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NASA NTRS2013

Basic Operational Robotics Instructional System

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Todd, Brian Keith↗

NASA NTRS2000

Finite Element Model Development For Aircraft Fuselage Structures

Buehrle, Ralph D.↗

NASA NTRS2000

Finite Element Model Development and Validation for Aircraft Fuselage Structures

The ability to extend the valid frequency range for finite element based structural dynamic predictions using detailed models of the structural components and attachment interfaces is examined for several stiffened aircraft fuselage structures. This extended dynamic prediction capability is needed for the integration of mid-frequency noise control technology. Beam, plate and solid element models of the stiffener components are evaluated. Attachment models between the stiffener and panel skin range from a line along the rivets of the physical structure to a constraint over the entire contact surface. The finite element models are validated using experimental modal analysis results. The increased frequency range results in a corresponding increase in the number of modes, modal density and spatial resolution requirements. In this study, conventional modal tests using accelerometers are complemented with Scanning Laser Doppler Velocimetry and Electro-Optic Holography measurements to further resolve the spatial response characteristics. Whenever possible, component and subassembly modal tests are used to validate the finite element models at lower levels of assembly. Normal mode predictions for different finite element representations of components and assemblies are compared with experimental results to assess the most accurate techniques for modeling aircraft fuselage type structures.

Buehrle, Ralph D.↗

DOE OSTI2025

Multiscale Physics of Atomic Nuclei from First Principles

Atomic nuclei exhibit multiple energy scales ranging from hundreds of MeV in binding energies to fractions of an MeV for low-lying collective excitations. As the limits of nuclear binding are approached near the neutron and proton drip lines, traditional shell structure starts to melt with an onset of deformation and an emergence of coexisting shapes. It is a long-standing challenge to describe this multiscale physics starting from nuclear forces with roots in quantum chromodynamics. Here, we achieve this within a unified and nonperturbative quantum many-body framework that captures both short- and long-range correlations starting from modern nucleon-nucleon and three-nucleon forces from chiral effective field theory. The short-range (dynamic) correlations which account for the bulk of the binding energy are included within a symmetry-breaking framework, while long-range (static) correlations (and fine details about the collective structure) are included by employing symmetry projection techniques. Our calculations accurately reproduce—within theoretical error bars—available experimental data for low-lying collective states and the electromagnetic quadrupole transitions in 20−30 Ne. In addition, we reveal coexisting spherical and deformed shapes in 30 Ne, which indicates the breakdown of the magic neutron number 𝑁 = 20 as the key nucleus 28 O is approached, and we predict that the drip line nuclei 32,34 Ne are strongly deformed and collective. By developing reduced-order models for symmetry-projected states, we perform a global sensitivity analysis and find that the subleading singlet 𝑆-wave contact and a pion-nucleon coupling strongly impact nuclear deformation in chiral effective field theory. The techniques developed in this work clarify how microscopic nuclear forces generate the multiscale physics of nuclei spanning collective phenomena as well as short-range correlations and allow one to capture emergent and dynamical phenomena in finite fermion systems such as atom clusters, molecules, and atomic nuclei.

74 ATOMIC AND MOLECULAR PHYSICS↗

NASA NTRS1997

A Dual-Line Detection Rayleigh Scattering Diagnostic Technique for the Combustion of Hydrocarbon Fuels and Filtered UV Rayleigh Scattering for Gas Velocity Measurements

Non-intrusive techniques for the dynamic measurement of gas flow properties such as density, temperature and velocity, are needed in the research leading to the development of new generation high-speed aircraft. Accurate velocity, temperature and density data obtained in ground testing and in-flight measurements can help understand the flow physics leading to transition and turbulence in supersonic, high-altitude flight. Such non-intrusive measurement techniques can also be used to study combustion processes of hydrocarbon fuels in aircraft engines. Reliable, time and space resolved temperature measurements in various combustor configurations can lead to a better understanding of high temperature chemical reaction dynamics thus leading to improved modeling and better prediction of such flows. In view of this, a research program was initiated at Polytechnic University's Aerodynamics Laboratory with support from NASA Lewis Research Center through grants NAG3-1301 and NAG3-1690. The overall objective of this program has been to develop laser-based, non-contact, space- and time-resolved temperature and velocity measurement techniques. In the initial phase of the program a ND:YAG laser-based dual-line Rayleigh scattering technique was developed and tested for the accurate measurement of gas temperature in the presence of background laser glare. Effort was next directed towards the development of a filtered, spectrally-resolved Rayleigh/Mie scattering technique with the objective of developing an interferometric method for time-frozen velocity measurements in high-speed flows utilizing the uv line of an ND:YAG laser and an appropriate molecular absorption filter. This effort included both a search for an appropriate filter material for the 266 nm laser line and the development and testing of several image processing techniques for the fast processing of Fabry-Perot images for velocity and temperature information. Finally, work was also carried out for the development of a new laser-based strain-rate and vorticity technique for the time-resolved measurement of vorticity and strain-rates in turbulent flows.

