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At least 307 records · Page 17

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NASA NTRS1989

Multiple cooperating manipulators: The case of kinematically redundant arms

Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable.

Walker, Ian D.↗

NASA NTRS1990

Analytical method for the ditching analysis of an airborne vehicle

A simple analytical method has been introduced for aerohydrodynamic load analysis of an airborne configuration during water ditching. The method employs an aerodynamic panel code, based on linear potential flow theory, to simulate the flow of air and water around an aircraft configuration. The free surface separating the air and water region is represented by doublet" singularities. Although all the theoretical load distributions are computed for air, provisions are made to correct the pressure coefficients obtained on the configuration-wetted surfaces to account for the water density. As an analytical tool, a vortex aerodynamic code is chosen to carry out the present investigation. After assessing· the validity of the method, an application is presented for the water ditching of the Space Shuttle configuration at a 12-deg attitude.

Pressure coefficient↗

NASA NTRS1989

Space Station Freedom power - A reliability, availability, and maintainability assessment of the proposed Space Station Freedom electric power system

A preliminary reliability, availability, and maintainability (RAM) analysis of the proposed Space Station Freedom electric power system (EPS) was performed using the unit reliability, availability, and maintainability (UNIRAM) analysis methodology. Orbital replacement units (ORUs) having the most significant impact on EPS availability measures were identified. Also, the sensitivity of the EPS to variations in ORU RAM data was evaluated for each ORU. Estimates were made of average EPS power output levels and availability of power to the core area of the space station. The results of assessments of the availability of EPS power and power to load distribution points in the space stations are given. Some highlights of continuing studies being performed to understand EPS availability considerations are presented.

Turnquist, S. R.↗

NASA NTRS1990

The free-wake computation of rotor-body flows

In this paper a method is described for predicting the compressible, free-wake, flow about a lifting rotor-body configuration. The method is an extension of a unique vorticity embedded full-potential method used to calculate free-wake rotor hover performance. An unusual feature of this method is that it obviates the requirement for multiple grids to treat the rotor-body problem. The approach used to treat the body is similar to that used to include the rotor wake in the full potential calculation. The body is modeled as a structured circulation sheet and the strength of this sheet is determined in an iterative manner. Initially the method is tested to compute the flow past simple isolated bodies like cylinders and spheres. After a comparison of these simple computations with exact solutions this procedure is included into the HELIX-I, free-wake rotor code, to compute the flow around a rotor mounted on a large whirl tower. The effects of the tower on rotor wake geometry and load distribution are presented.

Ramachandran, K.↗

NASA NTRS1991

Extrinsic factors in the mechanics of bridged cracks

The far-reaching effects of such extrinsic factors as specimen shape and load distribution on bridged crack propagation, in cases where bridging-zone length is comparable to any of the crack and/or specimen dimensions, are presently demonstrated in view of calculation results for single-edge-notch specimens under uniform remote tension. The inherent risk of nonconservative predictions or reliability and strength may be reduced by considering the relationship between the bridging tractions and the crack-opening displacement as a fundamental material property. The fundamentality of the 'bridging length scale', or initial crack extension over which the bridging zone matures, is demonstrated.

Cox, B. N.↗

NASA NTRS1991

Analysis of ITT scan bearing package (bearing package S/N 7-1004)

A geostationary operational environments satellite (GOES) East-West scan-bearing assembly was examined after having completed two and one-half years of operation. The following results were found: (1) lubrication breakdown was found in both bearings; (2) patchy wear-bands running only approximately half-way around the races indicated a load distribution in the ball groups consistent with a very low preload; (3) contact angles of 31.2 deg (S/N 1004) and 28.7 deg (S/N 1004A) were found in bearings whose contact angles are supposed to be 20+/-2 deg; and (4) contamination was present in the bearings.

Gelotte, Erik↗

NASA NTRS1992

A balanced submatrix merging algorithm for multiprocessor architectures

In this article, a parallel algorithm which applies Givens rotations to selectively annihilate k(k + 1)/2 nonzero elements from two k x n(k not more than n) upper trapezoidal submatrices is described. The new algorithm is suitable for implementation on either a pair of directly connected local-memory processors or two clusters of multiple tightly-coupled processors. Analyses show that in both cases the proposed algorithms achieve optimal speed-up by balancing the work load distribution and masking interprocessor or intercluster communication by computation if k is much small than n. In the context of solving large scale least squares problems, this submatrix merging step is repetitively needed during the entire computation and, furthermore, there are usually many pairs of such submatrices to be merged with each submatrix stored in the memory of a processor or a cluster of processors. The proposed algorithm can be applied to each pair of submatrices concurrently, and thus parallelizes an important step in solving the least squares problems.

