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At least 307 records · Page 17

Material Remodelling and Unconventional Gaits Facilitate Locomotion of a Robophysical Rover Over Granular Terrain

Autonomous robots and vehicles must occasionally recover from locomotion failure in loosely consolidated granular terrain. Recent mobility challenges led NASA Johnson Space Center to develop a prototype robotic lunar rover Resource Prospector 15 (RP15) capable of wheeled, legged, and crawling behavior. To systematically understand performance of such a device, we developed a scaled-down rover robot and studied its locomotion on slopes of dry and wet granular media. Addition of a cyclic legged gait to the robot’s wheel spinning action changes the robot dynamics from that of a wheeled vehicle to a locomotor paddling through frictional fluid. Granular drag force measurements and modified Resistive Force Theory facilitate modeling of such dynamics. A peculiar gait strategy that agitates and cyclically reflows grains under the robot allows it to ‘swim’ up loosely consolidated hills. Whereas substrate disturbance typically hinders locomotion in granular media, the multi-mode design of RP15 and a diversity of possible gaits facilitate formation of self-organized localized frictional fluids that enable effective robust transport.

Siddharth Shrivastava↗

The role of haptic cues from rough and slippery surfaces in human postural control

Haptic information is critically important in complex sensory-motor tasks such as manipulating objects. Its comparable importance in spatial orientation is only beginning to be recognized. We have shown that postural sway in humans is significantly reduced by lightly touching a stable surface with a fingertip at contact force levels far below those physically necessary to stabilize the body. To investigate further the functional relationship between contact forces at the hand and postural equilibrium, we had subjects stand in the tandem Romberg stance while being allowed physically supportive (force contact) and non-physically supportive (touch contact) amounts of index fingertip force on surfaces with different frictional characteristics. Mean sway amplitude (MSA) was reduced by over 50% with both touch and force contact of the fingertip, compared to standing without fingertip contact. No differences in MSA were observed when touching rough or slippery surfaces. The amplitude of EMG activity in the peroneal muscles and the timing relationships between fingertip forces, body sway and EMG activity suggested that with touch contact of the finger or with force contact on a slippery surface long-loop "reflexes" involving postural muscles were stabilizing sway. With force contact of the fingertip on a rough surface, MSA reduction was achieved primarily through physical support of the body. This pattern of results indicates that light touch contact cues from the fingertip in conjunction with proprioceptive signals about arm configuration are providing information about body sway that can be used to reduce MSA through postural muscle activation.

NASA Discipline Neuroscience↗

ISMIP6-based projections of ocean-forced Antarctic Ice Sheet evolution using the Community Ice Sheet Model

Abstract. The future retreat rate for marine-based regions of the Antarctic Ice Sheet is one of the largest uncertainties in sea-level projections. The Ice Sheet Model Intercomparison Project for CMIP6 (ISMIP6) aims to improve projections and quantify uncertainties by running an ensemble of ice sheet models with atmosphere and ocean forcing derived from global climate models. Here, the Community Ice Sheet Model (CISM) is used to run ISMIP6-based projections of ocean-forced Antarctic Ice Sheet evolution. Using multiple combinations of sub-ice-shelf melt parameterizations and calibrations, CISM is spun up to steady state over many millennia. During the spin-up, basal friction parameters and basin-scale thermal forcing corrections are adjusted to optimize agreement with the observed ice thickness. The model is then run forward for 550 years, from 1950–2500, applying ocean thermal forcing anomalies from six climate models. In all simulations, the ocean forcing triggers long-term retreat of the West Antarctic Ice Sheet, especially in the Filchner–Ronne and Ross sectors. Mass loss accelerates late in the 21st century and then rises steadily for several centuries without leveling off. The resulting ocean-forced sea-level rise at year 2500 varies from about 150 to 1300 mm, depending on the melt scheme and ocean forcing. Further experiments show relatively high sensitivity to the basal friction law, moderate sensitivity to grid resolution and the prescribed collapse of small ice shelves, and low sensitivity to the stress-balance approximation. The Amundsen sector exhibits threshold behavior, with modest retreat under many parameter settings but complete collapse under some combinations of low basal friction and high thermal forcing anomalies. Large uncertainties remain, as a result of parameterized sub-shelf melt rates, simplified treatments of calving and basal friction, and the lack of ice–ocean coupling.