Otugen, M. Volkan↗

DOE OSTI2020

A particle finite element-based model for droplet spreading analysis

Here, a particle finite element method-based model is proposed to analyze droplet dynamics problems, particularly droplet spreading on solid substrates (wetting). The model uses an updated Lagrangian framework to formulate the governing equations of the liquid. The curvature of the liquid surface is tracked accurately using a deforming boundary mesh. In order to predict the spreading rate of the droplet on the solid substrate and track the corresponding contact angle evolution, dissipative forces at the contact line are included in the formulation in addition to the Navier-slip boundary conditions at the solid–liquid interface. The inclusion of these boundary conditions makes it possible to account for the induced Young’s stress at the contact line and for the viscous dissipation along the solid–liquid interfacial region. These are found to be essential to obtain a mesh-independent physical solution. The temporal evolution of the contact angle and the contact line velocity of the proposed model are compared with spreading droplets and micro-sessile droplet injection experiments and are shown to be in good agreement.

42 ENGINEERING↗

NASA NTRS1993

Time-variant analysis of rotorcraft systems dynamics - An exploitation of vector processors

In this paper a generalized algorithmic procedure is presented for handling constraints in mechanical transmissions. The latter are treated as multibody systems of interconnected rigid/flexible bodies. The constraint Jacobian matrices are generated automatically and suitably updated in time, depending on the geometrical and kinematical constraint conditions describing the interconnection between shafts or gears. The type of constraints are classified based on the interconnection of the bodies by assuming that one or more points of contact exist between them. The effects due to elastic deformation of the flexible bodies are included by allowing each body element to undergo small deformations. The procedure is based on recursively formulated Kane's dynamical equations of motion and the finite element method, including the concept of geometrical stiffening effects. The method is implemented on an IBM-3090-600j vector processor with pipe-lining capabilities. A significant increase in the speed of execution is achieved by vectorizing the developed code in computationally intensive areas. An example consisting of two meshing disks rotating at high angular velocity is presented. Applications are intended for the study of the dynamic behavior of helicopter transmissions.

Amirouche, F. M. L.↗

DOE OSTI2023

Impact of Flow Configurations on Response Time and Data Quality in Real-Time, In-Line Fourier Transform Infrared (FTIR) Monitoring of Viscous Flows

The real-time, in-line monitoring of continuous flow concentrations is widely conducted via infrared (IR) spectrometry by using a flow cell connected to a reactive flow stream. For protective purposes, the IR sensor tip is typically offset from the flow. This offset can cause the formation of a stagnant boundary layer above the sensor, especially when dealing with high-viscosity fluids. As a result, the IR signal response time is often controlled by the slow diffusional exchange of fluid in the boundary layer, as confirmed via 2D computational fluid dynamics (CFD) simulations. We evaluated several flow configuration modifications in a typical IR flow cell in order to identify the changes to the flow dynamics that enable improved response times with minimal changes to the cell configuration: the use of (i) vertical flow, where the standard horizontal flow over the sensor is redirected to contact vertically with the sensor, (ii) a static mixer to create radial flow momentum above the IR sensor, and (iii) horizontal or vertical nozzles to direct the flow toward the IR sensor. The vertical flow configuration did not show any significant improvement over the standard horizontal flow configuration. However, the static mixer, horizontal nozzle, and vertical nozzle configurations all resulted in markedly improved response times and signal quality, albeit at the expense of a higher pressure drop across the flow cell. These results point toward straightforward, user-accessible modifications of in-line IR flow cells that result in significant improvements in signal stability and acquisition times.

