation motion (REDM).

Speer, Kevin M.↗
NASA NTRS1989

Near-planar TS waves and longitudinal vortices in channel flow: Nonlinear interaction and focusing

The nonlinear interaction between planar or near-planar Tollmien-Schlichting waves and longitudinal vortices, induced or input, is considered theoretically for channel flows at high Reynolds numbers. Several kinds of nonlinear interaction, dependent on the input amplitudes and wavenumbers or on previously occurring interactions, are found and inter-related. The first, Type 1, is studied the most here and it usually produces spanwise focusing of both the wave and the vortex motion, within a finite scaled time, along with enhancement of both their amplitudes. This then points to the nonlinear interaction Type 2 where new interactive effects come into force to drive the wave and the vortex nonlinearly. Types 3, 4 correspond to still higher amplitudes, with 3 being related to 2, while 4 is connected with a larger-scale interaction 5 studied in an allied paper. Both 3, 4 are subsets of the full three-dimensional triple-deck-lie interaction, 6. The strongest nonlinear interactions are those of 4, 5, 6 since they alter the mean-flow profile substantially, i.e., by an 0(1) relative amount. All the types of nonlinear interaction however can result in the formation of focussed responses in the sense of spanwise concentrations and/or amplifications of vorticity and wave amplitude.

Hall, P.↗
NASA NTRS1990

Near-planar TS waves and longitudinal vortices in channel flow - Nonlinear interaction and focussing

The nonlinear interaction between planar or near-planar Tollmien-Schlichting waves and longitudinal vortices, induced or input, is considered theoretically for channel flows at high Reynolds numbers. Several kinds of nonlinear interaction, dependent on the input amplitudes and wavenumbers or on previously occurring interactions, are found and inter-related. The first, Type 1, is studied the most here and it usually produces spanwise focusing of both the wave and the vortex motion, within a finite scaled time, along with enhancement of both their amplitudes. This then points to the nonlinear interaction Type 2 where new interactive effects come into force to drive the wave and the vortex nonlinearly. Types 3, 4 correspond to still higher amplitudes, with 3 being related to 2, while 4 is connected with a larger-scale interaction 5 studied in an allied paper. Both 3, 4 are subsets of the full three-dimensional triple-deck-lie interaction, 6. The strongest nonlinear interactions are those of 4, 5, 6 since they alter the mean-flow profile substantially, i.e., by an O(1) relative amount. All the types of nonlinear interaction, however, can result in the formation of focused responses in the sense of spanwise concentrations and/or amplifications of vorticity and wave amplitude.

Hall, Philip↗
NASA NTRS1976

Analysis of pogo on the space shuttle: Accumulator design guidelines and planar multiengine model development

The design guidelines were generated to support the selection of the baseline accumulator configuration for the space shuttle. They were based upon the elimination of the instabilities that had been predicted for the shuttle system (in the absence of accumulators) using the single-engine model. The multiengine pitch plane stability model was subsequently developed to enable a more refined analysis of the pogo problem. The results obtained with this refined model, in the absence of accumulators, indicated a generally stable system. However, it was found that reasonable adjustment of the axial motion of the feedline aft support on the external tank could induce instability of the system. This instability was eliminated by the addition of high-pressure oxidizer turbopump inlet accumulators to the system. The results obtained with the refined model did not suggest a need to alter the design guidelines that had been obtained previously. The analyses with the multiengine model also treated the question of the use of a phase margin in the system stability requirements.

Lock, M. H.↗
NASA NTRS1995

3D thin film microstructures for space microrobots

Micromechanisms of locomotion and a manipulator with an external skeleton like the structure of an insect are proposed. Several micro-sized models were built on silicon wafers by using polysilicon for rigid plates and polyimide for elastic joints. Due to scale effects, friction in micromechanical components is dominant as compared to the inertial forces because friction is proportional to L(exp 2) while mass is proportional to L(exp 3). Therefore, to ensure efficient motion, rotational joint that exhibits rubbing should be avoided. In this paper, paper models of a robot leg and a micro-manipulator are presented to show structures with external skeletons and elastic joints. Then the large scale implementation using plastic plates, springs, and solenoids is demonstrated. Since the assembly technique is based on paper folding, it is compatible with thin film micro-fabrication and integrated circuit (IC) planar processes. Finally, several micromechanisms were fabricated on silicon wafers to demonstrate the feasibility of building a 3D microstructure from a single planar structure that can be used for space microrobots.

