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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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

The Effect of Part-simulation of Weightlessness on Human Control of Bilateral Teleoperation: Neuromotor Considerations

The effect of weightlessness on the human operator's performance in force reflecting position control of remote manipulators was investigated. A gravity compensation system was developed to simulate the effect of weightlessness on the operator's arm. A universal force reflecting hand controller (FRHC) and task simulation software were employed. Two experiments were performed because of anticipated disturbances in neuromotor control specification on the human operator in an orbital control environment to investigate: (1) the effect of controller stiffness on the attainment of a learned terminal position in the three dimensional controller space, and (2) the effect of controller stiffness and damping on force tracking of the contour of a simulated three dimensional cube using the part simulation of weightless conditions. The results support the extension of neuromotor control models, which postulate a stiffness balance encoding of terminal position, to three dimensional motion of a multilink system, confirm the existence of a disturbance in human manual control performance under gravity compensated conditions, and suggest techniques for compensation of weightlessness induced performance decrement through appropriate specification of hand controller response characteristics. These techniques are based on the human control model.

Corker, K.↗
NASA NTRS2000

Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

NDE NDT composite materials defects inspection↗
NASA NTRS1978

Low frequency cabin noise reduction based on the intrinsic structural tuning concept: The theory and the experimental results, phase 2

Low frequency cabin noise and sonically induced stresses in an aircraft fuselage may be reduced by intrinsic tuning of the various structural members such as the skin, stringers, and frames and then applying damping treatments on these members. The concept is also useful in identifying the key structural resonance mechanisms controlling the fuselage response to broadband random excitation and in developing suitable damping treatments for reducing the structural response in various frequency ranges. The mathematical proof of the concept and the results of some laboratory and field tests on a group of skin-stringer panels are described. In the so-called stiffness-controlled region, the noise transmission may actually be controlled by stiffener resonances, depending upon the relationship between the natural frequencies of the skin bay and the stiffeners. Therefore, cabin noise in the stiffness-controlled region may be effectively reduced by applying damping treatments on the stiffeners.

Sengupta, G.↗
NASA NTRS1986

An experimental investigation of the flap-lag-torsion aeroelastic stability of a small-scale hingeless helicopter rotor in hover

A small scale, 1.92 m diam, torsionally soft, hingeless helicopter rotor was investigated in hover to determine isolated rotor stability characteristics. The two-bladed, untwisted rotor was tested on a rigid test stand at tip speeds up to 101 m/sec. The rotor mode of interest is the lightly damped lead-lag mode. The dimensionless lead-lag frequency of the mode is approximately 1.5 at the highest tip speed. The hub was designed to allow variation in precone, blade droop, pitch control stiffness, and blade pitch angle. Measurements of modal frequency and damping were obtained for several combinations of these hub parameters at several values of rotor speed. Steady blade bending moments were also measured. The lead-lag damping measurements were found to agree well with theoretical predictions for low values of blade pitch angle. The test data confirmed the predicted effects of precone, droop, and pitch control stiffness parameters on lead-lag damping. The correlation between theory and experiment was found to be poor for the mid-to-high range of pitch angles where the theory substantially overpredicted the experimental lead-lag damping. The poor correlation in the mid-to-high blade pitch angle range is attributed to low Reynolds number nonlinear aerodynamics effects not included in the theory. The experimental results also revealed an asymmetry in lead-lag damping between positive and negative thrust conditions.

Sharpe, David L.↗
NASA NTRS1977

A research to reduce interior noise in general aviation airplanes. General aviation interior noise study

The construction, calibration, and properties of a facility for measuring sound transmission through aircraft type panels are described along with the theoretical and empirical methods used. Topics discussed include typical noise source, sound transmission path, and acoustic cabin properties and their effect on interior noise. Experimental results show an average sound transmission loss in the mass controlled frequency region comparable to theoretical predictions. The results also verify that transmission losses in the stiffness controlled region directly depend on the fundamental frequency of the panel. Experimental and theoretical results indicate that increases in this frequency, and consequently in transmission loss, can be achieved by applying pressure differentials across the specimen.

Roskam, J.↗
NASA NTRS1991

Real-time control of geometry and stiffness in adaptive structures

The basic theory is presented for the geometry, stiffness, and damping control of adaptive structures, with emphasis on adaptive truss structures. Necessary and sufficient conditions are given for stress-free geometry control in statically determinate and indeterminate adaptive discrete structures. Two criteria for selecting the controls are proposed, and their use in real-time control is illustrated by numerical simulation results. It is shown that the stiffness and damping control of adaptive truss structures for vibration suppression is possible by elongation and elongation rate dependent feedback forces from the active elements.