54 ENVIRONMENTAL SCIENCES↗

Tooling concepts for assembly of large structures

Manufacture of the S-IC stage of the Saturn V space vehicle has resulted in new. concepts and innovations in the field of tooling. The structure size (35-ft diameter), the high reliability and accuracy requirements, and the low density or production quantity lead to a greater degree of simplicity, economy, and versatility in fabrication and assembly tooling. There are three specific concepts which should be applicable in industry, local jigging for welding, rotation of structures in vertical assemblies, and the assembly of two structures. The usual weld jigging serves a two-fold purpose: (a) to support the molten weld puddle and (b) to force and maintain alinement of the parts being welded. The extension of this method to large-diameter tanks is expensive and difficult. An alternate procedure used at MSFC is to perform free-state welding and use local jigging (stra1rclamps) and intermittent tack welding. Cylindrical structures can be accurately rotated for routing or welding on a simplified ring turntable. The tool consists of a ring of the structure diameter resting on rollers. Torque is nearly zero since the ring is rotated by friction rollers with the force being applied at the ring perimeter. Two such turntables are used at MSFC. The horizontal mating of two large components, where controlled motions of small magnitude are necessary, can be easily done by positioning units equipped with air-bearings. Such bearings are usable on concrete of minimum surface preparation and require no special air pressure source. This concept is used in assembly of the two S-IC containers.

Saturn S-IC stage↗

A Plasma Aerocapture and Entry System for Manned Missions and Planetary Deep Space Orbiters

A rapid mission to Mars requires a large change in vehicle velocity upon arrival to establish a stable orbit. This demand is even greater for a Neptune science, requiring many kilometers per second of V. It is clear from past mission studies that a manned Mars mission and deep space planetary orbiters require aerobraking and aerocapture which use aerodynamic drag forces to slow the spacecraft. Aerocapture would enable long term studies of the outer planets and moons that would not be possible with existing braking methodologies. While the ability to utilize these atmospheres to slow down and capture spacecraft would dramatically reduce the cost, launch mass, and travel time, currently planned approaches require significant additional spacecraft mass and risk as the spacecraft must descend deep into the planetary atmosphere in order to produce significant drag on a relatively small aeroshell. The plasma based Magnetoshell being developed in this program holds the potential to perform the desired braking with significantly increased drag and control while dramatically reducing mass. Most importantly, this technology significantly lowers the risk involved with aerocapture thereby making manned planetary missions possible. The fundamental physics of the Magnetoshell is based on demonstrated experimental results. Successful implementation will dramatically decrease radiation exposures, mission risk, launch cost, and launch mass. Implementation of aerobraking by employing a solid deflector or aeroshell as a method for orbit insertion and circularization has been successfully demonstrated in the past, resulting in launch mass savings greater than 50%. In order to reduce the effect of frictional heating and dynamic pressure on the typically fragile aeroshell, or worse solar panels, the braking must be distributed over many orbital passes at a high altitude in the less dense regions of the atmosphere. It can thus take several months for a meter-scale, 1000 kg, aeroshell to execute the many elliptic orbital passes through the atmosphere to achieve the required V. This rather slow method of braking not only reduces frictional heating and dynamic forces, but also avoids unpredictable dynamic behavior due to turbulence, as well as unknown and seasonally variable atmospheric composition and temperature which has led to dangerous, mission-critical events. For exploration class missions such as DRA 5.0 aerocapture and Thermal Protection Systems (TPS) are proposed for breaking at Mars for cargo missions. Traditional aerocapture is considered too risky for manned missions. Even with the enormous mass savings that aerocapture allows, it still requires 80 tons of aeroshell and significantly increased launch mass and propellant. As will be shown, by using Magnetoshells for aerobraking, the DRA 5.0 mission will save 224 metric tons (MT) and greater than $2 B in launch costs. Beyond the dramatic savings for existing mission architectures, a low-mass, risk-free aerocapture system would allow much more rapid missions to Mars and deep space orbiters by allowing direct, faster trajectories. As will be shown, the plasma Magnetoshell Aerobraking, Aerocapture, and Entry System (AAES) not only reduces mass and cost while enabling significant new mission architectures, but also significantly reduces radiation exposures by decreasing trip times.

