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NASA NTRS1988

Particle-laden weakly swirling free jets: Measurements and predictions

A theoretical and experimental investigation of particle-laden, weakly swirling, turbulent free jets was conducted. Glass particles, having a Sauter mean diameter of 39 microns, with a standard deviation of 15 microns, were used. A single loading ratio (the mass flow rate of particles per unit mass flow rate of air) of 0.2 was used in the experiments. Measurements are reported for three swirl numbers, ranging from 0 to 0.33. The measurements included mean and fluctuating velocities of both phases, and particle mass flux distributions. Measurements were also completed for single-phase non-swirling and swirling jets, as baselines. Measurements were compared with predictions from three types of multiphase flow analysis, as follows: (1) locally homogeneous flow (LHF) where slip between the phases was neglected; (2) deterministic separated flow (DSF), where slip was considered but effects of turbulence/particle interactions were neglected; and (3) stochastic separated flow (SSF), where effects of both interphase slip and turbulence/particle interactions were considered using random sampling for turbulence properties in conjunction with random-walk computations for particle motion. Single-phase weakly swirling jets were considered first. Predictions using a standard k-epsilon turbulence model, as well as two versions modified to account for effects of streamline curvature, were compared with measurements. Predictions using a streamline curvature modification based on the flux Richardson number gave better agreement with measurements for the single-phase swirling jets than the standard k-epsilon model. For the particle-laden jets, the LHF and DSF models did not provide very satisfactory predictions. The LHF model generally overestimated the rate of decay of particle mean axial and angular velocities with streamwise distance, and predicted particle mass fluxes also showed poor agreement with measurements, due to the assumption of no-slip between phases. The DSF model also performed quite poorly for predictions of particle mass flux because turbulent dispersion of the particles was neglected. The SSF model, which accounts for both particle inertia and turbulent dispersion of the particles, yielded reasonably good predictions throughout the flow field for the particle-laden jets.

Bulzan, Daniel L.↗

NASA NTRS1993

Rotation of stress and blocks in the Lake Mead, Nevada, Fault System

The combined effects of stress field rotation and material rotation were found in the Lake Mead, Nevada Fault System (LMFS). Fault inversion results imply an apparent 60 deg clockwise (CW) rotation of the stress field since mid-Miocene time. In contrast, structural data from the Great Basin suggest only a 30 deg CW stress field rotation. By incorporating paleomagnetic declination anomalies, it is inferred that slip on faults caused a local 30 deg counterclockwise rotation of blocks and faults in the Lake Mead area, so that the inferred 60 deg CW rotation of the stress field in the LMFS is actually only 30 deg.

Ron, Hagai↗

NASA NTRS1992

Mechanisms of isothermal phase transformations in rapidly solidified Ti-24Al-11Nb

A dynamic simulation for the motion of an isolated superdislocation (SD) under an applied stress is presented. The simulation incorporates the concept that cross slip from (111) planes to (010) planes can locally pin the SD. It is determined that the principal effect of cross-slip-pinning is not the reduction in the SD velocity, but rather the exhaustion of the density of mobile SDs.

Hsiung, L. M.↗

NASA NTRS1983

The structure of particle-laden jets and nonevaporating sprays

Mean and fluctuating gas velocities, liquid mass fluxes and drop sizes were in nonevaporating sprays. These results, as well as existing measurements in solid particle-laden jets, were used to evaluate models of these processes. The following models were considered: (1) a locally homogeneous flow (LHF) model, where slip between the phases was neglected; (2) a deterministic separated flow (DSF) model, where slip was considered but effects of particle dispersion by turbulence were ignored; and (3) a stochastic separated flow (SSF) model, where effects of interphase slip and turbulent dispersion were considered using random-walk computations for particle motion. The LHF and DSF models did not provide very satisfactory predictions over the present data base. In contrast, the SSF model performed reasonably well - including conditions in nonevaporating sprays where enhanced dispersion of particles by turbulence caused the spray to spread more rapidly than single-phase jets for comparable conditions. While these results are encouraging, uncertainties in initial conditions limit the reliability of the evaluation. Current work is seeking to eliminate this deficiency.