Ramesh, A. V.↗
DOE OSTI2026

Mechanically graded granular scaffolds for osteochondral tissue engineering

Engineered scaffolds designed to approximate the mechanical microenvironment of the osteochondral unit often address this complexity using discrete, two-phase architectures that introduce mechanical discontinuities and interfacial stress concentrations rather than a contiguous stiffness transition. To address this challenge, we created a photoannealed polyethylene glycol (PEG) granular scaffold with a spatially controlled stiffness gradient within a cell-permissive, macroporous architecture. Stiffness was dictated by photoannealing microgels using a photomask. We tuned void volume and available surface area by varying microgel diameter and tested how mesenchymal stromal cells (MSCs) interpret local mechanical environments. MSCs exhibited position-dependent differences in morphology, cytoskeletal structure, matrix deposition, and lineage-specific gene expression within the gradient scaffolds. Softer regions supported rounded cell morphology and deposition of a glycosaminoglycan-rich matrix, whereas stiffer regions promoted cell elongation, increased cytoskeletal tension, and expression of mineral-associated markers. Gradients formed from smaller microgels magnified these spatial responses by increasing cellular confinement and adhesion site availability. Disruption of actomyosin contractility eliminated these regional differences, demonstrating that MSCs rely on tension-dependent mechanotransduction to interpret the gradient. These findings reveal that coupling microgel architecture with continuous stiffness transitions provides a tractable platform to study multiscale mechanobiologic regulation and spatially guide osteochondral tissue formation.

Biological and medical sciences↗
NASA NTRS1989

Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

Hennessey, Michael P.↗
NASA NTRS1992

On a finite-state inflow application to flap-lag-torsion damping in hover

An aerodynamic model with a coupled set of generalized dynamic wake equations and hybrid equations of motion for an elastic blade are applied here to a two-blade untwisted stiff in-plane hingeless small-scale model rotor with torsionally soft blades. Blade root offset, precone, blade droop, pitch control stiffness, and blade pitch angle are included in the model rotor. Numerical results show that 3D tip relief effects within the nonuniform steady-state inflow are significant to predict steady-state aerodynamic loads and blade deflections. Eigenvalue results confirm the importance of unsteady 3D aerodynamics in predicting lead-lag damping and frequency. Eigenvector analysis correlations reinforced qualitative and quantitative shortcomings associated with quasi-steady 2D aerodynamic theory for aeroelastic applications in hover.

De Andrade, Donizeti↗
NASA NTRS1984

Precise control of flexible manipulators

The design and experimental testing of end point position controllers for a very flexible one link lightweight manipulator are summarized. The latest upgraded version of the experimental set up, and the basic differences between conventional joint angle feedback and end point position feedback are described. A general procedure for application of modern control methods to the problem is outlined. The relationship between weighting parameters and the bandwidth and control stiffness of the resulting end point position closed loop system is shown. It is found that joint rate angle feedback in addition to the primary end point position sensor is essential for adequate disturbance rejection capability of the closed loop system. The use of a low order multivariable compensator design computer code; called Sandy is documented. A solution to the problem of control mode switching between position sensor sets is outlined. The proof of concept for endpoint position feedback for a one link flexible manipulator was demonstrated. The bandwidth obtained with the experimental end point position controller is about twice as fast as the beam's first natural cantilevered frequency, and comes within a factor of four of the absolute physical speed limit imposed by the wave propagation time of the beam.

Cannon, R. H., Jr.↗
NASA NTRS1994

Micromechanics of fatigue in woven and stitched composites

The goals of this research program were to: (1) determine how microstructural factors, especially the architecture of reinforcing fibers, control stiffness, strength, and fatigue life in 3D woven composites; (2) identify mechanisms of failure; (3) model composite stiffness; (4) model notched and unnotched strength; and (5) model fatigue life. We have examined a total of eleven different angle and orthogonal interlock woven composites. Extensive testing has revealed that these 3D woven composites possess an extraordinary combination of strength, damage tolerance, and notch insensitivity in compression and tension and in monotonic and cyclic loading. In many important regards, 3D woven composites far outstrip conventional 2D laminates or stitched laminates. Detailed microscopic analysis of damage has led to a comprehensive picture of the essential mechanisms of failure and how they are related to the reinforcement geometry. The critical characteristics of the weave architecture that promote favorable properties have been identified. Key parameters are tow size and the distributions in space and strength of geometrical flaws. The geometrical flaws should be regarded as controllable characteristics of the weave in design and manufacture. In addressing our goals, the simplest possible models of properties were always sought, in a blend of old and new modeling concepts. Nevertheless, certain properties, especially regarding damage tolerance, ultimate failure, and the detailed effects of weave architecture, require computationally intensive stochastic modeling. We have developed a new model, the 'binary model,' to carry out such tasks in the most efficient manner and with faithful representation of crucial mechanisms. This is the final report for contract NAS1-18840. It covers all work from April 1989 up to the conclusion of the program in January 1993.