Shimoyama, Isao↗
NASA NTRS1999

Comparison of AGE and Spectral Methods for the Simulation of Far-Wakes

Turbulent flow simulation methods based on finite differences are attractive for their simplicity, flexibility and efficiency, but not always for accuracy or stability. This report demonstrates that a good compromise is possible with the Advected Grid Explicit (AGE) method. AGE has proven to be both efficient and accurate for simulating turbulent free-shear flows, including planar mixing layers and planar jets. Its efficiency results from its localized fully explicit finite difference formulation (Bisset 1998a,b) that is very straightforward to compute, outweighing the need for a fairly small timestep. Also, most of the successful simulations were slightly under-resolved, and therefore they were, in effect, large-eddy simulations (LES) without a sub-grid-scale (SGS) model, rather than direct numerical simulations (DNS). The principle is that the role of the smallest scales of turbulent motion (when the Reynolds number is not too low) is to dissipate turbulent energy, and therefore they do not have to be simulated when the numerical method is inherently dissipative at its resolution limits. Such simulations are termed 'auto-LES' (LES with automatic SGS modeling) in this report.

Bisset, D. K.↗
NASA NTRS1984

Characteristics and capacities of the NASA Lewis Research Center high precision 6.7- by 6.7-m planar near-field scanner

A very precise 6.7- by 6.7-m planar near-field scanner has recently become operational at the NASA Lewis Research Center. The scanner acquires amplitude and phase data at discrete points over a vertical rectangular grid. During the design phase for this scanner, special emphasis was given to the dimensional stability of the structures and the ease of adjustment of the rails that determine the accuracy of the scan plane. A laser measurement system is used for rail alignment and probe positioning. This has resulted in very repeatable horizontal and vertical motion of the probe cart and hence precise positioning in the plane described by the probe tip. The resulting accuracy will support near-field measurements at 60 GHz without corrections. Subsystem design including laser, electronic and mechanical and their performance is described. Summary data are presented on the scan plane flatness and environmental temperature stability. Representative near-field data and calculated far-field test results are presented. Prospective scanner improvements to increase test capability are also discussed.

Sharp, G. R.↗
NASA NTRS1994

Free-floating dual-arm robots for space assembly

Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object in an object pool. The analytics of such assemblies involve not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. In an effort to understand such assemblies in zero gravity space environment, we are currently developing at Ohio University a free-floating assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free-floating assembly table. The objective is to pick up workpieces from the material table and combine them into prespecified assemblies. This paper presents analytical models of assembly primitives and strategies for overall assembly. A computer simulation of an assembly is developed using the analytical models. The experiment facility will be used to verify the theoretical predictions.

Agrawal, Sunil Kumar↗
NASA NTRS1981

Subcritical transition to turbulence in planar shear flows

The two-dimensional steady and time dependent properties of plane Poiseuille and plane Couette flows are analyzed using iterative techniques and full numerical simulation of the Navier-Stokes equations. It is shown that the finite-amplitude two-dimensional states investigated are strongly unstable to very small three-dimensional perturbations. It is also shown, through full numerical simulation, that this explosive secondary instability can explain the subcritical transitions that occur in real flows. Finally, it is shown that the three-dimensional instability can be analyzed by a linear stability analysis of a two-dimensional flow consisting of the basic parallel flow and a steady (or quasi-steady) finite-amplitude two-dimensional cellular motion.