Shuen, J. S.↗

NASA NTRS1983

A theoretical and experimental study of turbulent particle-laden jets

Mean and fluctuating velocities of both phases, particle mass fluxes, particle size distributions in turbulent particle-laden jets were measured. The following models are considered: (1) a locally homogeneous flow (LHF) model, where slip between the phases was neglected; (2) a deterministic separated flow (DSF) model, where slip was considered but effects of particle dispersion by turbulence were ignored; and (3) a stochastic separated flow (SSF) model. The SSF model performed reasonably well with no modifications in the prescriptions for eddy properties from its original calibration. A modified k- model, incorporating direct contributions of interphase transport on turbulence properties (turbulence modulation), was developed within the framework of the SSF model.

Shuen, J. S.↗

NASA NTRS1984

Structure of nonevaporating sprays - Measurements and predictions

Structure measurements were completed within the dilute portion of axisymmetric nonevaporating sprays (SMD of 30 and 87 microns) injected into a still air environment, including: mean and fluctuating gas velocities and Reynolds stress using laser-Doppler anemometry; mean liquid fluxes using isokinetic sampling; drop sizes using slide impaction; and drop sizes and velocities using multiflash photography. The new measurements were used to evaluate three representative models of sprays: (1) a locally homogeneous flow (LHF) model, where slip between the phases was neglected; (2) a deterministic separated flow (DSF) model, where slip was considered but effects of drop interaction with turbulent fluctuations were ignored; and (3) a stochastic separated flow (SSF) model, where effects of both interphase slip and turbulent fluctuations were considered using random sampling for turbulence properties in conjunction with random-walk computations for drop motion. The LHF and DSF models were unsatisfactory for present test conditions-both underestimating flow widths and the rate of spread of drops. In contrast, the SSF model provided reasonably accurate predictions, including effects of enhanced spreading rates of sprays due to drop dispersion by turbulence, with all empirical parameters fixed from earlier work.

Solomon, A. S. P.↗

NASA NTRS1985

Structure of nonevaporating sprays. I - Initial conditions and mean properties

Structure measurements were completed within the dilute portion of axisymmetric nonevaporating sprays. Measurements included: mean velocities, velocity fluctuations, and Reynolds stress of the gas phase; and mean velocities, fluctuating velocities, mass flux, and diameter distributions of the drop phase. The measurements were used to evaluate three typical methods of analyzing sprays: (1) a locally homogeneous flow (LHF) analysis, where slip between the phases is neglected; (2) a deterministic separated flow (DSF) analysis, where slip is considered but effects of drop interactions with turbulence are ignored; and (3) a stochastic separated flow (SSF) analysis, where effects of both slip and turbulence are considered using random-walk computations for drop motion. Measurements of initial conditions of both phases near the injector, mean gas-phase properties, and liquid flux distributions are described herein. Best agreement between predictions and measurements was obtained with the SSF model, which provided a reasonable representation of turbulent dispersion of drops. A companion paper presents additional measurements of drop continuous phase properties.

Solomon, A. S. P.↗

NASA NTRS1985

Structure of nonevaporating sprays. II - Drop and turbulence properties

This is the second part of a study reporting structure measurements in the dilute portion of axisymmetric nonevaporating sprays. Measurements are compared with predictions of three typical methods for analyzing sprays: (1) locally homogeneous flow (LHF) analysis, where slip between the phases is neglected; (2) deterministic separated flow (DSF) analysis, where slip is considered but effects of drop interactions with turbulence are ignored; and (3) stochastic separated flow (SSF) analysis, where both slip and effects of drop interactions with turbulence are considered. This part of the study reports measurements of mean and fluctuating drop velocities, the variation of Sauter mean diameter, and gas-phase turbulence properties in the dilute portion of the sprays. Best agreement between predictions and measurements was obtained with the SSF analysis. For present measurements in the dilute region (void fraction greater than 99.1 percent), effects of drops on gas-phase turbulence properties (turbulence modulation) were small. However, as the dense spray regions near the injector were approached, the measurements indicated modification of turbulence properties by drop motion.

