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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 343 records · Page 19
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Results of telerobotic hand controller study using force information and rate control

To increase quantified information about the effectiveness and subjective workload of force information relayed through manipulator input control devices, a space related task was performed by eight subjects with kinesthetic force feedback and/or local force accommodation through three different input control devices (i.e., hand controllers) operating in rate control mode. Task completion time, manipulator work, and subjective responses were measured. Results indicated a difference among the hand controllers. For the Honeywell six degree-of-freedom hand controller, the overall task completion times were shortest, the amount of work exerted was the least, and was the most preferred by test subjects. Neither force accommodation with or without reflection resulted in shorter task completion times or reduced work although those conditions were better than no force information for some aspects. Comparisons of results from previous studies are discussed.

Willshire, Kelli F.↗
NASA NTRS1992

Alleviation of side force on tangent-ogive forebodies using passive porosity

An experimental investigation to determine the effectiveness of porosity for alleviating side forces on forebodies was conducted in the NASA Langley Research Center 7 x 10 ft High-Speed Wind Tunnel. The study consisted of a comparison of experimental force, moment, and surface pressure results obtained on a fineness ratio 5.0 tangent-ogive porous forebody with 0.020 in. hole diameter and 22 percent porosity with results obtained on a solid forebody. The forebodies were tested with cylindrical afterbodies. The solid forebody was tested with transition grit to simulate fully turbulent conditions and without transition grit to simulate free transition conditions. The extent of porosity on the forebody was varied to determine the extent of porosity needed to alleviate side forces. Static longitudinal and lateral-directional stability and surface pressure data were obtained at Mach numbers of 0.2, 0.5, and 0.8. The angle of attack range was from 5 to 45 deg and roll angles from -90 to 180 deg. The solid forebody exhibited large asymmetries at moderate to high angles of attack causing large side forces and yawing moments. The porous forebody exhibited no significant side forces or yawing moments at any angle of attack tested.

Bauer, Steven X. S.↗
NASA NTRS1992

Implementation of robotic force control with position accommodation

As the need for robotic manipulation in fields such as manufacturing and telerobotics increases, so does the need for effective methods of controlling the interaction forces between the manipulators and their environment. Position Accommodation (PA) is a form of robotic force control where the nominal path of the manipulator is modified in response to forces and torques sensed at the tool-tip of the manipulator. The response is tailored such that the manipulator emulates a mechanical impedance to its environment. PA falls under the category of position-based robotic force control, and may be viewed as a form of Impedance Control. The practical implementations are explored of PA into an 18 degree-of-freedom robotic testbed consisting of two PUMA 560 arms mounted on two 3 DOF positioning platforms. Single and dual-arm architectures for PA are presented along with some experimental results. Characteristics of position-based force control are discussed, along with some of the limitations of PA.

Ryan, Michael J.↗
NASA NTRS1992

The response of a zonally symmetric atmosphere to subtropical thermal forcing - Threshold behavior

We consider the response of a zonally symmetric atmosphere to a thermal forcing that is localized in the subtropics. Specifically, the equilibrium temperature distribution has a local subtropical peak and is flat elsewhere, including at the equator. On the basis of inviscid steady-state theory, it is argued that the response to such forcing is one of two distinct types. Below a threshold forcing, the atmosphere adopts a steady state of thermal equilibrium with no meridional flow. With supercritical forcing, this state breaks down and a strong meridional circulation is predicted. The threshold forcing value is that at which the absolute vorticity of the zonal flow (in gradient balance with the equilibrium temperatures) vanishes at the upper boundary. These inviscid predictions are tested in a zonally symmetric numerical model; while the model viscosity shifts the threshold and otherwise modifies the response, the threshold is clearly evident in the model behavior.

Plumb, R. A.↗
NASA NTRS1992

Improved accuracy for finite element structural analysis via an integrated force method

A comparative study was carried out to determine the accuracy of finite element analyses based on the stiffness method, a mixed method, and the new integrated force and dual integrated force methods. The numerical results were obtained with the following software: MSC/NASTRAN and ASKA for the stiffness method; an MHOST implementation method for the mixed method; and GIFT for the integrated force methods. The results indicate that on an overall basis, the stiffness and mixed methods present some limitations. The stiffness method generally requires a large number of elements in the model to achieve acceptable accuracy. The MHOST method tends to achieve a higher degree of accuracy for course models than does the stiffness method implemented by MSC/NASTRAN and ASKA. The two integrated force methods, which bestow simultaneous emphasis on stress equilibrium and strain compatibility, yield accurate solutions with fewer elements in a model. The full potential of these new integrated force methods remains largely unexploited, and they hold the promise of spawning new finite element structural analysis tools.

