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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 NTRS1989

End-point control of a two-link manipulator with a very flexible forearm - Issues and experiments

For mechanical manipulators, a logical sensor location is at the manipulator end-point where tasks are performed. Unfortunately, when bending flexibility exists between an end-point sensor and a joint actuator, stability and performance are achieved only through sophisticated control design. Some of the issues involved in utilizing end-point sensing for two-link flexible manipulators are addressed. A modeling technique that properly represents the foreshortening of a flexible link undergoing deflections is presented. In order to realize fully the advantages of the assumed-modes modeling method, mode shapes are selected that allow a low-order model to be used effectively for simulation and control purposes. A nonlinear controller, incorporating state feedback and a constant-gain extended Kalman filter driven by end-point measurements, is designed and compared to a conventional proportional-plus-derivative controller that uses collocated sensors. Results from implementing these controllers on the experimental Stanford multilink flexible manipulator are given.

Oakley, Celia M.↗
NASA NTRS1990

The isothermal fatigue behavior of a unidirectional SiC/Ti composite and the Ti alloy matrix

The high temperature fatigue behavior of a metal matrix composite (MMC) consisting of Ti-15V-3Cr-3Al-3Sn(Ti-15-3) matrix reinforced by 33 volume percent of continuous unidirectional SiC fibers was experimentally and analytically evaluated. Isothermal MMC fatigue tests with constant amplitude loading parallel to the fiber direction were performed at 300 and 550 C. Comparative fatigue tests of the Ti-15-3 matrix alloy were also performed. Composite fatigue behavior and the in situ stress state of the fiber and matrix were analyzed with a micromechanical model, the Concentric Cylinder Model (CCM). The cyclic stress-strain response of the composite was stable at 300 C. However, an increase in cyclic mean strain foreshortened MMC fatigue life at high strain ranges at 550 C. Fatigue tests of the matrix alloy and CCM analyses indicated this response was associated with stress relaxation of the matrix in the composite and subsequent load shedding to the fibers.

Gayda, John↗
NASA NTRS1991

Development of a set of equations for incorporating disk flexibility effects in rotordynamical analyses

Rotordynamical equations that account for disk flexibility are developed. These equations employ free-free rotor modes to model the rotor system. Only transverse vibrations of the disks are considered, with the shaft/disk system considered to be torsionally rigid. Second order elastic foreshortening effects that couple with the rotor speed to produce first order terms in the equations of motion are included. The approach developed in this study is readily adaptable for usage in many of the codes that are current used in rotordynamical simulations. The equations are similar to those used in standard rigid disk analyses but with additional terms that include the effects of disk flexibility. An example case is presented to demonstrate the use of the equations and to show the influence of disk flexibility on the rotordynamical behavior of a sample system.

Flowers, George T.↗
NASA NTRS1990

Hierarchical approach to reconstruct surfaces by using iteratively rectified imagery

A new approach to reconstruct the 3D surface of the object space from digital images is described. All the object points obtained by an automatic orientation procedure lead to a first approximation of the surface. Edges are computed for one image and matched to the other image by grey level correlation or least-squares matching through the scale space. To every discrete step in the scale space there exists the digital stereopair (image pyramid), the corresponding surface digital elevation model (DEM), and the warped images. The warped images in this discrete scale space representation correspond to digital orthophotos obtained from the DEMs that result from matching the image pyramid. The warped images will be used on every successive level in the image pyramid in order to reduce the foreshortening problems associated with any area-based matching method.

Schenk, Toni↗
NASA NTRS1992

Venusian sinuous rilles

After a preliminary assessment of venusian channels, it now seems to be clear that the channels have distinctive classes, which imply a wide range of formation parameters and formation mechanisms. They include outflow channels mainly formed by mechanical erosion from very high discharge flow, and canali-type channels requiring either constructional process or mechanical erosion by rather exotic low-viscosity lava such as carbonatite or sulfur. Here we focus on venusian sinuous rilles. Venusian sinuous rilles are generally simple, and originate from a collapsed source. They are shallow and narrow downstream. The venusian sinuous rilles are distinct from canali-type channels, which exhibit almost constant morphologies throughout their entire length, and from outflow channels, which are characterized by wide anastomosing reaches. The lunar sinuous rilles could have been formed initially as constructional channels. However, incision was caused by the long flow duration and high temperatures of eruption, along with relatively large discharge rates, possibly assisted by a low viscosity of the channel-forming lava. Channel narrowing and levee formation suggest relatively fast cooling. The venusian channels could have had a similar sequence of formation including rapid cooling. Assuming the substrate is typical tholeiitic lava, the flowing lavas' temperatures have to be higher than the melting temperature of the substrate. The flow should have a low viscosity to cause turbulence and keep a high Reynolds number to sustain efficient thermal erosion. Determining eruption conditions also provide insights to estimate lava composition. Assuming a channel is formed mostly by thermal erosion, the channel's length and longitudinal profile are functions of lava properties. The depth profiles of the channel are measured by radar foreshortening methods and stereo images. Eruption conditions of channel forming lava can be estimated by the methods developed by Hulme.

