Heave dynamics of tracked air-cushion vehicles
Tracked air cushion vehicle dynamic heave response, examining flow characteristics, active lip control, guideway contact, acceleration response, etc
Leatherwood, J. D.↗
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Analytic theory of orbit contraction and ballistic entry into planetary atmospheres
A space object traveling through an atmosphere is governed by two forces: aerodynamic and gravitational. On this premise, equations of motion are derived to provide a set of universal entry equations applicable to all regimes of atmospheric flight from orbital motion under the dissipate force of drag through the dynamic phase of reentry, and finally to the point of contact with the planetary surface. Rigorous mathematical techniques such as averaging, Poincare's method of small parameters, and Lagrange's expansion, applied to obtain a highly accurate, purely analytic theory for orbit contraction and ballistic entry into planetary atmospheres. The theory has a wide range of applications to modern problems including orbit decay of artificial satellites, atmospheric capture of planetary probes, atmospheric grazing, and ballistic reentry of manned and unmanned space vehicles.
Longuski, J. M.↗
Experiments in cooperative manipulation: A system perspective
In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.
Schneider, Stanley A.↗
Microgravity Combustion Science and Fluid Physics Experiments and Facilities for the ISS
At the NASA Glenn Research Center, the Microgravity Science Program supports both ground-based and flight experiment research in the disciplines of Combustion Science and Fluid Physics. Combustion Science research includes the areas of gas jet diffusion flames, laminar flames, burning of droplets and misting fuels, solids and materials flammability, fire and fire suppressants, turbulent combustion, reaction kinetics, materials synthesis, and other combustion systems. The Fluid Physics discipline includes the areas of complex fluids (colloids, gels, foams, magneto-rheological fluids, non-Newtonian fluids, suspensions, granular materials), dynamics and instabilities (bubble and drop dynamics, magneto/electrohydrodynamics, electrochemical transport, geophysical flows), interfacial phenomena (wetting, capillarity, contact line hydrodynamics), and multiphase flows and phase changes (boiling and condensation, heat transfer, flow instabilities). A specialized International Space Station (ISS) facility that provides sophisticated research capabilities for these disciplines is the Fluids and Combustion Facility (FCF). The FCF consists of the Combustion Integrated Rack (CIR), the Fluids Integrated Rack (FIR) and the Shared Accommodations Rack and is designed to accomplish a large number of science investigations over the life of the ISS. The modular, multiuser facility is designed to optimize the science return within the available resources of on-orbit power, uplink/downlink capacity, crew time, upmass/downmass, volume, etc. A suite of diagnostics capabilities, with emphasis on optical techniques, will be provided to complement the capabilities of the subsystem multiuser or principal investigator-specific experiment modules. The paper will discuss the systems concept, technical capabilities, functionality, and the initial science investigations in each discipline.
Lauver, Richard W.↗
Results of the Fluid Merging Viscosity Measurement International Space Station Experiment
The purpose of FMVM is to measure the rate of coalescence of two highly viscous liquid drops and correlate the results with the liquid viscosity and surface tension. The experiment takes advantage of the low gravitational free floating conditions in space to permit the unconstrained coalescence of two nearly spherical drops. The merging of the drops is accomplished by deploying them from a syringe and suspending them on Nomex threads followed by the astronaut s manipulation of one of the drops toward a stationary droplet till contact is achieved. Coalescence and merging occurs due to shape relaxation and reduction of surface energy, being resisted by the viscous drag within the liquid. Experiments were conducted onboard the International Space Station in July of 2004 and subsequently in May of 2005. The coalescence was recorded on video and down-linked near real-time. When the coefficient of surface tension for the liquid is known, the increase in contact radius can be used to determine the coefficient of viscosity for that liquid. The viscosity is determined by fitting the experimental speed to theoretically calculated contact radius speed for the same experimental parameters. Recent fluid dynamical numerical simulations of the coalescence process will be presented. The results are important for a better understanding of the coalescence process. The experiment is also relevant to liquid phase sintering, free form in-situ fabrication, and as a potential new method for measuring the viscosity of viscous glass formers at low shear rates.