42 ENGINEERING↗

DOE OSTI2021

Deployment of salt sample extraction system at an engineering-scale electrorefiner

The goal of the salt sampling program at Argonne is to develop and deploy automated molten salt sampling approaches for interfacing relevant unit operations with salt analysis to improve the timeliness of sampling-based accountancy measurements. Two technologies under development in support of this goal are a vacuum sampling loop module and a high-throughput pneumatic sample generator module. Compared to traditional point sampling approaches (i.e., dip probes), the vacuum sampling loop facilitates the collection of a larger cross-section of the bulk salt in order to collect more representative samples. The vacuum sampling approach also eliminates the risk of dross contamination of samples and avoids the use of moving parts in the salt. The pneumatic sample generator module is used to facilitate high-throughput sample analysis to improve the measurement precision of any given analytical technique by averaging out random sampling and measurement errors. In FY21, two methods for integrating these two modules were tested including direct fluidic coupling and coupling using a solid salt transfer mechanism. Solid salt transfer was ultimately selected over fluidic coupling, primarily to enable the transport of samples over longer distances to support automated at-line integration with high-precision techniques (such as microcalorimetry) that cannot withstand the conditions near an electrorefining process. To facilitate rapid solid salt coupling, new mechanisms were developed for rapidly charging and discharging salt sample tubes at the vacuum sampling loop and pneumatic sample generator modules, respectively. While the charging mechanism will be deployed in FY22, the discharge mechanism was tested in FY21 and is described here. The solid salt tube transfer method was deployed at one of Argonne’s engineering-scale electrorefiners to implement at-line high-throughput pneumatic micro-sample generation capabilities. The approach was used to generate precise uranium- and lanthanide-bearing electrorefiner micro-samples with the specific dimensions requested by researchers at Los Alamos National Laboratory for use in testing their novel microcalorimeter x-ray techniques. The solid salt transfer mechanism proved not only to be an effective means of integrating the precision sample generator with vacuum sampling, but also improved the performance of the sampler generator. To discharge salt from the sample tubes at the sampler generator, tube segments were inserted directly into the sample generator’s Helmholtz chamber and pressure pulse actuations were used to generate precision molten salt samples directly from the tube segments. The direct insertion of sample tubes into the sample generator enabled rapid loading of the salt and prevented salt from contacting most of the interior surfaces of the sample generator, which eliminated cross-contamination between runs. The vacuum sampling-loop tube charging mechanism will support high-throughput tube sampling operations by employing a dynamic vacuum filling process to fill short charge tubes that are configured to be rapidly connected and disconnected from the loop. The dynamic vacuum sampling operation will be automated, and sample tube handling can be executed with simple overhead actuation. Because the modular sampling approach described here eliminates the need for new high-radiation sample handling capabilities, salt-wetted seals, salt-wetted moving parts, and heated transfer lines outside the electrorefiner, it will address most of the remaining technical challenges for the at-line deployment of high-precision analytical techniques which will enable significant reductions in the time delay for sampling-based high-precision accountancy measurements.

42 ENGINEERING↗

DOE OSTI2026

Modeling Marangoni Convection using a Velocity-Time Relationship

The Waste Treatment and Immobilization Plant (WTP) at the U.S. Department of Energy’s (DOE’s) Handford site is designed to treat 56 million gallons of radioactive waste through vitrification. The melting vessels physical and chemical integrity is essential to maintain, as failure has a high safety and financial penalty. Monofrax® K-3 refractory, the material widely used for the melting vessel, undergoes significant corrosion over time, concentrated at the triple-point junction between the gaseous atmosphere, refractory, and glass melt, producing a characteristic neck-like profile that significantly limits refractory service life. Accurate prediction of the corrosion within the melter can be used to prevent this and extend the lifetime of the melters. A computational fluid dynamics (CFD) model was previously developed, and predicted subsurface refractory corrosion, but failed to predict the neck-line profile observed experimentally. To address this limitation, the glass-melt meniscus geometry at the glass-refractory interface was estimated from experimentally measured neck profiles and wettability experiments. A curve was fitted to the neck profile to identify the triple point location, and the meniscus shape was characterized by a contact angle of 1°. A velocity profile accounting for Marangoni convection-driven corrosion was derived from the estimated meniscus geometry. Surface tension measurements from LORPM14R1 glasses of varying composition were coupled with K-3 coupon dissolution rates to establish a surface tension–time relationship. This analytical velocity-time model was integrated into the existing CFD framework to improve prediction of the neck corrosion profile. Work was done in a computational setting with national collaboration, resulting in professional development through presentational and technical writing growth.

36 - MATERIALS SCIENCE↗

NASA NTRS1981

A method of selecting grid size to account for Hertz deformation in finite element analysis of spur gears

A method of selecting grid size for the finite element analysis of gear tooth deflection is presented. The method is based on a finite element study of two cylinders in line contact, where the criterion for establishing element size was that there be agreement with the classical Hertzian solution for deflection. The results are applied to calculate deflection for the gear specimen used in the NASA spur gear test rig. Comparisons are made between the present results and the results of two other methods of calculation. The results have application in design of gear tooth profile modifications to reduce noise and dynamic loads.