Manned Missions↗

Riblets for aircraft skin-friction reduction

Energy conservation and aerodynamic efficiency are the driving forces behind research into methods to reduce turbulent skin friction drag on aircraft fuselages. Fuselage skin friction reductions as small as 10 percent provide the potential for a 250 million dollar per year fuel savings for the commercial airline fleet. One passive drag reduction concept which is relatively simple to implement and retrofit is that of longitudinally grooved surfaces aligned with the stream velocity. These grooves (riblets) have heights and spacings on the order of the turbulent wall streak and burst dimensions. The riblet performance (8 percent net drag reduction thus far), sensitivity to operational/application considerations such as yaw and Reynolds number variation, an alternative fabrication technique, results of extensive parametric experiments for geometrical optimization, and flight test applications are summarized.

Walsh, Michael J.↗

Limiting current in a collisional crossed-field gap

Crossed-field devices are often used in pulsed power and high-power microwave applications. Previous studies derived closed-form solutions for the limiting current of a vacuum crossed-field system, corresponding to the maximum permissible current for laminar flow, below and above the Hull cutoff B H for magnetic insulation. We extend these studies by introducing collision frequency into the electron force law as a friction term to derive the limiting current in a collisional crossed-field gap. The resulting solution recovers the vacuum crossed-field case in the limit of no collisions and the collisional space-charge limited current with general initial velocity for magnetic field B → 0. In the limit of infinite collisions, we obtain a crossed-field equivalent to the Mott–Gurney law for the maximum current permissible in a collisional, nonmagnetic diode. When the collision frequency ν is less than the electron cyclotron frequency Ω, increasing initial velocity makes the critical current nonmonotonic with increasing ν with the critical current higher at B = B H for ν = Ω. As for a misaligned crossed-field gap where a component of the magnetic field was introduced parallel to the electric field across the gap, magnetic insulation is eliminated and the discontinuity at B = B H for limiting current observed in a vacuum crossed-field gap vanishes. As B → ∞, the limiting current approaches a constant that depends on the initial velocity and the collision frequency.

Breen, Lorin I.↗

Transient response of rotor-bearing systems.

The equations of motion necessary to calculate the transient response of a multimass flexible rotor supported by nonlinear, damped bearings are derived from energy principles. Rotor excitation may be the result of imbalance, internal friction, rotor acceleration, nonlinear forces due to any number of bearing or seal stations, and gyroscopic couples developed from skewed disk effects. The method of solution for transient response simulation is discussed in detail and is based on extensive evaluation of numerical methods available for transient analysis. Examples of the application of transient response for the analysis of rotor bearing systems are presented and compared to actual machine performance. Recommendations for the use and extension of the present system simulation model are discussed.

Kirk, R. G.↗

Design and application of squeeze film dampers for turbomachinery stabilization

The steady-state transient response of the squeeze film damper bearing was investigated. Both the steady-state and transient equations for the hydrodynamic bearing forces are derived; the steady-state equations were used to determine the damper equivalent stiffness and damping coefficients. These coefficients are used to find the damper configuration which will provide the optimum support characteristics based on a stability analysis of the rotor-bearing system. The effects of end seals and cavitated fluid film are included. The transient analysis of rotor-bearing systems was conducted by coupling the damping and rotor equations and integrating forward in time. The effects of unbalance, cavitation, and retainer springs are included. Methods of determining the stability of a rotor-bearing system under the influence of aerodynamic forces and internal shaft friction are discussed.

Gunter, E. J.↗

Passive damping concepts for slender columns in space structures

An experimental and theoretical study of three different passive damping concepts is conducted for a slender member with partial rotational end restraints. Over a hundred full-scale natural vibration experiments were conducted to evaluate the effectiveness of mass-string, polyethylene tubing, and chain damping concepts. The damping properties obtained from the experiments were used in the approximate analyses based on the partial differential equation of motion for the problem. The comparison of the experimental and the theoretical deflection-time relations shows that the velocity-dependent damping model used in the theory is adequate. From the experimental results, the effect of end connection friction and induced axial forces on damping is identified. The definition of an efficiency index is proposed based on the damping ratio and the mass of a given passive damping device. Using this definition, the efficiencies of the three damping devices are compared. The polyethylene tubing concept resulted into a low damping efficiency.