Solomon, A. S. P.↗

NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗

NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗

NASA NTRS2010

Analysis of the GPS Observations of the Site Survey at Sheshan 25-m Radio Telescope in August 2008

The processing of the GPS observations of the site survey at Sheshan 25-m radio telescope in August 2008 is reported. Because each session in this survey is only about six hours, not allowing the subdaily high frequency variations in the station coordinates to be reasonably smoothed, and because there are serious cycle slips in the observations and a large volume of data would be rejected during the software automatic adjustment of slips, the ordinary solution settings of GAMIT needed to be adjusted by loosening the constraints in the a priori coordinates to 10 m, adopting the "quick" mode in the solution iteration, and combining Cview manual operation with GAMIT automatic fixing of cycle slips. The resulting coordinates of the local control polygon in ITRF2005 are then compared with conventional geodetic results. Due to large rotations and translations in the two sets of coordinates (geocentric versus quasi-topocentric), the seven transformation parameters cannot be solved for directly. With various trial solutions it is shown that with a partial pre-removal of the large parameters, high precision transformation parameters can be obtained with post-fit residuals at the millimeter level. This analysis is necessary to prepare the follow-on site and transformation survey of the VLBI and SLR telescopes at Sheshan

Liu, L.↗

NASA NTRS2010

Space Shuttle Orbiter Wing-Leading-Edge Panel Thermo-Mechanical Analysis for Entry Conditions

Linear elastic, thermo-mechanical stress analyses of the Space Shuttle Orbiter wing-leading-edge panels is presented for entry heating conditions. The wing-leading-edge panels are made from reinforced carbon-carbon and serve as a part of the overall thermal protection system. Three-dimensional finite element models are described for three configurations: integrated configuration, an independent single-panel configuration, and a local lower-apex joggle segment. Entry temperature conditions are imposed and the through-the-thickness response is examined. From the integrated model, it was concluded that individual panels can be analyzed independently since minimal interaction between adjacent components occurred. From the independent single-panel model, it was concluded that increased through-the-thickness stress levels developed all along the chord of a panel s slip-side joggle region, and hence isolated local joggle sections will exhibit the same trend. From the local joggle models, it was concluded that two-dimensional plane-strain models can be used to study the influence of subsurface defects along the slip-side joggle region of these panels.

Knight, Norman F., Jr.↗

NASA NTRS1996

On the Visual Input Driving Human Smooth-Pursuit Eye Movements

Current computational models of smooth-pursuit eye movements assume that the primary visual input is local retinal-image motion (often referred to as retinal slip). However, we show that humans can pursue object motion with considerable accuracy, even in the presence of conflicting local image motion. This finding indicates that the visual cortical area(s) controlling pursuit must be able to perform a spatio-temporal integration of local image motion into a signal related to object motion. We also provide evidence that the object-motion signal that drives pursuit is related to the signal that supports perception. We conclude that current models of pursuit should be modified to include a visual input that encodes perceived object motion and not merely retinal image motion. Finally, our findings suggest that the measurement of eye movements can be used to monitor visual perception, with particular value in applied settings as this non-intrusive approach would not require interrupting ongoing work or training.

Stone, Leland S.↗

NASA NTRS1987

Localization of natural modes of vibration in bladed disks

A study is presented of the mode localization phenomenon in imperfect blade-disk and blade-shroud-disk assemblies. The results indicate that unshrouded blades mounted on stiff disks are especially susceptible, and even small blade imperfections within manufacturing tolerances are likely to trigger mode localization. Increasing the interblade coupling by adding shrouds or reducing the disk stiffness greatly reduces the localization susceptiblity, although certain modes may still become localized if the shrouds are free to slip.

Bendiksen, O. O.↗

NASA NTRS1987

Block rotations, fault domains and crustal deformation

Much of the earth's crust is broken by sets of parallel strike-slip faults which are organized in domains. A simple kinematic model suggests that when subject to tectonic strain, the faults, and the blocks bound by them, rotate. The rotation can be estimated from the structurally-determined fault slip and fault spacing, and independently from local deviations of paleomagnetic declinations from global values. A rigorous test of this model was carried out in northern Israel, where good agreement was found between the two rotations.

