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At least 289 records · Page 16

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NASA NTRS2013

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Abdallah, Muhammad E.↗

NASA NTRS2014

Irrigation as an Historical Climate Forcing

Irrigation is the single largest anthropogenic water use, a modification of the land surface that significantly affects surface energy budgets, the water cycle, and climate. Irrigation, however, is typically not included in standard historical general circulation model (GCM) simulations along with other anthropogenic and natural forcings. To investigate the importance of irrigation as an anthropogenic climate forcing, we conduct two 5-member ensemble GCM experiments. Both are setup identical to the historical forced (anthropogenic plus natural) scenario used in version 5 of the Coupled Model Intercomparison Project, but in one experiment we also add water to the land surface using a dataset of historically estimated irrigation rates. Irrigation has a negligible effect on the global average radiative balance at the top of the atmosphere, but causes significant cooling of global average surface air temperatures over land and dampens regional warming trends. This cooling is regionally focused and is especially strong in Western North America, the Mediterranean, the Middle East, and Asia. Irrigation enhances cloud cover and precipitation in these same regions, except for summer in parts of Monsoon Asia, where irrigation causes a reduction in monsoon season precipitation. Irrigation cools the surface, reducing upward fluxes of longwave radiation (increasing net longwave), and increases cloud cover, enhancing shortwave reflection (reducing net shortwave). The relative magnitude of these two processes causes regional increases (northern India) or decreases (Central Asia, China) in energy availability at the surface and top of the atmosphere. Despite these changes in net radiation, however, climate responses are due primarily to larger magnitude shifts in the Bowen ratio from sensible to latent heating. Irrigation impacts on temperature, precipitation, and other climate variables are regionally significant, even while other anthropogenic forcings (anthropogenic aerosols, greenhouse gases, etc.) dominate the long term climate evolution in the simulations. To better constrain the magnitude and uncertainties of irrigation-forced climate anomalies, irrigation should therefore be considered as another important anthropogenic climate forcing in the next generation of historical climate simulations and multimodel assessments.

simulation↗

NASA NTRS2015

Sensitivity of Simulated Global Ocean Carbon Flux Estimates to Forcing by Reanalysis Products

Reanalysis products from MERRA, NCEP2, NCEP1, and ECMWF were used to force an established ocean biogeochemical model to estimate air-sea carbon fluxes (FCO2) and partial pressure of carbon dioxide (pCO2) in the global oceans. Global air-sea carbon fluxes and pCO2 were relatively insensitive to the choice of forcing reanalysis. All global FCO2 estimates from the model forced by the four different reanalyses were within 20% of in situ estimates (MERRA and NCEP1 were within 7%), and all models exhibited statistically significant positive correlations with in situ estimates across the 12 major oceanographic basins. Global pCO2 estimates were within 1% of in situ estimates with ECMWF being the outlier at 0.6%. Basin correlations were similar to FCO2. There were, however, substantial departures among basin estimates from the different reanalysis forcings. The high latitudes and tropics had the largest ranges in estimated fluxes among the reanalyses. Regional pCO2 differences among the reanalysis forcings were muted relative to the FCO2 results. No individual reanalysis was uniformly better or worse in the major oceanographic basins. The results provide information on the characterization of uncertainty in ocean carbon models due to choice of reanalysis forcing.

MERRA↗

NASA NTRS2016

Evaluation of the Hinge Moment and Normal Force Aerodynamic Loads from a Seamless Adaptive Compliant Trailing Edge Flap in Flight

A seamless adaptive compliant trailing edge (ACTE) flap was demonstrated in flight on a Gulfstream III aircraft at the NASA Armstrong Flight Research Center. The trailing edge flap was deflected between minus 2 deg up and plus 30 deg down in flight. The safety-of-flight parameters for the ACTE flap experiment require that flap-to-wing interface loads be sensed and monitored in real time to ensure that the structural load limits of the wing are not exceeded. The attachment fittings connecting the flap to the aircraft wing rear spar were instrumented with strain gages and calibrated using known loads for measuring hinge moment and normal force loads in flight. The safety-of-flight parameters for the ACTE flap experiment require that flap-to-wing interface loads be sensed and monitored in real time to ensure that the structural load limits of the wing are not exceeded. The attachment fittings connecting the flap to the aircraft wing rear spar were instrumented with strain gages and calibrated using known loads for measuring hinge moment and normal force loads in flight. The interface hardware instrumentation layout and load calibration are discussed. Twenty-one applied calibration test load cases were developed for each individual fitting. The 2-sigma residual errors for the hinge moment was calculated to be 2.4 percent, and for normal force was calculated to be 7.3 percent. The hinge moment and normal force generated by the ACTE flap with a hinge point located at 26-percent wing chord were measured during steady state and symmetric pitch maneuvers. The loads predicted from analysis were compared to the loads observed in flight. The hinge moment loads showed good agreement with the flight loads while the normal force loads calculated from analysis were over-predicted by approximately 20 percent. Normal force and hinge moment loads calculated from the pressure sensors located on the ACTE showed good agreement with the loads calculated from the installed strain gages.