Patnaik, S. N.↗
NASA NTRS1991

Thermal imbalance force modelling for a GPS satellite using the finite element method

Methods of analyzing the perturbation due to thermal radiation and determining its effects on the orbits of GPS satellites are presented, with emphasis on the FEM technique to calculate satellite solar panel temperatures which are used to determine the magnitude and direction of the thermal imbalance force. Although this force may not be responsible for all of the force mismodeling, conditions may work in combination with the thermal imbalance force to produce such accelerations on the order of 1.e-9 m/sq s. If submeter accurate orbits and centimeter-level accuracy for geophysical applications are desired, a time-dependent model of the thermal imbalance force should be used, especially when satellites are eclipsing, where the observed errors are larger than for satellites in noneclipsing orbits.

Vigue, Yvonne↗
NASA NTRS1992

The effect of inlet swirl on the rotordynamic shroud forces in a centrifugal pump

The role played by fluid forces in determining the rotordynamic stability of a centrifugal pump is gaining increasing attention. The present research investigates the contributions to the rotordynamic forces from the discharge-to-suction leakage flows between the front shroud of the rotating impeller and the stationary pump casing. In particular, the dependency of the rotordynamic characteristics of leakage flows on the swirl at the inlet to the leakage path was examined. An inlet guide vane was designed for the experiment so that swirl could be introduced at the leakage flow inlet. The data demonstrates substantial rotordynamic effects and a destabilizing tangential force for small positive whirl ratios; this force decreased with increasing flow rate. The effect of swirl on the rotordynamic forces was found to be destabilizing.

Ginzburg, A.↗
NASA NTRS1993

The relative roles of sulfate aerosols and greenhouse gases in climate forcing

Calculations of the effects of both natural and anthropogenic tropospheric sulfate aerosols indicate that the aerosol climate forcing is sufficiently large in a number of regions of the Northern Hemisphere to reduce significantly the positive forcing from increased greenhouse gases. Summer sulfate aerosol forcing in the Northern Hemisphere completely offsets the greenhouse forcing over the eastern United States and central Europe. Anthropogenic sulfate aerosols contribute a globally averaged annual forcing of -0.3 watt per square meter as compared with +2.1 watts per square meter for greenhouse gases. Sources of the difference in magnitude with the previous estimate of Charlson et al. (1992) are discussed.

Kiehl, J. T.↗
NASA NTRS1938

Airfoil section characteristics as applied to the prediction of air forces and their distribution on wings

The results of previous reports dealing with airfoil section characteristics and span load distribution data are coordinated into a method for determining the air forces and their distribution on airplane wings. Formulas are given from which the resultant force distribution may be combined to find the wing aerodynamic center and pitching moment. The force distribution may also be resolved to determine the distribution of chord and beam components. The forces are resolved in such a manner that it is unnecessary to take the induced drag into account. An illustration of the method is given for a monoplane and a biplane for the conditions of steady flight and a sharp-edge gust. The force determination is completed by outlining a procedure for finding the distribution of load along the chord of airfoil sections.

Jacobs, Eastman N↗
NASA NTRS1938

Stresses in reinforcing rings due to axial forces in cylindrical and conical stressed skins

At the ends of a monocoque fuselage concentrated axial forces in the skin must generally be taken up. Such axial forces must also be taken up in the case of other members where axial forces from the neighboring stressed skin construction must be considered. In order to take up these axial forces two bulkheads or reinforcing frames may be arranged at the positions where the forces are applied. If these bulkheads are in the form of rings, bending moments are set up in them. In the present paper computations are performed for obtaining the value of these bending moments.