Komatsu, G.↗
NASA NTRS1923

Aerial photography : obtaining a true perspective

A demonstration was given within the last few days at the British Museum by Mr. J. W. Gordon, author of "Generalized Linear Perspective" (Constable and Co.), a work describing a newly-worked-out system by which photographs can be made available for the purpose of exactly recording the dimensions of the objects photographed even when the objects themselves are presented foreshortened in the photograph.

Source record↗
NASA NTRS1993

Relief of some small landforms on Venus

Three sets of radar images have been acquired under different viewing conditions by the Magellan synthetic aperture radar: (1) left-looking with varied incidence angles (cycle 1); (2) right-looking with nearly constant incidence angles (cycle 2); and (3) left-looking with varied incidence angles, most of which were smaller than those in (1) except for those acquired on passes across Maxwell Montes with incidence angles larger than those in (1) (cycle 3). Image displacements in the radar images that are caused by the relief of landforms provide several methods of estimating this relief: (1) monoscopic measurements of foreshortening of landforms that are symmetrical in the plane of the look-direction of the radar (includes radial symmetry); (2) stereoscopic measurements of parallax in same-side image pairs (cycles 1-2 and 3); and (3) measurements of parallax in opposite-side image pairs (cycles 1-2 and/or 2-3). Success in methods 2 and 3 (especially 3) depends on identifying conjugate image points in the two images. Here, we report our preliminary results for five impact craters, seven small volcanic edifices, and two lava flows. The three methods mentioned above lead to the interesting result that Venusian impact craters have depth-diameter ratios like those on Mars rather than those on Earth, but some appear partly filled. Our results for de Lalande and Melba also suggest filling, but there may be other causes for their relatively small depth-diameter ratios. A host of small volcanic edifices have relief that can be crudely estimated using the above methods. Relief/diameter ratios for our cratered cones are about the same as those of Icelandic lava shields; some Venusian cones resemble the Martian shields of Mareotis-Tempe and Ceraunius Fossae, but the Venusian relief diameter ratios are larger. The smallest cratered dome is similar in size and profile to a Martian dome north of Uranius Patera; the smallest cratered cone resembles one in Chryse Planitia. Lava flows on Venus that are thick enough to measure are rare, but we have applied methods 1 and 3 to the huge flow of Ovda Regio and flows of an unusual volcano, Mahuea Tholus.

Moore, H. J.↗
NASA NTRS1992

Stereokinetic effect and its relation to the kinetic depth effect

The stereokinetic effect (SKE) has been defined and studied by nested circular patterns rotating on a turntable. Circles must appear not to rotate as they revolve, which in turn results in their appearing to translate relative to one another. A powerful illusion of object depth results even though the individual circles do not undergo an appropriate foreshortening consistent with their apparent changes in slant. It is suggested and tested that the SKE is based on the changing positions between the nested contours despite the absence of any change within each contour, whereas the kinetic depth effect (KDE) entails both kinds of change. It follows that a turntable method of presentation is not necessary, and between-contour transformations can be simulated by computer animation. Displays consisting of simple translations were shown to evoke robust depth impressions as were patterns consisting of contours of varying shapes. Comparisons of the depth, compellingness, and rigidity of matched SKE and KDE displays are reported. The SKE is taken to be paradigmatic for how the visual system perceives depth when observing small object rotations that occur in everyday situations.