Hinge Moment Loads↗

NASA NTRS2017

Global Climate Forcing from Albedo Change Caused by Large-scale Deforestation and Reforestation: Quantification and Attribution of Geographic Variation

Large-scale deforestation and reforestation have contributed substantially to historical and contemporary global climate change in part through albedo-induced radiative forcing, with meaningful implications for forest management aiming to mitigate climate change. Associated warming or cooling varies widely across the globe due to a range of factors including forest type, snow cover, and insolation, but resulting geographic variation remain spoorly described and has been largely based on model assessments. This study provides an observation-based approach to quantify local and global radiative forcings from large-scale deforestation and reforestation and further examines mechanisms that result in the spatial heterogeneity of radiative forcing. We incorporate a new spatially and temporally explicit land cover-specific albedo product derived from Moderate Resolution Imaging Spectroradiometer with a historical land use data set (Land Use Harmonization product). Spatial variation in radiative forcing was attributed to four mechanisms, including the change in snow-covered albedo, change in snow-free albedo, snow cover fraction, and incoming solar radiation. We find an albedo-only radiative forcing (RF) of -0.819 W m(exp -2) if year 2000 forests were completely deforested and converted to croplands. Albedo RF from global reforestation of present-day croplands to recover year 1700 forests is estimated to be 0.161 W m)exp -2). Snow-cover fraction is identified as the primary factor in determining the spatial variation of radiative forcing in winter, while the magnitude of the change in snow-free albedo is the primary factor determining variations in summertime RF. Findings reinforce the notion that, for conifers at the snowier high latitudes, albedo RF diminishes the warming from forest loss and the cooling from forest gain more so than for other forest types, latitudes, and climate settings.

Jiao, Tong↗

NASA NTRSDate not supplied

Additively Manufactured Wind Tunnel Balances for Propulsive Force Measurement

Propulsive forces and moments during powered descent are not understood well enough to design an entry, decent, and landing vehicle with high confidence using solely computational fluid dynamics modelling (CFD). Therefore, wind tunnel testing is required to quantify uncertainties in computational modeling and simulation. Wind tunnel balances are structural, high-precision, multi-axis force transducers that provide direct measurement of these aerodynamic forces and moments, however their complex designs make them costly and time consuming to produce and approaches used to manufacture them have not changed significantly since the 1960s. This work demonstrates that additive manufacturing (AM) can be used to manufacture wind tunnel balances with significantly reduced fabrication time and expense. Moreover, the design flexibility afforded by the additive manufacturing process has the potential to enable new capabilities with respect to measuring propulsion forces during entry, decent, and landing testing. Here we present two novel balance designs enabled by AM. One will provide direct measurement of aerodynamic interference forces and moments on powered descent models (retropropulsion forces) to support CFD validation and further development of Mars human landing vehicle concepts. The second design will be used to characterize a reaction control system during entry descent and landing testing over a wide Mach number range.

Wind tunnel balance↗

NASA NTRSDate not supplied

Additively Manufactured Balances for Propulsive Force Measurement

Propulsive forces and moments during powered descent are not understood well enough to design an entry, decent, and landing vehicle with high confidence using solely computational fluid dynamics modelling (CFD). Therefore, wind tunnel testing is required to quantify uncertainties in computational modeling and simulation. Wind tunnel balances are structural, high-precision, multi-axis force transducers that provide direct measurement of these aerodynamic forces and moments, however their complex designs make them costly and time consuming to produce and approaches used to manufacture them have not changed significantly since the 1960s. This work demonstrates that additive manufacturing (AM) can be used to manufacture wind tunnel balances with significantly reduced fabrication time and expense. Moreover, the design flexibility afforded by the additive manufacturing process has the potential to enable new capabilities with respect to measuring propulsion forces during entry, decent, and landing testing. Here we present two novel balance designs enabled by AM. One will provide direct measurement of aerodynamic interference forces and moments on powered descent models (retropropulsion forces) to support CFD validation and further development of Mars human landing vehicle concepts. The second design will be used to characterize a reaction control system during entry decent and landing testing over a wide Mach number range.