Chu, Eleanor↗

NASA NTRS1991

Experimental and computational studies of hovering rotor flows

HELIX-I, an essentially standard full-potential CFD helicopter rotor code, is unique in its use of the Clebisch kinematical flow description to specify a freely convecting wake and its capacity for predicting hover performance. A study is presently performed to assess the method's sensitivity to grids and solution-starting techniques. The effects of these parameters on thrust, power, load distribution, and wake geometry are ascertained and compared with an extensive rotor data base. The use of a fairly accurate starting solution yields no obvious advantage over the use of a novel starting method which employs a succession of diminishing artificial flows.

Nsi Mba, M.↗

NASA NTRS1992

Synthesis of actively adjustable springs by antagonistic redundant actuation

A methodology for active spring generation is presented based on antagonistic redundant actuation. Antagonistic properties are characterized using an effective system stiffness. 'Antagonistic stiffness' is generated by preloading a closed-chain (parallel) linkage system. Internal load distribution is investigated along with the necessary conditions for spring synthesis. The performance and stability of a proposed active spring are shown by simulation, and applications are discussed.

Yi, Byung-Ju↗

NASA NTRS1992

Membrane triangles with corner drilling freedoms. III - Implementation and performance evaluation

This paper completes a three-part series on the formulation of 3-node, 9-dof membrane triangles with corner drilling freedoms based on parametrized variational principles. The first four sections cover element implementation details including determination of optimal parameters and treatment of distributed loads. Then three elements of this type, labeled ALL, FF and EFF-ANDES, are tested on standard plane stress problems. ALL represents numerically integrated versions of Allman's 1988 triangle; FF is based on the free formulation triangle presented by Bergan and Felippa in 1985; and EFF-ANDES represent two different formulations of the optimal triangle derived in Parts I and II. The numerical studies indicate that the ALL, FF and EFF-ANDES elements are comparable in accuracy for elements of unitary aspect ratios. The ALL elements are found to stiffen rapidly in inplane bending for high aspect ratios, whereas the FF and EFF elements maintain accuracy. The EFF and ANDES implementations have a moderate edge in formation speed over the FF.

Felippa, Carlos A.↗

NASA NTRS1993

BLASIM - A computational tool to assess ice impact damage on engine blades

A portable computer code called BLASIM is developed at NASA LeRC to assess the ice impact damage on aircraft engine blades. In addition to the ice impact analyses, the code is also capable of carrying out static, dynamic, resonance margin and flutter analyses. The blade can be solid, hollow, superhybrid or composite material. An optional preprocessor (input generator) is also developed to generate input to the code through interactive process. The blade geometry can be defined either by a series of airfoils at discrete input stations or by a finite element grid. The code employs a coarse fixed finite element mesh with triangular plate finite elements and has quick turnaround time. The ice piece is modeled as an equivalent spherical object and has the velocity opposite to that of the aircraft with direction parallel to the engine axis. For the local impact damage assessment, the impact force is considered as a distributed load acting over a region around the impact point and the average radial strain of the finite elements along the leading edge is taken as a measure of the local damage. To estimate the damage at the blade root, the impact is considered to be an impulse and a combined stress failure criteria is employed. Parametric studies for local and root ice impact damage, and post-impact dynamics are discussed for solid and composite blades.

Reddy, E. S.↗

NASA NTRS1992

Hover performance analysis of advanced rotor blades

This is an effort aimed at validating recent hover prediction methods. The experimental basis for this validation work is an extensive set of loads, wake and performance data, which were obtained from a pressure instrumented model UH-60 rotor tested at the Sikorsky hover test facility and at Duits-Nederlandse Windtunnel (DNW). This model was equipped with replaceable tips - including a tapered and a BERP-type tip - which permitted studies of the effects of rotor geometry. The central prediction method studied is a free-wake, vortex embedded, full-potential CFD method - called HELIX-I. It is found that the HELIX-I code produces very good comparisons with the data including wake, surface pressure and performance. Comparisons with the measured radial load distributions have permitted an improved understanding of the wake resolution modelling requirements of CFD methods. Since HELIX-I is a combined Eulerian/Lagrangian method, limited comparisons are also made with a Lagrangian boundary element code (called EHPIC) and an Eulerian Navier-Stokes code (called TURNS). In most cases all methods produce good comparisons with the data. It is found that the HELIX-I code provides a good compromise between the speed of boundary integral methods and the comprehensive nature of Navier-Stokes methods.

Tung, C.↗

NASA NTRS1993

The role of NASTRAN in the preliminary design cycle

This paper explains how NASTRAN can be utilized advantageously in the preliminary design cycle. The initial portion of the preliminary design process lends itself to programs that can produce multiple configurations or variations on a particular design with minimal cost or effort. The latter portion of the process encompasses refining the design and adding more detailed analyses (particularly for other disciplines). A method for quickly generating balanced spacecraft loading conditions for use in preliminary design and analysis also is explained. The following additional sections are included: Background, Symbols, Analytical Process, Aerodynamic Load Distributions, NASTRAN Applications, Conclusion and References.