Coy, J. J.↗

NASA NTRS2003

New ISTP Solar Max: A Multi-Spacecraft Study of the Flow of Ionospheric Plasma

The unique instrumentation on the Polar satellite combined with the simultaneous measurement of different parts of the magnetosphere with multiple satellites make possible the study of magnetospheric processes in a special way. In particular, the study of the ionospheric supply of plasma to the magnetosphere can by accomplished to give important results on the plasmas which drive the dynamics of the magnetosphere. This study concentrated on the period of September to December, 2001 in which the Polar orbit had precessed to the point that the line of apsides was near the equatorial plane. This unique orbital configuration enabled the TIDE instrument to measure outflowing ions across the polar cap and then transit the magnetotail lobes and observe the dramatic change in plasma characteristics as the satellite entered the plasma sheet. Contact was made with investigators on the Cluster and Geotail satellite missions and corresponding time frames were studied in the data. There were two approximate conjunctions between Polar and Geotail and data were compared to look for features which might be related. The higher energy concentration of the Geotail instrument made direct comparisons with TIDE difficult, and the Cluster measurements did not surface any cases that corresponded closely in space and time. There were, however, many interesting aspects of the Polar orbits which permitted the observation of the changing ionospheric outflowing plasma characteristics. As in earlier measurements, the ionospheric plasma could be seen flowing up the magnetic field lines out of the northern and southern polar caps. Its energy suggested a polar wind origin energized by the centrifugal acceleration of flow through the polar cusp. The roughly 10eV ions then moved out into the lobes of the magnetotail where they could be seen flowing toward the plasma sheet in both the northern and southern magnetotail lobes. There was also a double field-aligned region of warm ions observed just outside the plasmasphere, stretching toward the auroral zone and inner plasma sheet boundary. Upon entering the plasma sheet, the plasma energy jumped from 10 s of eV to greater than 1 keV. The single field aligned flows transitioned to highly variable spatially choppy energized ion distributions with a variety of pitch angle configurations. This pattern was quite repeatable in all of the Polar orbits that were examined and are compatible with the source of ions being the polar wind which is then energized to 10 s of eV by the centrifugal acceleration. These modestly energized polar wind ions are then carried to the magnetotail where they are substantially energized by the curvature drift-induced movement across the cross-tail potential of the magnetotail. This latter drift energizes the ions to the energies typically found in the plasma sheet. Subsequent drift and energization can cause the ions to become part of the ring current. The results of this study were presented at the Spring AGU meeting in 2002 and the GEM meeting in June 2003. They are the foundation for a paper that has been submitted by Matthew Huddleston to the Journal of Geophysical Research in December 2003. This work was part of the thesis that Matthew completed in finishing his Ph.D. in Physics at Vanderbilt University.

Chappell, Charles R.↗

NASA NTRS1990

LB 1800 - A bright eclipsing cataclysmic variable and a transient X-ray source

The star LB 1800 has been discovered to be a 13th mag high-excitation cataclysmic variable exhibiting novalike characteristics and partial eclipses in its light curve. It has subsequently been identified as the optical counterpart of the transient hard X-ray source 4U 0608-49 following analysis of HEAO 1 data. Both the radial velocity and photometric variations have a period of 5.56 hr, while the K-velocity of the relatively uncomplicated radial velocity curves is 134 + or - 9 km/s, leading to a mass function of 0.058 + or - 0.003 solar mass. The dynamical and eclipse solutions point to an orbital inclination of 87 deg + or - 3 deg and a mass ratio of 0.46 + or - 0.04 for the empirical secondary mass 0.55 solar mass. The implied white dwarf mass is therefore quite high at about 1.2 solar mass. The disk size, from timings of first and last contact, was estimated to be very close to that of the secondary star. Phase-dependent, double-peak emission lines are sometimes observed. It is argued that the orbital variations in the relative strengths of the red and blue peaks arise from changing hot-spot visibility.

Buckley, D. A. H.↗

NASA NTRS1994

Fourth order difference methods for hyperbolic IBVP's

Fourth order difference approximations of initial-boundary value problems for hyperbolic partial differential equations are considered. We use the method of lines approach with both explicit and compact implicit difference operators in space. The explicit operator satisfies an energy estimate leading to strict stability. For the implicit operator we develop boundary conditions and give a complete proof of strong stability using the Laplace transform technique. We also present numerical experiments for the linear advection equation and Burgers' equation with discontinuities in the solution or in its derivative. The first equation is used for modeling contact discontinuities in fluid dynamics, the second one for modeling shocks and rarefaction waves. The time discretization is done with a third order Runge-Kutta TVD method. For solutions with discontinuities in the solution itself we add a filter based on second order viscosity. In case of the non-linear Burger's equation we use a flux splitting technique that results in an energy estimate for certain different approximations, in which case also an entropy condition is fulfilled. In particular we shall demonstrate that the unsplit conservative form produces a non-physical shock instead of the physically correct rarefaction wave. In the numerical experiments we compare our fourth order methods with a standard second order one and with a third order TVD-method. The results show that the fourth order methods are the only ones that give good results for all the considered test problems.