Drescher, K↗
NASA NTRS1992

Forced unsteady deceleration of a turbulent boundary layer from a temporal perspective

The behavior of a turbulent boundary layer which has been subjected to a local ramp-like deceleration in the external velocity field, which leads to forced separation, has been studied experimentally. The data of this study are re-interpreted in light of more recent findings concerning the temporal nature of boundary layer turbulence in the presence of forced unsteady shear. In particular, the robustness of the near-wall turbulent motions to organized deformation is recognized. Their resilence during unsteady shearing action promotes continued efficient turbulent mixing and rapid redistribution of turbulent kinetic energy during forced transients. In aerodynamic problems, the rapid nature of the adjustment of the turbulence field to a new temporal boundary condition necessitates equally rapid remedial measures to be taken if means of control/prevention of forced unsteady separation are to be deployed to maximum effect. This requirement suggests exploration of the use of simple, real-time statistical forecasting techniques, based upon time-series analysis of easily-measurable features of the flow, to help assure timely deployment of mechanisms of boundary-layer control. This paper focuses upon the nature of turbulence in boundary layers undergoing forced deceleration which would lead to separation. A preliminary form of a forecasting model is presented and evaluated. Using observations of the previous two large eddies passing a detector, it forecasts the behavior of the future large eddy rather well.

Brereton, G. J.↗
NASA NTRS1994

Design of teleoperation system with a force-reflecting real-time simulator

We developed a force-reflecting teleoperation system that uses a real-time graphic simulator. This system eliminates the effects of communication time delays in remote robot manipulation. The simulator provides the operator with predictive display and feedback of computed contact forces through a six-degree of freedom (6-DOF) master arm on a real-time basis. With this system, peg-in-hole tasks involving round-trip communication time delays of up to a few seconds were performed at three support levels: a real image alone, a predictive display with a real image, and a real-time graphic simulator with computed-contact-force reflection and a predictive display. The experimental results indicate the best teleoperation efficiency was achieved by using the force-reflecting simulator with two images. The shortest work time, lowest sensor maximum, and a 100 percent success rate were obtained. These results demonstrate the effectiveness of simulated-force-reflecting teleoperation efficiency.

Hirata, Mitsunori↗
NASA NTRS1994

Pondermotive versus mirror force in creation of the filamentary cavities in auroral plasma

Recently rocket observations on spikelets of lower-hybrid waves along with strong density cavities and transversely heated ions were reported. The observed thin filamentary cavities oriented along the magnetic field in the auroral plasma have density depletions up to several tens of percent. These observations have been interpreted in terms of a theory for lower-hybrid wave condensation and collapse. The modulational instability leading to the wave consensation of the lower-hybrid waves yields only weak density perturbations, which cannot explain the above strong density depletions. The wave collapse theory is based on the nonlinear pondermotive force in a homogeneous ambient plasma and the density depletion is determined by the balance between the wave pressure (pondermotive force) and the plasma pressure. In the auroral plasma, the balance is achieved in a time tau(sub wc) equal to or less than 1 ms. It is shown here that the mirror force, acting on the transversely heated ions at a relatively long time scale, is an effective mechanism for creating the strong plasma cavities. We suggest that the process of wave condensation, through the pondermotive force causing generation of short wavelength waves from relatively long wavelength waves, is a dominant process until the former waves evolve and become effective in the transverse heating of ions. As soon as this happens, mirror force on ions becomes an important factor in the creation of the density cavities, which may further trap and enhance the waves. Results from a model of cavity formation by transverse ion heating show that the observed depletions in the density cavities can be produced by the heating rates determined by the observed wave amplitudes near the lower-hybrid frequency. It is found that the creation of a strong density cavity takes a few minutes.

Singh, Nagendra↗
NASA NTRS1994

Radiative-convective model with an explicit hydrologic cycle. 2: Sensitivity to large changes in solar forcing

The one-dimensional radiative-convective equilibrium model with an explicit hydrologic cycle introduced in part 1 is used to study the sensitivity of the model's atmosphere to large changes in the solar forcing, when various cumulus convection parameterizations are used. When the concentration of the absorbing as in the atmosphere is temperature dependent, equilibrium is impossible for values of the solar forcing larger than a critical value. This result is referred to as a runaway greenhouse. The cumulus convection parameterization schemes currently in use in global climate models (GCMs) employ different assumptions about moistening. This causes the critical solar forcing above which a runaway greenhouse occurs to be very sensitive to the cumulus convection scheme employed. Furthermore, we show that the sensitivity of the equilibrium temperature to changes in the solar forcing depends crucially on the microphysics of cumulus convection. For fixed cloud conditions, the critical forcing for a runaway greenhouse to occur is between approximately 1.22 and 1.49 times the global mean value for the Earth, and for clear sky conditions, it is a few percent lower. The runaway greenhouse in the experiments with the mass flux schemes generally occurs more rapidly than in the experiments with the adjustment schemes. In addition, the inability of the hard convective adjustment scheme to produce an efficient vertical transport of moisture, together with the saturation requirement for convection to occur, leads to the breakdown of the radiative-convective equilibria when other processes are not available to provide the necessary vertical transport of water vapor.