Razzaq, Z.↗

An experimental data base for material selection and design of high-speed, high-pressure, oxygen turbomachinery

New technologies for space-based, reusable, throttleable, cryogenic, orbit transfer propulsion are being evaluated. A variable-thrust (200 to 3000 lbF), 2000 psi chamber pressure, LO2/LH2 engine has been selected to demonstrate the 20-hour, 500-restart life goal, and a specific impulse of 480 lbF-sec/lbM. The advanced design uses warm oxygen to power a fully integrated turbopump that delivers 4500 psi LO2. The selected engine cycle provides the following advantages over conventional expander cycle designs which use H2 to drive the LH2 and LO2 pumps; higher engine operating pressures and performance in a smaller envelope, lower turbine operating temperatures, elimination of interpropellant seals and purges, and an extended throttling range. The design approach and results of testing to characterize materials for use in high-pressure gaseous oxygen are discussed. Test methods include particle impact testing in a sonic-flow, hot GO2 streams and forced, high-speed friction rubbing testing. Materials are exposed to oxygen and nitrogen atmospheres at pressures of 100, 1000, and 3000 psi to identify separately the gas cooling effects from the metal oxidation effects at the rubbing surface. The selection of candidate design materials is based on an analytical parameter defined as the burn factor. Typical materials tested include carbon steel, stainless steel, nickel, copper, and monel alloys.

Schoenman, L.↗

A numerical study of flare stabilized projectiles at Mach 7.0

The effect of nose shape on two flare stabilized projectiles was studied using a Parabolized Navier-Stokes code. Pressure coefficients, forces and moments, skin friction coefficients, and Stanton number calculations are presented for the hemisphere-cylinder-flare and the cone-cylinder-flare configurations. Pitching moment and static margin plots versus flare angles and flare lengths are presented in a parametric study to show aerodynamic stability effects. Distinctly different flow field values of pressure, local Mach number, and dynamic pressure were generated by the two different nose configurations. These flow field values just upstream of the flare will be examined. The code demonstrated its value as a design tool by making a clear distinction between aerodynamically stable characteristics for this variety of nose shapes, flare angles, and flare lengths.

Hughson, Montgomery C.↗

Observations on an Aileron-Flutter Instability Encountered on a 45 Degree Swept-Back Wing in Transonic and Supersonic Flight

In the course of a flight test of a supersonic research pilotless aircraft (the NACA RM-1), large-amplitude aileron oscillations, probably aileron compressibility flutter, were encountered in the transonic and supersonic speed ranges. The wing was oscillating at the same frequency as the aileron. The aircraft was equipped with 45 degree swept-back wings of symmetrical NASA 65-010 airfoil section. Completely mass-balanced ailerons with 20 degree beveled trailing edges were installed on the wings. The ailerons were free floating with no mechanical restraining force other than the friction of the aileron hinges and servomechanism bearings throughout the high-speed interval of flight.

Pitkin, Marvin↗

Computational prediction of isolated performance of an axisymmetric nozzle at Mach number 0.90

An improved ability to predict external propulsive performance was incorporated into the three-dimensional Navier-Stokes code PAB3D. The improvements are the ability to account for skin friction and external pressure forces. Performance parameters for two axisymmetric supersonic cruise nozzle configurations were calculated to test the improved methodology. Internal and external flow-field regions were computed using a two-equation kappa-epsilon turbulent viscous-stress model. The computed thrust-minus-drag ratios were within 1 percent of the absolute level of experimental data and the trends of data were predicted accurately. The predicted trend of integrated nozzle pressure drag matched the trend of the integrated experimental pressure drag over a range of nozzle pressure ratios, but absolute drag levels were not accurately predicted.

Carlson, John R.↗

Supercharged two-cycle engines employing novel single element reciprocating shuttle inlet valve mechanisms and with a variable compression ratio

This invention relates to novel reciprocating shuttle inlet valves, effective with every type of two-cycle engine, from small high-speed single cylinder model engines, to large low-speed multiple cylinder engines, employing spark or compression ignition. Also permitting the elimination of out-of-phase piston arrangements to control scavenging and supercharging of opposed-piston engines. The reciprocating shuttle inlet valve (32) and its operating mechanism (34) is constructed as a single and simple uncomplicated member, in combination with the lost-motion abutments, (46) and (48), formed in a piston skirt, obviating the need for any complex mechanisms or auxiliary drives, unaffected by heat, friction, wear or inertial forces. The reciprocating shuttle inlet valve retains the simplicity and advantages of two-cycle engines, while permitting an increase in volumetric efficiency and performance, thereby increasing the range of usefulness of two-cycle engines into many areas that are now dominated by the four-cycle engine.