Gustafsson, Bertil↗

NASA NTRS1987

Differential surface models for tactile perception of shape and on-line tracking of features

Tactile perception of shape involves an on-line controller and a shape perceptor. The purpose of the on-line controller is to maintain gliding or rolling contact with the surface, and collect information, or track specific features of the surface such as edges of a certain sharpness. The shape perceptor uses the information to perceive, estimate the parameters of, or recognize the shape. The differential surface model depends on the information collected and on the a priori information known about the robot and its physical parameters. These differential models are certain functionals that are projections of the dynamics of the robot onto the surface gradient or onto the tangent plane. A number of differential properties may be directly measured from present day tactile sensors. Others may have to be indirectly computed from measurements. Others may constitute design objectives for distributed tactile sensors of the future. A parameterization of the surface leads to linear and nonlinear sequential parameter estimation techniques for identification of the surface. Many interesting compromises between measurement and computation are possible.

Hemami, H.↗

NASA NTRS1992

Dynamic analysis of flexible gear trains/transmissions - An automated approach

In this paper an automated algorithmic method is presented for the dynamic analysis of geared trains/transmissions. These are treated as a system of interconnected flexible bodies. The procedure developed explains the switching of constraints with time as a result of the change in the contacting areas at the gear teeth. The elastic behavior of the system is studied through the employment of three-dimensional isoparametric elements having six degrees-of-freedom at each node. The contact between the bodies is assumed at the various nodes, which could be either a line or a plane. The kinematical expressions, together with the equations of motion using Kane's method, strain energy concepts, are presented in a matrix form suitable for computer implementation. The constraint Jacobian matrices are generated automatically based on the contact information between the bodies. The concepts of the relative velocity at the contacting points at the tooth pairs and the subsequent use of the transmission ratios in the analysis is presented.

Amirouche, F. M. L.↗

NASA NTRS1996

Nd:YAG Laser-Based Dual-Line Detection Rayleigh Scattering and Current Efforts on UV, Filtered Rayleigh Scattering

Ongoing research in Rayleigh scattering diagnostics for variable density low speed flow applications and for supersonic flow measurements are described. During the past several years, the focus has been on the development and use of a Nd:YAG-based Rayleigh scattering system with improved signal-to-noise characteristics and with applicability to complex, confined flows. This activity serves other research projects in the Aerodynamics Laboratory which require the non-contact, accurate, time-frozen measurement of gas density, pressure, and temperature (each separately), in a fairly wide dynamic range of each parameter. Recently, with the acquisition of a new seed-injected Nd:YAG laser, effort also has been directed to the development of a high-speed velocity probe based on a spectrally resolved Rayleigh scattering technique.

Otugen, M. Volkan↗

NASA NTRS1984

NSC 800, 8-bit CMOS microprocessor

The NSC 800 is an 8-bit CMOS microprocessor manufactured by National Semiconductor Corp., Santa Clara, California. The 8-bit microprocessor chip with 40-pad pin-terminals has eight address buffers (A8-A15), eight data address -- I/O buffers (AD(sub 0)-AD(sub 7)), six interrupt controls and sixteen timing controls with a chip clock generator and an 8-bit dynamic RAM refresh circuit. The 22 internal registers have the capability of addressing 64K bytes of memory and 256 I/O devices. The chip is fabricated on N-type (100) silicon using self-aligned polysilicon gates and local oxidation process technology. The chip interconnect consists of four levels: Aluminum, Polysi 2, Polysi 1, and P(+) and N(+) diffusions. The four levels, except for contact interface, are isolated by interlevel oxide. The chip is packaged in a 40-pin dual-in-line (DIP), side brazed, hermetically sealed, ceramic package with a metal lid. The operating voltage for the device is 5 V. It is available in three operating temperature ranges: 0 to +70 C, -40 to +85 C, and -55 to +125 C. Two devices were submitted for product evaluation by F. Stott, MTS, JPL Microprocessor Specialist. The devices were pencil-marked and photographed for identification.

Suszko, S. F.↗