Wind tunnel balance↗

NASA NTRS1995

Motor adaptation to Coriolis force perturbations of reaching movements: endpoint but not trajectory adaptation transfers to the nonexposed arm

1. Reaching movements made in a rotating room generate Coriolis forces that are directly proportional to the cross product of the room's angular velocity and the arm's linear velocity. Such Coriolis forces are inertial forces not involving mechanical contact with the arm. 2. We measured the trajectories of arm movements made in darkness to a visual target that was extinguished at the onset of each reach. Prerotation subjects pointed with both the right and left arms in alternating sets of eight movements. During rotation at 10 rpm, the subjects reached only with the right arm. Postrotation, the subjects pointed with the left and right arms, starting with the left, in alternating sets of eight movements. 3. The initial perrotary reaching movements of the right arm were highly deviated both in movement path and endpoint relative to the prerotation reaches of the right arm. With additional movements, subjects rapidly regained straight movement paths and accurate endpoints despite the absence of visual or tactile feedback about reaching accuracy. The initial postrotation reaches of the left arm followed straight paths to the wrong endpoint. The initial postrotation reaches of the right arm had paths with mirror image curvature to the initial perrotation reaches of the right arm but went to the correct endpoint. 4. These observations are inconsistent with current equilibrium point models of movement control. Such theories predict accurate reaches under our experimental conditions. Our observations further show independent implementation of movement and posture, as evidenced by transfer of endpoint adaptation to the nonexposed arm without transfer of path adaptation. Endpoint control may occur at a relatively central stage that represents general constraints such as gravitoinertial force background or egocentric direction relative to both arms, and control of path may occur at a more peripheral stage that represents moments of inertia and muscle dynamics unique to each limb. 5. Endpoint and path adaptation occur despite the absence both of mechanical contact cues about the perturbing force and visual or tactile cues about movement accuracy. These findings point to the importance of muscle spindle signals, monitoring of motor commands, and possibly joint and tendon receptors in a detailed trajectory monitoring process. Muscle spindle primary and secondary afferent signals may differentially influence adaptation of movement shape and endpoint, respectively.

Non-NASA Center↗

NASA NTRS2013

Updates on Force Limiting Improvements

The following conventional force limiting methods currently practiced in deriving force limiting specifications assume one-dimensional translation source and load apparent masses: Simple TDOF model; Semi-empirical force limits; Apparent mass, etc.; Impedance method. Uncorrelated motion of the mounting points for components mounted on panels and correlated, but out-of-phase, motions of the support structures are important and should be considered in deriving force limiting specifications. In this presentation "rock-n-roll" motions of the components supported by panels, which leads to a more realistic force limiting specifications are discussed.

acoustic↗

NASA NTRS2014

Impact of Dust Radiative Forcing upon Climate

Dust aerosols perturb the atmospheric radiative flux at both solar and thermal wavelengths, altering the energy and water cycles. The climate adjusts by redistributing energy and moisture, so that local temperature perturbations, for example, depend upon the forcing over the entire extent of the perturbed circulation. Within regions frequently mixed by deep convection, including the deep tropics, dust particles perturb the surface air temperature primarily through radiative forcing at the top of the atmosphere (TOA). Many models predict that dust reduces global precipitation. This reduction is typically attributed to the decrease of surface evaporation in response to dimming of the surface. A counterexample is presented, where greater shortwave absorption by dust increases evaporation and precipitation despite greater dimming of the surface. This is attributed to the dependence of surface evaporation upon TOA forcing through its influence upon surface temperature and humidity. Perturbations by dust to the surface wind speed and vegetation (through precipitation anomalies) feed back upon the dust aerosol concentration. The current uncertainty of radiative forcing attributed to dust and the resulting range of climate perturbations calculated by models remain a useful test of our understanding of the mechanisms relating dust radiative forcing to the climate response.