Proffitt, Dennis R.↗
NASA NTRS1995

Stereo-Based Region-Growing using String Matching

We present a novel stereo algorithm based on a coarse texture segmentation preprocessing phase. Matching is performed using a string comparison. Matching sub-strings correspond to matching sequences of textures. Inter-scanline clustering of matching sub-strings yields regions of matching texture. The shape of these regions yield information concerning object's height, width and azimuthal position relative to the camera pair. Hence, rather than the standard dense depth map, the output of this algorithm is a segmentation of objects in the scene. Such a format is useful for the integration of stereo with other sensor modalities on a mobile robotic platform. It is also useful for localization; the height and width of a detected object may be used for landmark recognition, while depth and relative azimuthal location determine pose. The algorithm does not rely on the monotonicity of order of image primitives. Occlusions, exposures, and foreshortening effects are not problematic. The algorithm can deal with certain types of transparencies. It is computationally efficient, and very amenable to parallel implementation. Further, the epipolar constraints may be relaxed to some small but significant degree. A version of the algorithm has been implemented and tested on various types of images. It performs best on random dot stereograms, on images with easily filtered backgrounds (as in synthetic images), and on real scenes with uncontrived backgrounds.

Mandelbaum, Robert↗
NASA NTRS2000

Coma Morphology Due to an Extended Active Region and Implications for the Spin State of Comet Hale-Bopp

We show that the circular character of continuum structures observed in the coma of comet Hale-Bopp around the perihelion passage is most likely due to a dust jet from a large extended active region on the surface. Coma morphology due to a wide jet is different from that due to a narrow jet. The latter shows foreshortening effects due to observing geometry, wider jet produces more circular features. This circularization effect provides a self-consistent explanation for the evolution of near-perihelion coma morphology. No changes in the direction of the rotational angular momentum vector are required during this period in contrast to the models of Schleicher et al. This circularization effect also enables us to produce near-circular coma features in the S-E quadrant during 1997 late February and therefore questions the basic premise on which Sekanina bases his morphological arguments for a gravitationally bound satellite nucleus.

Samarasinha, Nalin H.↗
NASA NTRS2000

The X-Ray Core of the Low-Luminosity Radio Galaxy 3C346 and ASCA Spectroscopy to Test BL LAC/Radio Galaxy Unification

Radio galaxies are relatively faint sources for Advanced Spacecraft for Cosmology Astrophysics (ASCA), and so in order to get the best possible results from the observations two things have been necessary, both of which delayed the fast preparation of papers. Firstly, the best possible data screening and background subtraction were necessary to improve the signal-to-noise, and all our several initial analysis trials were discarded in favor of using FTOOLS versions 4.1 and above. Secondly, we found that the ASCA spectra were statistically too poor to discriminate well between non-thermal and thermal models, never mind the mixture of the two which we expected on the basis of our ROSAT spatial separation of components in radio galaxies. This means that in each case we have needed to combine the ASCA spectroscopy with analysis of data from other X-ray or radio observations in order to exploit the ASCA data to the full. Our analysis for 3C 346 has yielded the cleanest final result. This powerful radio galaxy at a redshift of 0.161, lies in a poor cluster, which we have separated well from the dominant X-ray component of unresolved emission using a spatial analysis of archival ROSAT data. We were then able to fix the thermal component in our ASCA spectral analysis, and have found evidence that the unresolved emission varied by 32 +/- 13% over the 18 months between the ROSAT and ASCA observations. The unresolved X-ray emission does not suffer from intrinsic absorption, and we have related it to radio structures on both milliarcsecond scales and the arcsecond scales which Chandra can resolve. The source is a target of a Chandra AO2 proposal which we have recently submitted to follow up on our ASCA (and ROSAT) work. 3C 346's orientation to the line of sight is uncertain. However, the absence of X-ray absorption, and the radio/optical/X-ray colors, when combined with with previous radio evidence that the source is a foreshortened radio galaxy of the FRII class, suggest that the radio jets are seen at an angle to the line of sight of about 30 deg, intermediate between the radio-galaxy and quasar classes. The relatively hard ASCA response has allowed us to place an upper limit of 5.6 x 10(exp 43) ergs/ s on the 2-10 keV luminosity of any central X-ray component absorbed bN, gas which might be obscuring the broad-line emission region. Attached to this report is an almost final draft of a paper which we have prepared for submission to the Astrophysical Journal. Our combined ASCA and ROSAT results for NGC 6251 rule out our previously preferred flat-spectrum model and inverse-Compton interpretation for the source based on ROSAT data alone, but a softer X-ray spectrum and moderate absorption bring all the available data (including our early VLA HI measurements) into consistency, and we are reasonably confident that we understand the processes responsible for the X-ray emission. We have made some more sensitive HI absorption measurements which are currently being analyzed, and our plans are to publish our ASCA analysis in conjunction with the new HI results. The ASCA data for NGC 4261 have been difficult to interpret. A re-analysis of our ROSAT data with a wider range of physical parameters brings the ROSAT and ASCA results into reasonable agreement only if the emission from hot gas dominates more than suggested by our earlier work, which is itself unexpected since the radio core is bright and a large jet-related X-ray component would bring the source into agreement with results for others of its type. However, we have recently received our Chandra A01 data for this source, with the spatial resolution which allows us to separate thermal and non-thermal emission components. Our ASCA results will be re-interpreted once the analysis of our Chandra data is complete. The interpretation of the ASCA data for BL Lac object 3C 371 is ongoing, in conjunction with analysis of archival multifrequency data. Radio galaxies are complex in their X-ray properties, and hindsight has shown that the spatial resolution of ASCA is too poor for a reliable interpretation of the data without drawing on other observations. However, the ASCA spectra have made a useful contribution to the interpretation of these sources, and the groundwork is now there for more sensitive work using Chandra and XMM-Newton.