Grooms, H. R.↗

NASA NTRS1992

Local design optimization for composite transport fuselage crown panels

Composite transport fuselage crown panel design and manufacturing plans were optimized to have projected cost and weight savings of 18 and 45 percent, respectively. These savings are close to those quoted as overall NASA Advanced Composite Technology (ACT) program goals. Three local optimization tasks were found to influence the cost and weight of fuselage crown panels. The effects are summarized of each task and the task associated with a design cost model is described in detail. Studies were performed to evaluate the relationship between manufacturing cost and design details. A design tool was developed to aid in these studies. The development of the design tool included combining cost and performance constraints with a random search optimization algorithm. The resulting software was used in a series of optimization studies that evaluated the sensitivity of design variables, guidelines, criteria, and material selection on cost. The effect of blending adjacent design points in a full scale panel subjected to changing load distributions and local variations was shown to be important. Technical issues and directions for future work were identified.

Swanson, G. D.↗

NASA NTRS1994

Comparison of Transmission Error Predictions with Noise Measurements for Several Spur and Helical Gears

Measured sound power data from eight different spur, single and double helical gear designs are compared with predictions of transmission error by the Load Distribution Program. The sound power data was taken from the recent Army-funded Advanced Rotorcraft Transmission project. Tests were conducted in the NASA gear noise rig. Results of both test data and transmission error predictions are made for each harmonic of mesh frequency at several operating conditions. In general, the transmission error predictions compare favorably with the measured noise levels.

Houser, Donald R.↗

NASA NTRS1994

System concept definition of the Grumman superconducting Electromagnetic Suspension (EMS) Maglev design

Grumman, under contract to the Army Corps of Engineers, completed a System Concept Definition (SCD) study to design a high-speed 134 m/s (300 m.p.h.) magnetically levitated (Maglev) transportation system. The primary development goals were to design a Maglev that is safe, reliable, environmentally acceptable, and low-cost. The cost issue was a predominant one, since previous studies have shown that an economically viable Maglev system (one that is attractive to investors for future models of passenger and/or freight transportation) requires a cost that is about $12.4 M/km ($20 Million per mile). The design is based on the electromagnetic suspension (EMS) system using superconducting iron-core magnets mounted along both sides of the vehicle. The EMS system has several advantages compared to the electrodynamic suspension (EDS) Maglev systems such as low stray magnetic fields in the passenger cabin and the surrounding areas, uniform load distribution along the full length of the vehicle, and small pole pitch for smoother propulsion and ride comfort. It is also levitated at all speeds and incorporates a wrap-around design of safer operation. The Grumman design has all the advantages of an EMS system identified above, while eliminating (or significantly improving) drawbacks associated with normal magnet powered EMS systems. Improvements include larger gap clearance, lighter weight, lower number of control servos, and higher off line switching speeds. The design also incorporates vehicle tilt (plus or minus 9 deg) for higher coordinated turn and turn out speed capability.

Proise, M.↗

NASA NTRS1992

An instrumented fastener for shear force measurements in joints

Results are presented of a preliminary investigation of instrumented fasteners for use as sensors to measure the shear loads transmitted by individual fasteners installed in double splice joints. Calibration and load verification tests were conducted for instrumented fasteners installed at three fastener torque levels. Calibration test results show that the shear strains obtained from the instrumented fasteners vary linearly with the applied load and that the instrumented fasteners can be effectively used to measure shear loads transmitted by individual fasteners installed in double splice joints. The load distribution between individual fasteners is found to be dependent on the location of the fastener in the joint and the fastener torque level.

Sawyer, James W.↗

NASA NTRS1995

Ring-plane traveling-wave tube slow-wave circuit design simulations at V-Band frequencies

The V-Band frequency range of 59-64 GHz is a region of the millimeter-wave spectrum that has been designated for intersatellite communications. As a first effort to develop a high-efficiency V-band TWT, variations on a ring-plane slow-wave circuit were computationally investigated to develop an alternative to the more conventional ferruled coupled-cavity circuit. The ring-plane circuit was chosen because of its high interaction impedance, large beam aperture, and excellent thermal dissipation properties. Despite the high-power capabilities of the ring-plane TWT, disadvantages of low bandwidth and high voltage requirements have until now prevented its acceptance outside the laboratory. In this paper, we use the three-dimensional electromagnetic simulation code MAFIA to investigate methods of increasing the bandwidth and lowering the operating voltage. Dispersion, impedance, and attenuation calculations for various geometric variations and loading distributions were performed. Based on the results of the variations, a circuit termed the finned-ladder TWT slowwave circuit was designed and is compared here to the scaled ring-plane prototype and the conventional ferruled coupled-cavity TWT circuit over the V-band frequency range.

Kory, Carol L.↗