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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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At least 289 records · Page 16
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NASA NTRS1987

Vacillations induced by interference of stationary and traveling planetary waves

The interference pattern produced when a traveling planetary wave propagates over a stationary forced wave is explored, examining the interference signature in a variety of diagnostics. The wave field is first restricted to a diatomic spectrum consisting of two components: a single stationary wave and a single monochromatic traveling wave. A simple barotropic normal mode propagating over a simple stationary plane wave is considered, and closed form solutions are obtained. The wave fields are then restricted spatially, providing more realistic structures without sacrificing the advantages of an analytical solution. Both stationary and traveling wave fields are calculated numerically with the linearized Primitive Equations in a realistic basic state. The mean flow reaction to the fluctuating eddy forcing which results from interference is derived. Synoptic geopotential behavior corresponding to the combined wave and mean flow fields is presented, and the synoptic signature in potential vorticity on isentropic surfaces is examined.

Salby, Murry L.↗
NASA NTRS1987

Closed-form analysis for elastic deformations of multilayered strands

Closed-form solutions are developed for elastic deformation characteristics of multilayered strands under tensile and torsional loads. These analytical results are successfully applied to obtain expressions for the effective extensional and torsional moduli of rigidity for the strands. Finally, a simple design criterion is established for 'nonrotating' cables.

Kumar, K.↗
NASA NTRS1987

Gravity and conduction driven melting in a sphere

In the Stefan and Neumann problems fundamentally characterizing melting, unmolten portions of a solid undergoing phase changes within spherical containers are assumed to remain stationary. An approach to these issues that is related to the theories of lubrication and film condensation is presently employed in conjunction with an approximate, closed-form solution of melting within spheres. It is shown that a group of dimensionless parameters containing Prandtl, Archimides and Stefan numbers can describe the melting process. Also given are the results of fundamental heat transfer experiments performed on the melting of a phase-change medium in a spherical shell.

Bahrami, P. A.↗
NASA NTRS1988

Viscous induced drag

A fundamentally new approach to the aircraft minimum induced drag problem is presented. The method, a 'viscous lifting line', is based on the minimum entropy production principle and does not require the planar wake assumption. An approximate, closed form solution is obtained and compared with several classical results. In addition, the problem of optimizing in-plane wing sweep with constant wing root bending moment is considered. Like the classical lifting line theory, this theory predicts that induced drag is proportional to the square of the lift coefficient and inversely proportional to the wing aspect ratio. Unlike the classical theory, it predicts that in-plane wing sweep may significantly reduce induced drag, that induced drag is Reynolds number dependent, and that the optimum spanwise circulation distribution is non-elliptic.

Greene, George C.↗
NASA NTRS1988

Three-dimensional axisymmetric ball model for the PC-TAP program

Spherical-geometry solids' thermal modeling is presently undertaken with a three-dimensional FEM method that can be used in conjunction with the IBM-PC Thermal Analyzer Program (TAP). The elements of the model's nodal network are spherical triangles having approximately equivalent volumes for transient cases, thereby decreasing computer run times. Attention is given to results for the three test cases to which the model has been applied, which are compared with results from analytical closed-form solutions. Absolute temperature errors not greater than 1 percent are indicated by the comparisons.

Pidcoke, L. H.↗
NASA NTRS1987

Statistics of Sxy estimates

The statistics of Sxy estimates derived from orthogonal-component measurements are examined. Based on results of Goodman (1957), the probability density function (pdf) for Sxy(f) estimates is derived, and a closed-form solution for arbitrary moments of the distribution is obtained. Characteristic functions are used to derive the exact pdf of Sxy(tot). In practice, a simple Gaussian approximation is found to be highly accurate even for relatively few degrees of freedom. Implications for experiment design are discussed, and a maximum-likelihood estimator for a posterior estimation is outlined.

Freilich, M. H.↗
NASA NTRS1988

Vapor concentration measurement with photothermal deflectometry

Theoretical and experimental results for using the photothermal deflection technique to measure vapor species concentration, while minimizing the disturbance of the transport (material) parameters due to vapor heating, are developed and described. In contrast to common practice, the above constraints require using a pump-beam duty cycle of less than 50 percent. The theoretical description of the shortened heating time is based on a step-function formulation of the pumping cycle. The results are obtained as closed-form solutions of the energy equation for many chopping cycles until steady state is reached, by use of a Green's-function method. The Euler formulation of the Fermat principle is used to calculate the deflection angle. The equations are expanded to include the effects of vapor velocity on both the temperature and temperature gradient profiles. The effects of finite (unfocused) pump and probe beams and thermal (Soret) diffusion are also accounted for. Excellent agreement between theory and experiment is obtained.

Banish, R. Michael↗
NASA NTRS1989

Inversion Of Jacobian Matrix For Robot Manipulators

Report discusses inversion of Jacobian matrix for class of six-degree-of-freedom arms with spherical wrist, i.e., with last three joints intersecting. Shows by taking advantage of simple geometry of such arms, closed-form solution of Q=J-1X, which represents linear transformation from task space to joint space, obtained efficiently. Presents solutions for PUMA arm, JPL/Stanford arm, and six-revolute-joint coplanar arm along with all singular points. Main contribution of paper shows simple geometry of this type of arms exploited in performing inverse transformation without any need to compute Jacobian or its inverse explicitly. Implication of this computational efficiency advanced task-space control schemes for spherical-wrist arms implemented more efficiently.

Fijany, Amir↗
NASA NTRS1989

Development of kinematic equations and determination of workspace of a 6 DOF end-effector with closed-kinematic chain mechanism

This report presents results from the research grant entitled Active Control of Robot Manipulators, funded by the Goddard Space Flight Center, under Grant NAG5-780, for the period July 1, 1988 to January 1, 1989. An analysis is presented of a 6 degree-of-freedom robot end-effector built to study telerobotic assembly of NASA hardware in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic mechanisms are chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on link constraints. Computer simulation results are presented.