Worrall, Diana↗
NASA NTRS2001

A Unified Development of Basis Reduction Methods for Rotor Blade Analysis

The axial foreshortening effect plays a key role in rotor blade dynamics, but approximating it accurately in reduced basis models has long posed a difficult problem for analysts. Recently, though, several methods have been shown to be effective in obtaining accurate,reduced basis models for rotor blades. These methods are the axial elongation method,the mixed finite element method, and the nonlinear normal mode method. The main objective of this paper is to demonstrate the close relationships among these methods, which are seemingly disparate at first glance. First, the difficulties inherent in obtaining reduced basis models of rotor blades are illustrated by examining the modal reduction accuracy of several blade analysis formulations. It is shown that classical, displacement-based finite elements are ill-suited for rotor blade analysis because they can't accurately represent the axial strain in modal space, and that this problem may be solved by employing the axial force as a variable in the analysis. It is shown that the mixed finite element method is a convenient means for accomplishing this, and the derivation of a mixed finite element for rotor blade analysis is outlined. A shortcoming of the mixed finite element method is that is that it increases the number of variables in the analysis. It is demonstrated that this problem may be rectified by solving for the axial displacements in terms of the axial forces and the bending displacements. Effectively, this procedure constitutes a generalization of the widely used axial elongation method to blades of arbitrary topology. The procedure is developed first for a single element, and then extended to an arbitrary assemblage of elements of arbitrary type. Finally, it is shown that the generalized axial elongation method is essentially an approximate solution for an invariant manifold that can be used as the basis for a nonlinear normal mode.

Ruzicka, Gene C.↗
NASA NTRS2007

Curious Behavior of Sunspot Umbrae in the First Half of the 20th Century

We examined the behavior of the areas of sunspot umbrae and penumbrae as reported daily by the Royal Observatory, Greenwich (RGO) from May 1874 to December 1976. We calculated the ratio of the umbral area to the penumbral area (corrected for foreshortening as observed on the solar disc) for each sunspot group and for each day. We found: 1) that this ratio is about 0.2 on average, 2) that larger sunspot groups have slightly smaller ratios, 3) that there is a weak dependence on the phase of the solar cycle, 4) that there is no dependence on the latitude of the sunspot groups, and curiously 5) that for the smaller sunspot groups this ratio increased dramatically from about 1910 to 1930 and then returned to "normal" from 1930 to 1950. We examined other sunspot records to determine whether this behavior was an artifact of the RGO data and find evidence to indicate that the behavior was real. For the smaller sunspots (constituting the vast majority in both number and total area), the proportional size of the sunspot umbrae slowly increased by more than 50% and then returned to "normal" over this 40-year period.

Hathaway, D. H.↗
NASA NTRS1991

Fluid flow rate control device

A poppet is modulated between closed and full open positions by a brushless DC motor operating magnetically through a housing to drive a permanent magnet rotor which carries the poppet. The rotor is supported on several parallel cables which are stationarily fixed at one end and attached to the rotor at the other end, whereby rotation of the rotor twists the cables, causing axial foreshortening and axial translation of rotor and poppet. Axial translation is enhanced by placing a spacer between the cables, intermediate their ends. A permanent magnet ring is disposed around the valve seat directly axially attracting the rotor to a valve closed position.

Reinicke, Robert H.↗
NASA NTRS1999

Roller unlocking sprags

A roller type sprag member consisting of three main elements, an outer roller half section, an inner roller half section, and an assembly-location pin. The sprag locks using roller locking techniques in a manner well known in the case of a three-dimensional (3-D) locking sprag. It unlocks, however, using a roll technique in which the inner and outer roller halves rotate in mutually opposite directions, one clockwise and the other counterclockwise. In the process of rotation, the roller is foreshortened between the distance across the sprag contact surfaces, whereupon it loses its ability to act as a locking sprag and releases.