Cox, B. N.↗
NASA NTRS1976

Low-frequency noise reduction of lightweight airframe structures

The results of an experimental study to determine the noise attenuation characteristics of aircraft type fuselage structural panels were presented. Of particular interest was noise attenuation at low frequencies, below the fundamental resonances of the panels. All panels were flightweight structures for transport type aircraft in the 34,050 to 45,400 kg (75,000 to 100,000 pounds) gross weight range. Test data include the results of vibration and acoustic transmission loss tests on seven types of isotropic and orthotropically stiffened, flat and curved panels. The results show that stiffness controlled acoustically integrated structures can provide very high noise reductions at low frequencies without significantly affecting their high frequency noise reduction capabilities.

Getline, G. L.↗
NASA NTRS1978

Experimental and theoretical sound transmission

The capabilities of the Kansas University- Flight Research Center for investigating panel sound transmission as a step toward the reduction of interior noise in general aviation aircraft were discussed. Data obtained on panels with holes, on honeycomb panels, and on various panel treatments at normal incidence were documented. The design of equipment for panel transmission loss tests at nonnormal (slanted) sound incidence was described. A comprehensive theory-based prediction method was developed and shows good agreement with experimental observations of the stiffness controlled, the region, the resonance controlled region, and the mass-law region of panel vibration.

Roskam, J.↗
NASA NTRS1979

The effect of oblique angle of sound incidence, realistic edge conditions, curvature and in-plane panel stresses on the noise reduction characteristics of general aviation type panels

Experiments and a theoretical analysis were conducted to predict the noise reduction of inclined and curved panels. These predictions are compared to the experimental results with reasonable agreement between theory and experiment for panels under an oblique angle of sound incidence. Theoretical as well as experimental results indicate a big increase in noise reduction when a flat test panel is curved. Further curving the panel slightly decreases the noise reduction. Riveted flat panels are shown to give a higher noise reduction in the stiffness-controlled frequency region, while bonded panels are superior in this region when the test panel is curved. Experimentally measured noise reduction characteristics of flat aluminum panels with uniaxial in-plane stresses are presented and discussed. These test results indicate an important improvement in the noise reduction of these panels in the frequency range below the fundamental panel/cavity frequency.

Grosveld, F.↗
NASA NTRS1992

Man-equivalent telepresence through four fingered human-like hand system

The author describes a newly developed mechanical hand system. The robot hand is in human-like configuration with a thumb and three fingers, a palm, a wrist, and the forearm in which the hand and wrist actuators are located. Each finger and the wrist has its own active electromechanical compliance system, allowing the joint drive trains to be stiffened or loosened. This mechanism imitates the human muscle dual function of positioner and stiffness controller. This is essential for soft grappling operations. The hand-wrist assembly has 16 finger joints, three wrist joints, and five compliance mechanisms for a total of 24 degrees of freedom. The strength of the hand is roughly half that of the human hand and its size is comparable to a male hand. The hand is controlled through an exoskeleton glove controller that the operator wears. The glove provides the man-machine interface in telemanipulation control mode: it senses the operator's inputs to guide the mechanical hand in hybrid position and force control. The hand system is intended for dexterous manipulations in structured environments. Typical applications will include work in hostile environment such as space operations and nuclear power plants.

Jau, Bruno M.↗
NASA NTRS1995

Failure models for textile composites

The goals of this investigation were to: (1) identify mechanisms of failure and determine how the architecture of reinforcing fibers in 3D woven composites controlled stiffness, strength, strain to failure, work of fracture, notch sensitivity, and fatigue life; and (2) to model composite stiffness, strength, and fatigue life. A total of 11 different angle and orthogonal interlock woven composites were examined. Composite properties depended on the weave architecture, the tow size, and the spatial distributions and strength of geometrical flaws. Simple models were developed for elastic properties, strength, and fatigue life. A more complicated stochastic model, called the 'Binary Model,' was developed for damage tolerance and ultimate failure. These 3D woven composites possessed an extraordinary combination of strength, damage tolerance, and notch insensitivity.

Cox, Brian↗