Renno, Nilton O.↗
NASA NTRS1993

Modeling non-gravitational forces acting on TOPEX/POSEIDON: The early days

TOPEX/POSEIDON is a satellite mission that will use altimetry to make precise measurements of sea-level. The principal goal is to measure sea-level with unprecedented accuracy such that small-amplitude, basin wide sea-level changes caused by large-scale ocean circulation can be detected. To reach this goal, the sensor system and orbit must measure sea-level with decimeter accuracy. This requires that the radial component of the orbit be known to the decimeter level. Orbital errors are dominated by mismodelled gravitational and non-gravitational forces. This paper presents our analysis of non-gravitational forces acting on the satellite during the early days of the mission. Studies were conducted by comparing direct estimates of these forces with observed perturbations in the mean orbital elements. The results show that the satellite is experiencing an unexpected along-track acceleration. Hypotheses range from out-gassing to thruster leaks and drag forces to radiative force. Currently, these issues have not been resolved; however, the evidence suggests that out-gassing was dominant during the first weeks of the mission and that thermal imbalances persist.

Christensen, E. J.↗
NASA NTRS1994

Teleoperator performance with varying force and visual feedback

An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several 'peg-in-hole'-type telemanipulation tasks. Each of six human test subjects used a master/slave manipulator during two experimental sessions. In one session the subjects performed the tasks with direct vision, where subtended visual angle, force feedback, task difficulty, and the interaction of subtended visual angle and force feedback made signigicant differences in task completion times. During the other session the tasks were performed using a video monitor for visual feedback, and video frame rate, force feedback, task difficulty and the interaction of frame rate and force feedback were found to make significant differences in task times. An analysis between the direct and video viewing environments showed that apart from subtended visual angle and reduced frame rate, the video medium itself did not significantly affect task times relative to direct viewing.

Massimino, Michael J.↗
NASA NTRS1996

Verification of force and acceleration specifications for random vibration tests of Cassini spacecraft equipment

The use of force limiting in the random vibration testing of the Cassini spacecraft's subsystems is reported on. A verification of the Cassini equipment random vibration test acceleration and force specifications is provided by interface acceleration and force data measured in acoustic tests of the Cassini spacecraft development test model (DTM). Acoustic tests were performed on the DTM structure with different structural and equipment configurations. The acceleration and force spectra at the interface between the equipment items and the spacecraft DTM structure were measured in the acoustic tests and compared with the equipment random vibration test specifications. The spacecraft's apparent masses were measured at the equipment mounting points and used in force limit predictions.

Chang, Kurng Y.↗
NASA NTRS1995

An Accurate ab initio Quartic Force Field and Vibrational Frequencies for CH4 and Isotopomers

A very accurate ab initio quartic force field for CH4 and its isotopomers is presented. The quartic force field was determined with the singles and doubles coupled-cluster procedure that includes a quasiperturbative estimate of the effects of connected triple excitations, CCSD(T), using the correlation consistent polarized valence triple zeta, cc-pVTZ, basis set. Improved quadratic force constants were evaluated with the correlation consistent polarized valence quadruple zeta, cc-pVQZ, basis set. Fundamental vibrational frequencies are determined using second-order perturbation theory anharmonic analyses. All fundamentals of CH4 and isotopomers for which accurate experimental values exist and for which there is not a large Fermi resonance, are predicted to within +/- 6 cm(exp -1). It is thus concluded that our predictions for the harmonic frequencies and the anharmonic constants are the most accurate estimates available. It is also shown that using cubic and quartic force constants determined with the correlation consistent polarized double zeta, cc-pVDZ, basis set in conjunction with the cc-pVQZ quadratic force constants and equilibrium geometry leads to accurate predictions for the fundamental vibrational frequencies of methane, suggesting that this approach may be a viable alternative for larger molecules. Using CCSD(T), core correlation is found to reduce the CH4 r(e), by 0.0015 A. Our best estimate for r, is 1.0862 +/- 0.0005 A.

Lee, Timothy J.↗