Nur, A.↗

NASA NTRS1985

Low-angle normal faults-low differential stress at mid crustal levels

A simple model for frictional slip on pre-existing faults that considers the local stress state near the fault and the effect of non-hydrostatic fluid pressures predicts that low-angle normal faulting is restricted to areas of the crust characterized by low differential stress and nearly lithostatic fluid pressures. The model considers frictional slip on a cohesionless low-angle normal fault governed by the failure criterion tau = mu sub f (sigma (*) sub n) =mu sub f (sigma sub n - P sub f) where tau and sigma sub n are the shear and normal stresses across the fault plane, mu sub f is the static coefficient of friction, and P sub f is the pore fluid pressure. As a first approximation, the model considers a vertical greatest principal compressive stress, sigma sub 1. It is apparent that if slip on low-angle normal faults is governed by the avove frictional failure criterion, slip on the low-angle normal fault occurs only if the least effective principal stress, sigma (*) sub 3 = sigma sub 3 - P sub f, is tensile, whenever tan superscrip -1(mu sub f d, where d is the dip of the fault. If detachment faulting occurs at any significant depth in the crust, P sub f sigma sub 3 is required. In light of this conclusion I allow P sub f to vary as necessary to allow slip on the low-angle normal fault.

Power, W. L.↗

NASA NTRS1998

The Surface Displacement Field of the November 8, 1997, Mw7.6 Manyi (Tibet) Earthquake Observed with ERS InSAR Data

ERS2 radar data acquired before and after the Mw7.6, Manyi (Tibet) earthquake of November 8, 1997, provide geodetic information about the surface displacement produced by the earthquake in two ways. (1) The sub-pixel geometric adjustment of the before and after images provides a two dimensional offset field with a resolution of approx, 1m in both the range (radar line of sight) and azimuth (satellite track) directions. Comparison of offsets in azimuth and range indicates that the displacement along the fault is essentially strike-slip and in a left-lateral sense. The offset map reveals a relatively smooth and straight, N78E surface rupture that exceeds 150 km in length, consistent with the EW plane of the Harvard CMT solution. The rupture follows the trace of a quaternary fault visible on satellite imagery (Tapponnier and Molnar, 1978; Wan Der Woerd, pers. comm.). (2) Interferometric processing of the SAR data provides a range displacement map with a precision of a few millimeters. The slip distribution along the rupture reconstructed from the range change map is a bell-shaped curve in the 100-km long central section of the fault with smaller, local maxima near both ends. The curve shows that the fault slip exceeds 2.2 m in range, or 6.2 in strike-slip, along a 30-km long section of the fault and remains above 1 m in range, approx. 3 m strike-slip, along most of its length. Preliminary forward modeling of the central section of the rupture, assuming a uniform slip distribution with depth, indicates that the slip occur-red essentially between 0 and the depth of 10 km, consistent with a relatively shallow event (Velasco et al., 1998).

Peltzer, G.↗

NASA NTRS1999

Effects of Internal and External Hydrogen on Inconel 718

Internal hydrogen embrittlement (IHE) and hydrogen environment embrittlement (HEE) tensile and bend crack growth tests were performed on Inconel 718. For the IHE tests, the specimens were precharged to approximately 90 ppm hydrogen by exposure to 34.5 MPa H2 at 650 C. The HEE tests were performed in 34.5 MPa H2. Parameters evaluated were test temperature, strain rate for smooth and notch specimen geometries. The strain rate effect was very significant at ambient temperature for both IHE and HEE and decreased with increasing temperatures. For IHE, the strain rate effect was neglible at 260'C, and for HEE the strain rate effect was neglible at 400 C. At low temperatures, IHE was more severe than HEE, and at high temperatures HEE was more severe than IHE with a cross over temperature about 350 C. At 350 C, the equilibrium hydrogen concentration in Inconel 718 is about 50% lower than the hydrogen content of the precharged IHE specimens. Dislocation hydrogen sweeping of surface absorbed hydrogen was the likely transport mechanism for increasing the hydrogen concentration in the HEE tests sufficiently to produce the same degree of embrittlement as that of the more highly hydrogen charged IHE specimens. The main IHE fracture characteristic was formation of large, brittle flat facets, which decreased with increasing test temperature. The IHE fracture matrix surrounding the large facets ranged between brittle fine faceted to microvoid ductility depending upon strain rate, specimen geometry as well as temperature. The HEE fractures were characteristically fine featured, transgranular and brittle with a significant portion forming a "saw tooth" crystallographic pattern. Both IHE and HEE fractures were predominantly along the {1 1 1) slip and twin boundaries. With respect to embrittlement mechanism, it was postulated that dislocation hydrogen sweeping and hydrogen enhanced localized plasticity were active in HEE and IHE for concentrating hydrogen along (1 1 1) slip and twin planes. Final brittle failure occurred by hydrogen induced planer decohesion.

Walter, R. J.↗