Orszag, S. A.↗
NASA NTRS1998

Annual Research Briefs, 1998

The topics contained in this progress report are direct numerical simulation of turbulent non-premixed combustion with realistic chemistry; LES of non-premixed turbulent reacting flows with conditional source term estimation; measurements of the three-dimensional scalar dissipation rate in gas-phase planar turbulent jets; direct simulation of a jet diffusion flame; on the use of interpolating wavelets in the direct numerical simulation of combustion; on the use of a dynamically adaptive wavelet collocation algorithm in DNS (direct numerical simulation) of non-premixed turbulent combustion; 2D simulations of Hall thrusters; computation of trailing-edge noise at low mach number using LES and acoustic analogy; weakly nonlinear modeling of the early stages of bypass transition; interactions between freestream turbulence and boundary layers; interfaces at the outer boundaries of turbulent motions; largest scales of turbulent wall flows; the instability of streaks in near-wall turbulence; an implementation of the v(sup 2) - f model with application to transonic flows; heat transfer predictions in cavities; a structure-based model with stropholysis effects; modeling a confined swirling coaxial jet; subgrid-scale models based on incremental unknowns for large eddy simulations; subgrid scale modeling taking the numerical error into consideration; towards a near-wall model for LES of a separated diffuser flow; on the feasibility of merging LES with RANS (Reynolds Averaging Numerical simulation) for the near-wall region of attached turbulent flows; large-eddy simulation of a separated boundary layer; numerical study of a channel flow with variable properties; on the construction of high order finite difference schemes on non-uniform meshes with good conservation properties; development of immersed boundary methods for complex geometries; and particle methods for micro and macroscale flow simulations.

Spinks, Debra↗
NASA NTRS1995

Rotational and Translational Components of Motion Parallax: Observers' Sensitivity and Implications for Three-Dimensional Computer Graphics

The motion of objects during motion parallax can be decomposed into 2 observer-relative components: translation and rotation. The depth ratio of objects in the visual field is specified by the inverse ratio of their angular displacement (from translation) or equivalently by the inverse ratio of their rotations. Despite the equal mathematical status of these 2 information sources, it was predicted that observers would be far more sensitive to the translational than rotational component. Such a differential sensitivity is implicitly assumed by the computer graphics technique billboarding, in which 3-dimensional (3-D) objects are drawn as planar forms (i.e., billboards) maintained normal to the line of sight. In 3 experiments, observers were found to be consistently less sensitive to rotational anomalies. The implications of these findings for kinetic depth effect displays and billboarding techniques are discussed.

Kaiser, Mary K.↗
NASA NTRS1996

Spatial orientation of semicircular canals and afferent sensitivity vectors in pigeons

Rotational head motion in vertebrates is detected by the semicircular canal system, whose innervating primary afferent fibers carry information about movement in specific head planes. The semicircular canals have been qualitatively examined over a number of years, and the canal planes have been quantitatively characterized in several animal species. The present study first determined the geometric relationship between individual semicircular canals and between the canals and the stereotactic head planes in pigeons. Stereotactic measurements of multiple points along the circumference of the bony canals were taken, and the measured points fitted with a three-dimensional planar surface. Direction normals to the plane's surface were calculated and used to define angles between semicircular canal pairs. Because of the unusual shape of the anterior semicircular canals in pigeons, two planes, a major and a minor, were fitted to the canal's course. Calculated angle values for all canals indicated that the horizontal and posterior semicircular canals are nearly orthogonal, but the anterior canals have substantial deviations from orthogonality with other canal planes. Next, the responses of the afferent fibers that innervate each of the semicircular canals to 0.5 Hz sinusoidal rotation about an earth-vertical axis were obtained. The head orientation relative to the rotation axis was systematically varied so that directions of maximum sensitivity for each canal afferent could be determined. These sensitivity vectors were then compared with the canal plane direction normals. The afferents that innervated specific semicircular canals formed homogeneous clusters of sensitivity vectors in different head planes. The horizontal and posterior afferents had average sensitivity vectors that were largely co-incident with the innervated canal plane direction normals. Anterior canal afferents, however, appeared to synthesize contributions from the major and minor plane components of the bony canal structure to produce a resultant sensitivity vector that was positioned between the canal planes. Calculated angles between the average canal afferent sensitivity vectors revealed that direction orthogonality is preserved at the afferent signal level, even though deviations from canal plane orthogonality exist.