Feedback upon dust mobilization↗

NASA NTRS2016

Global and Regional Radiative Forcing from 20 Reductions in BC, OC and SO4 an HTAP2 Multi-Model Study

In the Hemispheric Transport of Air Pollution Phase 2 (HTAP2) exercise, a range of global atmospheric general circulation and chemical transport models performed coordinated perturbation experiments with 20% reductions in emissions of anthropogenic aerosols, or aerosol precursors, in a number of source regions. Here, we compare the resulting changes in the atmospheric load and vertically resolved profiles of black carbon (BC), organic aerosols (OA) and sulfate (SO4/ from 10 models that include treatment of aerosols. We use a set of temporally, horizontally and vertically resolved profiles of aerosol forcing efficiency (AFE) to estimate the impact of emission changes in six major source regions on global radiative forcing (RF) pertaining to the direct aerosol effect, finding values between. 51.9 and 210.8mW/sq m/Tg for BC, between -2.4 and -17.9mW/sq m/Tg for OA and between -3.6 and -10.3W/sq m/Tg for SO4. In most cases, the local influence dominates, but results show that mitigations in south and east Asia have substantial impacts on the radiative budget in all investigated receptor regions, especially for BC. In Russia and the Middle East, more than 80 % of the forcing for BC and OA is due to extra-regional emission reductions. Similarly, for North America, BC emissions control in east Asia is found to be more important than domestic mitigations, which is consistent with previous findings. Comparing fully resolved RF calculations to RF estimates based on vertically averaged AFE profiles allows us to quantify the importance of vertical resolution to RF estimates. We find that locally in the source regions, a 20% emission reduction strengthens the radiative forcing associated with SO4 by 25% when including the vertical dimension, as the AFE for SO4 is strongest near the surface. Conversely, the local RF from BC weakens by 37% since BC AFE is low close to the ground. The fraction of BC direct effect forcing attributable to intercontinental transport, on the other hand, is enhanced by one-third when accounting for the vertical aspect, because long-range transport primarily leads to aerosol changes at high altitudes, where the BC AFE is strong. While the surface temperature response may vary with the altitude of aerosol change, the analysis in the present study is not extended to estimates of temperature or precipitation changes.

profiles of aerosol forcing efficiency (AFE)↗

NASA NTRS2017

Drag-Free Control and Drag Force Recovery of Small Satellites

Drag-free satellites provide autonomous precision orbit determination, accurately map the static and time varying components of Earth's mass distribution, aid in our understanding of the fundamental force of gravity, and will ultimately open up a new window to our universe through the detection and observation of gravitational waves. At the heart of this technology is a gravitational reference sensor, which (a) contains and shields a free-floating proof mass from all non-gravitational forces, and (b) precisely measures the position of the test mass inside the sensor. Thus, both test mass and spacecraft follow a pure geodesic in spacetime. By tracking the position of a low Earth orbiting drag-free satellite we can directly determine the detailed shape of geodesics and through analysis, the higher order harmonics of the Earths geopotential. This paper explores two different drag-free control systems on small satellites. The first drag-free control system is a continuously compensated single thruster 3-unit CubeSat with a suspension-free spherical proof-mass. A feedback control system commands the thruster and Attitude and Determination Control System to fly the tender spacecraft with respect to the test mass. The spheres position is sensed with a LED-based differential optical shadow sensor, its electric charge controlled by photoemission using UV LEDs, and the spacecraft position is maintained with respect to the sphere using an ion electrospray propulsion system. This configuration is the most fuel-efficient drag-free system possible today. The second drag-free control system is an electro-statically suspended cubical proof-mass that is operated with a low duty cycle, limiting suspension force noise over brief, known time intervals on a small GRACE-II -like satellite. The readout is performed using a laser interferometer, which is immune to the dynamic range limitations of voltage references. This system eliminates the need for a thruster, enabling drag-free control systems for passive satellites. In both cases, the test mass position, GPS tracking data, and commanded actuation, either thrust or suspension system, can be analyzed to estimate the 3-axis drag forces acting on the satellite. The data produces the most precise maps of upper atmospheric drag forces and with additional information, detailed models that describe the dynamics of the upper atmosphere and its impact on all satellites that orbit the Earth. This paper highlights the history, applications, design, laboratory technology development and highly detailed simulation results of each control system.