Nguyen, Charles C.↗
NASA NTRS1989

The structural response of unsymmetrically laminated composite cylinders

The responses of an unsymmetrically laminated fiber-reinforced composite cylinder to an axial compressive load, a torsional load, and the temperature change associated with cooling from the processing temperature to the service temperature are investigated. These problems are considered axisymmetric and the response is studied in the context of linear elastic material behavior and geometrically linear kinematics. Four different laminates are studied: a general unsymmetric laminate; two unsymmetric but more conventional laminates; and a conventional quasi-isotropic symmetric laminate. The responses based on closed-form solutions for different boundary conditions are computed and studied in detail. Particular emphasis is directed at understanding the influence of elastic couplings in the laminates. The influence of coupling decreased from a large effect in the general unsymmetric laminate, to practically no effect in the quasi-isotropic laminate. For example, the torsional loading of the general unsymmetric laminate resulted in a radial displacement. The temperature change also caused a significant radial displacement to occur near the ends of the cylinder. On the other hand, the more conventional unsymmetric laminate and the quasi-isotropic cylinder did not deform radially when subjected to a torsional load. From the results obtained, it is clear the degree of elastic coupling can be controlled and indeed designed into a cylinder, the degree and character of the coupling being dictated by the application.

Butler, T. A.↗
NASA NTRS1988

Efficient Jacobian inversion for the control of simple robot manipulators

Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q = J-1X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA, Stanford, and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provides a better insight into the effect of different singular points on the motion and force exertion of each individual joint. For the above arms, the computation cost of the solution is on the same order as the cost of forward kinematic solution and it is significantly reduced if forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.

Fijany, Amir↗
NASA NTRS1988

Information content of radiometric and optical data during planetary encounter

An assessment is made of the feasibility of determining the flyby position and velocity parameters from optical data. Closed form solutions for the various parameter estimates are derived to show the functional dependence of the estimates on the nominal flyby parameters as well as the data arc characteristics. A strong correlation between the downtrack position and crosstrack velocity estimates is observed for the case of a short optical data arc, and a similarly strong correlation between the flyby planet mass and the flyby distance estimates is demonstrated for the case of radiometric data.

Kechichian, Jean A.↗
NASA NTRS1988

Convolution-controlled rotation and scale invariance in optical correlation

A method is presented for evoking a controlled, continuously-variable degree of rotation- and scale-invariance in optical correlation; the method is suitable for off-line computation of filters, though not for real-time computation. While a closed-form solution for the blur kernels has thus far evaded solution, a digital approximation method has been presented. A simulated correlation run with real, frame-grabbed imagery has indicated the method's desired performance. These Gaussian blur kernels can be replaced with box-car kernels or other blur kernels suitable for the given correlation-task.

Juday, Richard D.↗
NASA NTRS1989

Moment distributions around holes in symmetric composite laminates subjected to bending moments

An analytical investigation of the effects of holes on the moment distribution of symmetric composite laminates subjected to bending moments is described. A general, closed-form solution for the moment distribution of an infinite anisotropic plate is derived, and this solution is used to determine stress distributions both on the hole boundary and throughout the plate. Results are presented for several composite laminates that have holes and are subjected to either pure bending or cylindrical bending. Laminates with a circular hole or with an elliptical hole are studied. Laminate moment distributions are discussed, and ply stresses are described.

Prasad, C. B.↗
NASA NTRS1989

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Nguyen, Charles C.↗
NASA NTRS1987

Manual for Program PSTRESS: Peel stress computation

Described is the use of the interactive FORTRAN computer program PSTRESS, which computes a closed form solution for two bonded plates subjected to applied moments, vertical shears, and in-plane forces. The program calculates in-plane stresses in the plates, deflections of the plates, and peel and shear stresses in the adhesive. The document briefly outlines the analytical method used by PSTRESS, describes the input and output of the program, and presents a sample analysis. The results of the latter are shown to be within a few percent of results obtained using a NASTRAN finite element analysis. An appendix containing a listing of PSTRESS is included.

Barkey, Derek A.↗
NASA NTRS1989

The nonconvex multi-dimensional Riemann problem for Hamilton-Jacobi equations

Simple inequalities for the Riemann problem for a Hamilton-Jacobi equation in N space dimension when neither the initial data nor the Hamiltonian need be convex (or concave) are presented. The initial data is globally continuous, affine in each orthant, with a possible jump in normal derivative across each coordinate plane, x sub i = 0. The inequalities become equalities wherever a maxmin equals a minmax and thus an exact closed form solution to this problem is then obtained.

Osher, Stanley↗
NASA NTRS1990

Combined effect of matrix cracking and stress-free edge on delamination

The effect of the stress-free edge on the growth of local delaminations initiating from a matrix crack in (0 sub 2/90 sub 4) sub s and (+ or - 45.90 sub 4) sub s glass epoxy laminates is investigated using 3-D finite element analysis. The presence of high interlaminar normal stresses at the intersection (corner) of the matrix crack with the stress-free edge, suggests that a mode I delamination may initiate at the corners. The strain energy release rates (G) were calculated by modeling a uniform through-width delamination and two inclined delaminations at 10.6 deg and 45 deg to the matrix crack. All components of G have high values near the free edges. The mode I component of G is high at small delamination length and becomes zero for a delamination length of one-ply thickness. The total G values near the free edge agreed well with previously derived closed form solution. The quasi-3D solutions agreed well with the 3-D interior solutions.

Salpekar, S. A.↗