NASA Discipline Neuroscience↗
NASA NTRS2014

EMU Suit Performance Simulation

Introduction: Designing a planetary suit is very complex and often requires difficult trade‐offs between performance, cost, mass, and system complexity. To verify that new suit designs meet requirements, full prototypes must be built and tested with human subjects. However, numerous design iterations will occur before the hardware meets those requirements. Traditional draw‐prototype‐test paradigms for research and development are prohibitively expensive with today's shrinking Government budgets. Personnel at NASA are developing modern simulation techniques that focus on a human‐centric design paradigm. These new techniques make use of virtual prototype simulations and fully adjustable physical prototypes of suit hardware. This is extremely advantageous and enables comprehensive design down‐selections to be made early in the design process. Objectives: The primary objective was to test modern simulation techniques for evaluating the human performance component of two EMU suit concepts, pivoted and planar style hard upper torso (HUT). Methods: This project simulated variations in EVA suit shoulder joint design and subject anthropometry and then measured the differences in shoulder mobility caused by the modifications. These estimations were compared to human‐in‐the‐loop test data gathered during past suited testing using four subjects (two large males, two small females). Results: Results demonstrated that EVA suit modeling and simulation are feasible design tools for evaluating and optimizing suit design based on simulated performance. The suit simulation model was found to be advantageous in its ability to visually represent complex motions and volumetric reach zones in three dimensions, giving designers a faster and deeper comprehension of suit component performance vs. human performance. Suit models were able to discern differing movement capabilities between EMU HUT configurations, generic suit fit concerns, and specific suit fit concerns for crewmembers based on individual anthropometry

Cowley, Matthew S.↗
NASA NTRS1972

Low frequency creep in CoNiFe films

The results of an investigation of domain wall motion excited by slow rise-time, bipolar, hard-axis pulses in vacuum deposited CoNiFe films 1500A to 2000A thick are presented. The results are consistent with those of comparable NiFe films in spite of large differences in film properties. The present low frequency creep data together with previously published results in this and other laboratories can be accounted for by a model which requires that the wall structure change usually associated with low frequency creep be predominately a gyromagnetic process. The correctness of this model is reinforced by the observation that the wall coercive force, the planar wall mobility, and the occurrence of an abrupt wall structure change are the only properties closely correlated to the creep displacement characteristics of a planar wall in low dispersion films.

Bartran, D. S.↗
NASA NTRSDate not supplied

Simulation and Modeling of Hypersonic Turbulent Boundary Layers Subject to Favorable Pressure Gradients due to Streamline Curvature

Direct numerical simulations (DNS) of favorable-pressure-gradient turbulent boundary layers are presented for a nominal freestream Mach number of 5, with the objective of assessing the limitations of the currently available Reynolds-averaged Navier-Stokes (RANS) models. The favorable pressure gradient is induced by the streamwise curvature of the two-dimensional, planar, convex measurement surface used during experiments at the Texas A&M University. The DNS data shows good comparison with the measured velocity profiles, strain rates, and some, but not all, of the Reynolds-stress components. The discrepancies between the predicted and the measured wall-normal as well as shear stress components are primarily attributed to the lower than actual values inferred from typical PIV measurements of turbulent boundary layers. The DNS data shows a zero or slightly negative Reynolds shear stress in the outer part of the boundary-layer, which is indicative of the decaying turbulent motion under a strong favorable pressure gradient. The DNS data is also compared with the results of RANS computations based on commonly used zero, one, and two equation eddy-viscosity models. The RANS models yield reasonable comparisons with the DNS-based skin friction under zero and weak pressure gradients, but significant discrepancies under a strong pressure gradient. The k-w SST model provided the best overall predictions of skin friction, except in the region where the flow transitions from a favorable to an adverse pressure gradient. While the RANS models examined herein also give good predictions of the Reynolds shear stress under a sufficiently weak pressure gradient, none of those models are able to appropriately capture the reduction in the Reynolds stresses when the flow was subjected to a strong pressure gradient. An a priori assessment of the turbulent heat-flux prediction based on the assumption of a constant turbulent Prandtl number with the DNS data shows that while the constant turbulent Prandtl number model is effective in predicting the wall-normal component of turbulent heat flux, it does not capture the turbulent heat transfer in the streamwise direction for all the pressure gradient cases. The failure of the constant turbulent Prandtl number model highlights a requirement for more advanced models of the turbulent heat flux.

turbulent boundary layers↗