Wiesen, Bernard↗

NASA Tech Briefs, November 2005

Topics covered include: Laser System for Precise, Unambiguous Range Measurements; Flexible Cryogenic Temperature and Liquid-Level Probes; Precision Cryogenic Dilatometer; Stroboscopic Interferometer for Measuring Mirror Vibrations; Some Improvements in H-PDLCs; Multiple-Bit Differential Detection of OQPSK; Absolute Position Encoders With Vertical Image Binning; Flexible, Carbon-Based Ohmic Contacts for Organic Transistors; GaAs QWIP Array Containing More Than a Million Pixels; AutoChem; Virtual Machine Language; Two-Dimensional Ffowcs Williams/Hawkings Equation Solver; Full Multigrid Flow Solver; Doclet To Synthesize UML; Computing Thermal Effects of Cavitation in Cryogenic Liquids; GUI for Computational Simulation of a Propellant Mixer; Control Program for an Optical-Calibration Robot; SQL-RAMS; Distributing Data from Desktop to Hand-Held Computers; Best-Fit Conic Approximation of Spacecraft Trajectory; Improved Charge-Transfer Fluorescent Dyes; Stability-Augmentation Devices for Miniature Aircraft; Tool Measures Depths of Defects on a Case Tang Joint; Two Heat-Transfer Improvements for Gas Liquefiers; Controlling Force and Depth in Friction Stir Welding; Spill-Resistant Alkali-Metal-Vapor Dispenser; A Methodology for Quantifying Certain Design Requirements During the Design Phase; Measuring Two Key Parameters of H3 Color Centers in Diamond; Improved Compression of Wavelet-Transformed Images; NASA Interactive Forms Type Interface - NIFTI; Predicting Numbers of Problems in Development of Software; Hot-Electron Photon Counters for Detecting Terahertz Photons; Magnetic Variations Associated With Solar Flares; and Artificial Intelligence for Controlling Robotic Aircraft.

Source record↗

Architectural study of the design and operation of advanced force feedback manual controllers

A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof concepts is presented as a feasible test-bed for enhanced performance in a 9-dof system.

Tesar, Delbert↗

Self-Reacting Friction Stir Welding for Aluminum Alloy Circumferential Weld Applications

Friction stir welding is an innovative weld process that continues to grow in use, in the commercial, defense, and space sectors. It produces high quality and high strength welds in aluminum alloys. The process consists of a rotating weld pin tool that plasticizes material through friction. The plasticized material is welded by applying a high weld forge force through the weld pin tool against the material during pin tool rotation. The high weld forge force is reacted against an anvil and a stout tool structure. A variation of friction stir welding currently being evaluated is self-reacting friction stir welding. Self-reacting friction stir welding incorporates two opposing shoulders on the crown and root sides of the weld joint. In self-reacting friction stir welding, the weld forge force is reacted against the crown shoulder portion of the weld pin tool by the root shoulder. This eliminates the need for a stout tooling structure to react the high weld forge force required in the typical friction stir weld process. Therefore, the self-reacting feature reduces tooling requirements and, therefore, process implementation costs. This makes the process attractive for aluminum alloy circumferential weld applications. To evaluate the application of self-reacting friction stir welding for aluminum alloy circumferential welding, a feasibility study was performed. The study consisted of performing a fourteen-foot diameter aluminum alloy circumferential demonstration weld using typical fusion weld tooling. To accomplish the demonstration weld, weld and tack weld development were performed and fourteen-foot diameter rings were fabricated. Weld development consisted of weld pin tool selection and the generation of a process map and envelope. Tack weld development evaluated gas tungsten arc welding and friction stir welding for tack welding rings together for circumferential welding. As a result of the study, a successful circumferential demonstration weld was produced leading the way for future circumferential weld implementation.

Bjorkman, Gerry↗