Ethridge, Edwin C.↗
The Exploration Portable Electrostatic Detector (xPED)
Astronauts and rovers, while exploring dynamic environments, can experience charge buildup through Tribo-charging (contact electrification). Charge levels can become substantially high. especially in areas where photoelectric and plasma currents are reduced (e.g. lunar polar crater). Tribo-charging in areas that have little to no charge dissipative path can be severe, leaving an astronaut or roving object to remain charged for extended periods of time. Charge buildup on space suits and/or rovers is expected to present significant hazards to missions, such as electrostatic discharge and arcing, dust adhesion to space suits/equipment, and destruction of equipment. The avoidance of hazards associated with charge buildup is critical for future NASA missions to near earth objects, the Moon and Mars. The Exploration Portable Electrostatic Device (xPED) will allow astronauts to determine their charge state, and also characterize the electrical environment from their excursions. xPED would benefit manned, as well as robotic missions.
Jackson, Telana L.↗
Infrared Emission Spectroscopy as a Reliability Tool
In this paper we report on a technique based on infrared emission spectroscopy which has been found to be useful for non-contact measurement of the temperature of a hot spot in the gate channel of a GaAs metal/semiconductor field effect transistor (MESFET).
infrared↗
Mechanical model of an earthquake fault
The dynamic behavior of a simple mechanical model of an earthquake fault is studied. This model, introduced originally by Burridge and Knopoff (1967), consists of an elastically coupled chain of masses in contact with a moving rough surface. The present version of the model retains the full Newtonian dynamics with inertial effects and contains no externally imposed stochasticity or spatial inhomogeneity. The only nonlinear feature is a velocity-weakening stick-slip friction force between the masses and the moving surface. This system is being driven persistently toward a slipping instability and therefore exhibits noisy sequences of earthquakelike events. These events are observed in numerical simulations, and many of their features can be predicted analytically.
Carlson, J. M.↗
Analysis of the Touch-And-Go Surface Sampling Concept for Comet Sample Return Missions
This paper studies the Touch-and-Go (TAG) concept for enabling a spacecraft to take a sample from the surface of a small primitive body, such as an asteroid or comet. The idea behind the TAG concept is to let the spacecraft descend to the surface, make contact with the surface for several seconds, and then ascend to a safe location. Sampling would be accomplished by an end-effector that is active during the few seconds of surface contact. The TAG event is one of the most critical events in a primitive body sample-return mission. The purpose of this study is to evaluate the dynamic behavior of a representative spacecraft during the TAG event, i.e., immediately prior, during, and after surface contact of the sampler. The study evaluates the sample-collection performance of the proposed sampling end-effector, in this case a brushwheel sampler, while acquiring material from the surface during the contact. A main result of the study is a guidance and control (G&C) validation of the overall TAG concept, in addition to specific contributions to demonstrating the effectiveness of using nonlinear clutch mechanisms in the sampling arm joints, and increasing the length of the sampling arms to improve robustness.
Touch-and-Go (TAG)↗
Photogrammetry and Videogrammetry Methods for Solar Sails and Other Gossamer Structures
Ultra-lightweight and inflatable gossamer space structures are designed to be tightly packaged for launch, then deploy or inflate once in space. These properties will allow for in-space construction of very large structures 10 to 1000 meters in size such as solar sails, inflatable antennae, and space solar power stations using a single launch. Solar sails are of particular interest because of their potential for propellantless propulsion. Gossamer structures do, however, have significant complications. Their low mass and high flexibility make them very difficult to test on the ground. The added mass and stiffness of attached measurement devices can significantly alter the static and dynamic properties of the structure. This complication necessitates an alternative approach for characterization. This paper discusses the development and application of photogrammetry and videogrammetry methods for the static and dynamic characterization of gossamer structures, as four specific solar sail applications demonstrate. The applications prove that high-resolution, full-field, non-contact static measurements of solar sails using dot projection photogrammetry are possible as well as full-field, noncontact, dynamic characterization using dot projection videogrammetry.