Small Satellites↗

NASA NTRS1972

The role of fluctuating forces in the generation of compressor noise

The results of a theoretical and experimental study on the role of aerodynamically-induced fluctuating forces in the sound generation by axial-flow compressors are presented. Analytical models for the generation and radiation of sound by rotor/stator combinations were developed. For the experimental substantiation of the analytical results, the technology was developed to measure fluctuating forces directly on rotating airfoils using miniature differential-pressure sensors and FM telemetry. Under the assumption of full coherence of the force field on the blade, radiated sound power was predicted from the force measurements on blades and compared with measured sound power. Both broadband radiation from a single rotating airfoil and discrete frequency radiation due to interaction of multi-bladed stator/rotor configurations were investigated. The results indicate the necessity to obtain information on the details of the force field for accurate prediction of the radiated sound spectrum.

Heller, H. H.↗

NASA NTRS1972

Experiments evaluating compliance and force feedback effect on manipulator performance

The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

Kugath, D. A.↗

NASA NTRS1972

An evaluation of some unbraked tire cornering force characteristics

An investigation to determine the effects of pavement surface condition on the cornering forces developed by a group of 6.50x13 automobile tires of different tread design was conducted at the Langley aircraft landing loads and traction facility. The tests were made at fixed yaw angles of 3,4.5, and 6 deg at forward speeds up to 80 knots on two concrete surfaces of different texture under dry, damp, and flooded conditions. The results showed that the cornering forces were extremely sensitive to tread pattern and runway surface texture under all conditions and that under flooded conditions tire hydroplaning and complete loss of cornering force occurred at a forward velocity predicted from an existing formula based on tire inflation pressure. Futher, tests on the damp concrete with a smooth tire and a four-groove tire showed higher cornering forces at a yaw angle of 3 deg than at 4.5 deg; this indicated that maximum cornering forces are developed at extremely small steering angles under these conditions.

Leland, T. J. W.↗

NASA NTRS1976

Wind tunnel investigation of Nacelle-Airframe interference at Mach numbers of 0.9 to 1.4-force data

Detailed interference force and pressure data were obtained on a representative wing-body-nacelle combination at Mach numbers of 0.9 to 1.4. The model consisted of a delta wing-body aerodynamic force model with four independently supported nacelles located beneath the wing-body combination. The model was mounted on a six-component force balance, and the left-hand wing was pressure-instrumented. Each of the two right-hand nacelles was mounted on a six-component force balance housed in the thickness of the nacelle, while each of the left-hand nacelles was pressure-instrumented. The primary variables examined included Mach number, angle of attack, nacelle position, and nacelle mass-flow ratio. Four different configurations were tested to identify various interference forces and pressures on each component; these included tests of the isolated nacelle, the isolated wing-body combination, the four nacelles as a unit, and the total wing-body-nacelle combination. Nacelle axial location, relative to both the wing-body combination and to each other, was the most important variable in determining the net interference among the components.

Bencze, D. P.↗

NASA NTRS1976

Side forces on a tangent ogive forebody with a fineness ratio of 2.5 at high angles of attack and low speed

A wind tunnel study to determine the subsonic aerodynamic characteristics, at high angles of attack, of a tangent ogive forebody with a fineness ratio of 2.5, is reported. Static longitudinal and lateral-directional stability data were obtained at Reynolds numbers ranging from 0.4 x 1 million to 3.7 x 1 million (based on base diameter) at a Mach number of 0.25. Angle of attack was varied from 36 deg to 88 deg at zero sideslip. It was found that at low Reynolds numbers the forebody does not have a side force att high angles of attack; however, at Reynolds numbers above about 2 x 1 million, a side force occurs in the angle of attack range from 45 deg to 80 deg. The maximum side force is as large as the maximum normal force. The maximum normal force coefficient varies between 1.0 and 2.0 over the Reynolds number range tested and occurs at angles of attack near 65 deg.

Keener, E. R.↗

NASA NTRS1976

Dissipative, forced turbulence in two-dimensional magnetohydrodynamics

The equations of motion for turbulent two-dimensional magnetohydrodynamic flows are solved in the presence of finite viscosity and resistivity, for the case in which external forces (mechanical and/or magnetic) act on the fluid. The goal is to verify the existence of a magnetohydrodynamic dynamo effect which is represented mathematically by a substantial back-transfer of mean square vector potential to the longest allowed Fourier wavelengths. External forces consisting of a random part plus a fraction of the value at the previous time step are employed, after the manner of Lilly for the Navier-Stokes case. The regime explored is that for which the mechanical and magnetic Reynolds numbers are in the region of 100 to 1000. The conclusions are that mechanical forcing terms alone cannot lead to dynamo action, but that dynamo action can result from either magnetic forcing terms or from both mechanical and magnetic forcing terms simultaneously.

Fyfe, D.↗