Vranish, John M.↗
NASA NTRS2008

A KPC-Scale X-Ray Jet in the BL Lac Source S5 2007+777

X-ray jets in AGN are commonly observed in FRII and FRI radiogalaxies, but rarely in BL Lacs, most probably due to their orientation close to the line of sight and the ensuing foreshortening effects. Only three BL Lacs are known so far to contain a kpc-scale X-ray jet. In this paper, we present the evidence for the existence of a fourth extended X-ray jet in the classical radio-selected source S5 2007+777, which for its hybrid FRI/II radio morphology has been classified as a HYMOR (HYbrid MOrphology Radio source). Our Chandra ACISS observations of this source revealed an X-ray counterpart to the 19"-long radio jet. Interestingly, the X-ray properties of the kpc-scale jet in S5 2007+777 are very similar to those observed in FRII jets. First, the X-ray morphology closely mirrors the radio one, with the X-rays being concentrated in the discrete radio knots. Second, the X-ray continuum of the jet/brightest knot is described by a very hard power law, with photon index gamma(sub x) approximately 1. Third, the optical upper limit from archival HST data implies a concave radio-to-X-ray SED. If the X-ray emission is attributed to IC/CMB with equipartition, strong beaming (delta= 13) is required, implying a very large scale (Mpc) jet. The beaming requirement can be somewhat relaxed assuming a magnetic field lower than equipartition. Alternatively, synchrotron emission from a second population of very high-energy electrons is viable. Comparison to other HYMOR jets detected with Chandra is discussed, as well as general implications for the origin of the FRI/II division.

Sambruna, Rita M.↗
NASA NTRS2007

Analysis of Performance of Stereoscopic-Vision Software

A team of JPL researchers has analyzed stereoscopic vision software and produced a document describing its performance. This software is of the type used in maneuvering exploratory robotic vehicles on Martian terrain. The software in question utilizes correlations between portions of the images recorded by two electronic cameras to compute stereoscopic disparities, which, in conjunction with camera models, are used in computing distances to terrain points to be included in constructing a three-dimensional model of the terrain. The analysis included effects of correlation- window size, a pyramidal image down-sampling scheme, vertical misalignment, focus, maximum disparity, stereo baseline, and range ripples. Contributions of sub-pixel interpolation, vertical misalignment, and foreshortening to stereo correlation error were examined theoretically and experimentally. It was found that camera-calibration inaccuracy contributes to both down-range and cross-range error but stereo correlation error affects only the down-range error. Experimental data for quantifying the stereo disparity error were obtained by use of reflective metrological targets taped to corners of bricks placed at known positions relative to the cameras. For the particular 1,024-by-768-pixel cameras of the system analyzed, the standard deviation of the down-range disparity error was found to be 0.32 pixel.

Kim, Won↗
NASA NTRS2017

BIRCHES and Lunarcubes: Building the First Deep Space Cubesat Broadband IR Spectrometer

The Broadband InfraRed Compact High-resolution Exploration Spectrometer (BIRCHES), which will be described in detail here, is the compact broadband IR spectrometer of the Lunar Ice Cube mission. Lunar Ice Cube is one of 13 6U cubesats that will be deployed by EM1 in cislunar space, qualifying as lunarcubes. The LunarCube paradigm is a proposed approach for extending the affordable CubeSat standard to support access to deep space via cis-lunar/lunar missions. Because the lunar environment contains analogs of most solar system environments, the Moon is an ideal target for both testing critical deep space capabilities and understanding solar system formation and processes. Effectively, as developments are occurring in parallel, 13 prototype deep space cubesats are being flown for EM1. One useful outcome of this ‘experiment’ will be to determine to what extent it is possible to develop a lunarcube ‘bus’ with standardized interfaces to all subsystems using reasonable protocols for a variety of payloads. The lunar ice cube mission was developed as the test case in a GSFC R&D study to determine whether the cubesat paradigm could be applied to deep space, science requirements driven missions, and BIRCHES was its payload. Here, we present the design and describe the ongoing development, and testing, in the context of the challenges of using the cubesat paradigm to fly a broadband IR spectrometer in a 6U platform, including minimal funding and extensive need for leveraging existing assets and relationships on development, the foreshortened schedule for payload delivery on testing, and minimum bandwidth translating into simplified or canned operation.

Chapin, Peter↗