Black, Jonathan T.↗
Influence of tooth profile modification on spur gear dynamic tooth strain
This paper presents results of dynamic strain gage measurements performed on the NASA gear-noise rig. The experiments were part of a joint research program between NASA and the U.S. Army Research Laboratory to advance the technology of rotorcraft transmissions. Tests were performed on six sets of low contact ratio spur gears with different tooth profile modifications. Results presented include static and dynamic measurements of gear tooth strain taken over a matrix of operating conditions. The results demonstrate that a well-designed tooth profile modification can significantly reduce dynamic loads in spur gears, especially for gears which operate at high speed and under high torque. The two parabolic modifications tested were not as effective as linear modifications, possibly because the modification zone was too long.
Oswald, Fred B.↗
Simulation of flexible structures with impact: Experimental validation
The simulation of the dynamic behavior of flexible structures with impact, is experimentally and numerically investigated. A radially rotating flexible beam attached to a rigid shaft is considered. Both experimental and numerical studies are undertaken. Experimental studies how excellent agreement with simulation studies using both the momentum balance (coefficient of friction), and spring-dashpot (impact pair) models. The simulation studies are even capable of predicting the high-speed multiple impacts which occur due to structural flexibility and which are experimentally observed using high-speed video photography. The results of the studies show that a simple momentum balance (coefficient of restitution) method for simulating the impact is sufficiently accurate in predicting the dynamic behavior of the system for most engineering applications. The momentum balance method cannot simulate the impact force which develops during the contact duration, but is computationally very efficient. The spring-dashpot model is more difficult to develop and requires significantly larger computation time, but can simulate impact forces and stresses due to impact. The momentum balance (coefficient of restitution) method, although strictly not applicable to flexible bodies, has been shown to provide an accurate and computationally efficient method for simulating the dynamic behavior of flexible structures with impact when contact stresses are not needed.
Ulsoy, A. Galip↗
Coupling of fingertip somatosensory information to head and body sway
Light touch contact of a fingertip with a stationary surface can provide orientation information that enhances control of upright stance. Slight changes in contact force at the fingertip provide sensory cues about the direction of body sway, allowing attenuation of sway. In the present study, we asked to which extent somatosensory cues are part of the postural control system, that is, which sensory signal supports this coupling? We investigated postural control not only when the contact surface was stationary, but also when it was moving rhythmically (from 0.1 to 0.5 Hz). In doing so, we brought somatosensory cues from the hand into conflict with other parts of the postural control system. Our focus was the temporal relationship between body sway and the contact surface. Postural sway was highly coherent with contact surface motion. Head and body sway assumed the frequency of the moving contact surface at all test frequencies. To account for these results, a simple model was formulated by approximating the postural control system as a second-order linear dynamical system. The influence of the touch stimulus was captured as the difference between the velocity of the contact surface and the velocity of body sway, multiplied by a coupling constant. Comparison of empirical results (relative phase, coherence, and gain) with model predictions supports the hypothesis of coupling between body sway and touch cues through the velocity of the somatosensory stimulus at the fingertip. One subject, who perceived movement of the touch surface, demonstrated weaker coupling than other subjects, suggesting that cognitive mechanisms introduce flexibility into the postural control scheme.
NASA Discipline Neuroscience↗
Analytical ultrasonics for characterization of metallurgical microstructures and transformations
The application of contact (piezoelectric) and noncontact (laser generation and detection) ultrasonic techniques for dynamic investigation of precipitation hardening processes in aluminum alloys, as well as crystallization and phase transformation in rapidly solidified amorphous and microcrystalline alloys is discussed. From the variations of the sound velocity and attenuation the precipitation mechanism and kinetics were determined. In addition, a correlation was established between the observed changes in the velocity and attenuation and the mechanical properties of age-hardenable aluminum alloys. The behavior of the elastic moduli, determined ultrasonically, were found to be sensitive to relaxation, crystallization and phase decomposition phenomena in rapidly solidified metallic glasses. Analytical ultrasonics enables determination of the activation energies and growth parameters of the reactions. Therefrom theoretical models can be constructed to explain the changes in mechanical and physical properties upon heat treatment of glassy alloys. The composition dependence of the elastic moduli in amorphous Cu-Zr alloys was found to be related to the glass transition temperature, and consequently to the glass forming ability of these alloys. Dynamic ultrasonic analysis was found to be feasible for on-line, real-time, monitoring of metallurgical processes.
Rosen, M.↗
UM-PRS: An implementation of the procedural reasoning system for multirobot applications
The Procedural Reasoning System (PRS) is used in applications where predetermined situations might arise. The UM-PRS provides a reasoning system that represents robotic applications even in unpredictable domains, such as the robotic reconnaissance task domain outlined here. UM-PRS incorporates a changing context, rather than relying solely on a prearranged plan. The UM-PRS here provides representation important in the reasoning and interface between a mission plan and the executable map of an outdoor vehicle that changes its behavior based on what it comes in contact with in its environment. PRS is thus used in the dynamic control of such a vehicle, providing the basis for coordinating the joint task of multiple robotic vehicles by the their individual observations and representation.
Lee, Jaeho↗
Motion of the heliospheric termination shock. 4: MHD effects
In this paper we generalize earlier gasdynamic analyses of the motion of the heliospheric termination shock in response to upstream disturbances (Barnes, 1993, 1994; Naidu and Barnes, 1994), to include magnetohydrodynamic (MHD) phenomena. We assume that the termination shock is a strong, perpendicular shock and that the initial upstream disturbance is a tangential discontinuity. The resulting configuration after the interaction is very similar to that in the gasdynamic models after an interaction with a contact discontinuity or interplanetary shock, and for an increase (decrease) in dynamic pressure consists of an outward (inward) propagating termination shock and an outward propagating shock (MHD rarefraction wave) that carries the signal of the disturbance into the far downstream plasma. The plasma immediately behind the new termination shock is separated from the downstream signal by a tangential discontinuity. The results of the model show that the speed of the new termination shock depends mainly on the magnitude of the change in dynamic pressure and are typically of order approximately 100 km/s, comparable to the results of the gasdynamic models.
Naidu, Kamcilla↗
Motion of the Heliospheric Termination Shock: MHD Effects - 4
In this paper we generalize earlier gasdynamic analyses of the motion of the heliospheric termination shock in response to upstream disturbances to include magnetohydrodynamic (MHD) phenomena. We assume that the termination shock is a strong, perpendicular shock and that the initial upstream disturbance is a tangential discontinuity. The resulting configuration after the interaction is very similar to that in the gasdynamic models after an interaction with a contact discontinuity or interplanetary shock, and for an increase (decrease) in dynamic pressure consists of an outward (inward) propagating termination shock and an outward propagating shock (MHD rarefaction wave) that carries the signal of the disturbance into the far downstream plasma. The plasma immediately behind the new termination shock is separated from the downstream signal by a tangential discontinuity. The results of the model show that the speed of the new termination shock depends mainly on the magnitude of the change in dynamic pressure and are typically of order -100 km/s, comparable to the results of the gasdynamic models.
Naidu, Kamcilla↗
Resistance to Rolling in the Adhesive Contact of Two Elastic Spheres
For the stability of agglomerates of micron sized particles it is of considerable importance to study the effects of tangential forces on the contact of two particles. If the particles can slide or roll easily over each other, fractal structures of these agglomerates will not be stable. We use the description of contact forces by Johnson, Kendall and Roberts, along with arguments based on the atomic structure of the surfaces in contact, in order to calculate the resistance to rolling in such a contact. It is shown that the contact reacts elastically to torque forces up to a critical bending angle. Beyond that, irreversible rolling occurs. In the elastic regime, the moment opposing the attempt to roll is proportional to the bending angle and to the pull-off force P(sub c). Young's modulus of the involved materials has hardly any influence on the results. We show that agglomerates of sub-micron sized particles will in general be quite rigid and even long chains of particles cannot be bent easily. For very small particles, the contact will rather break than allow for rolling. We further discuss dynamic properties such as the possibility of vibrations in this degree of freedom and the typical amount of rolling during a collision of two particles.
Dominik, C.↗