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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Dynamic Analysis of a Six-Cable Parallel Robot for Automated Panelized Building Retrofits

Cable-Driven Parallel Robots (CDPRs) are highly suitable for automated panelized building retrofits, thanks to their compact footprint and high payload-to-weight ratio. A common CDPR configuration featuring eight cables, where the anchors form a rectangular prism in front of the building facade, offers a large wrench feasible workspace and good control versatility. However, installing upper anchor points requires additional support structures, such as towers or beams, increasing setup complexity and posing logistical challenges in construction settings. To mitigate these challenges, we propose a six-cable CDPR model specifically designed for automated panelized building retrofits. Although the feasible workspace is limited, our analysis shows that the proposed CDPR adequately covers the critical areas required for panel installation. To validate that the six-cable system can effectively transport the end effector to the desired installation pose, we calculated optimal trajectories based on a constrained dynamic model. The simulation results of the six-cable CDPR demonstrate promising potential for automated panelized building retrofits, effectively balancing simplicity, cost-effectiveness, and functionality.

Liu, Yifang [ORNL] (ORCID:0000000190817417)↗
NASA NTRS1972

Cable Connected Spinning Spacecraft, 1. the Canonical Equations, 2. Urban Mass Transportation, 3

Work on the dynamics of cable-connected spinning spacecraft was completed by formulating the equations of motion by both the canonical equations and Lagrange's equations and programming them for numerical solution on a digital computer. These energy-based formulations will permit future addition of the effect of cable mass. Comparative runs indicate that the canonical formulation requires less computer time. Available literature on urban mass transportation was surveyed. Areas of the private rapid transit concept of urban transportation are also studied.

Sitchin, A.↗
NASA NTRS2012

High-Data-Rate Quadrax Cable Microwave Characterization at the NASA Glenn Structural Dynamics Laboratory

An experiment was performed to determine the degradation in the bit-error-rate (BER) in the high-data-rate cables chosen for the Orion Service Module due to extreme launch conditions of vibrations with a magnitude of 60g. The cable type chosen for the Orion Service Module was no. 8 quadrax cable. The increase in electrical noise induced on these no. 8 quadrax cables was measured at the NASA Glenn vibration facility in the Structural Dynamics Laboratory. The intensity of the vibrations was set at 32g, which was the maximum available level at the facility. The cable lengths used during measurements were 1, 4, and 8 m. The noise measurements were done in an analog fashion using a performance network analyzer (PNA) by recording the standard deviation of the transmission scattering parameter S(sub 21) over the frequency range of 100 to 900 MHz. The standard deviation of S(sub 210 was measured before, during, and after the vibration of the cables at the vibration facility. We observed an increase in noise by a factor of 2 to 6. From these measurements we estimated the increase expected in the BER for a cable length of 25 m and concluded that these findings are large enough that the noise increase due to vibration must be taken in to account for the design of the communication system for a BER of 10(exp -8).

Theofylaktos, Onoufrios↗
NASA NTRS1972

An investigation of a movable mass-attitude stabilization system for artificial-G space

The application of a single movable mass to generate control torques for the attitude control of space vehicles is discussed. The feasibility of a movable mass control in stabilizing a cable-connected, artificial gravity configuration is proposed. A dynamic model for cable-connected configurations to account for the aggregate motion of the space station and relative torsional motion between the crew quarters and counter weight is developed.

Childs, D. W.↗
DOE OSTI2022

CORRTEX Analysis Techniques

Continuous Reflectometry for Radius versus Time Experiments, or CORRTEX, is a diagnostic that was developed during nuclear testing to measure the distance at which rock walls were disrupted by an explosive device as a function of the time at which disruption occurred. Distances recorded are dynamic measurements of cable length as the shockwaves from an explosive event crush the experiment cables, reducing their usable length. Applications of the CORRTEX diagnostic have been expanded in recent times to include instrumentation of the explosive device itself, to record phenomena such as the speed of the detonation wave in the explosive charge and the crushing or disassembly of material in the charge housing. The diagnostic has likewise been used to monitor explosive performance in rock blasting and oil well hole-clearing activities.

42 ENGINEERING↗
DOE OSTI2024

An analysis of parameters affecting ampacity in aircraft bipolar MVDC power cables via coupled electrical, thermal, and computational fluid dynamic modelling

Abstract The next generation of aircraft, including more electric aircraft and all‐electric aircraft (AEA), requires electric power systems with high power density and low system mass specifications. Increasing the voltage of the system to the range of a few kV, medium voltage (MV), is a reasonable approach to achieving high‐power‐density and low‐system‐mass EPSs for aircraft applications. Higher voltages, however, pose many challenges for aviation MV power cables such as arcs and arc tracking, partial discharges (PDs), and thermal management. In this regard, thermal management is more challenging since heat transfer by convection is greatly reduced at wide‐body aircraft's cruising altitudes due to the reduced air pressure. In this paper, a finite element method (FEM) model is developed in COMSOL Multiphysics for an aircraft bipolar MVDC (±5 kV) power cable. Using the model, the maximum permissible cable current at a low pressure of 18.8 kPa (at an altitude of 12.2 km from sea level, the usual cruising altitude for wide‐body aircraft) is calculated. Also, an analytical model is developed based on analytical and proven empirical correlations governing conductive, radiative, and convective heat transfers at the steady state to estimate the ampacity of the bipolar cable system at reduced pressure. It was shown that the proposed analytical model can be used for atmospheric pressure and systems with a larger number of poles, expanding its range of applications. The results of the FEM and analytical models correlate at wide ranges of parameters such as ambient temperature, duct size, distance between the positive and negative pole cables, and the overall diameter of the cables. The influence of horizontal and vertical arrangement of poles is included in the analytical model. The results of this study can be used to design bipolar MVDC power cable systems for the envisaged wide‐body AEA.

Azizi, Arian↗
DOE OSTI2020

2020 State of the Science Report, Chapter 8: Encounters of Marine Animals with Marine Renewable Energy Device Mooring Systems and Subsea Cables

Many marine renewable energy (MRE) technologies, including floating or midwater wave and tidal devices, require mooring systems (i.e., mooring lines and anchors) to maintain their position within the water column or on the sea surface. In the case of some devices such as tidal kites, these lines and cables can be highly dynamic. An array of non-bottom-mounted devices may also include transmission cables within the water column interconnecting devices to one another, or to offshore substations or hubs on the seabed. The potential for these lines and cables to present hazards for marine animals that may become entangled or entrapped in them, or confused by their presence remains an issue of uncertainty. The degree to which mitigation to avoid or reduce entanglement risk might be required for future MRE installations is yet to be determined, pending greater understanding of the actual nature of the risk. In this chapter, the entanglement or entrapment of a marine animal is defined as the cause to become caught in a system without possibility of escaping. https://tethys.pnnl.gov/publications/state-of-the-science-2020-chapter-8-moorings

16 TIDAL AND WAVE POWER↗
DOE OSTI2025

Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.

CDPR↗
NASA NTRS1994

Stability analysis of an F/A-18 E/F cable mount m odel

A full-span F/A-18 E/F cable mounted wind tunnel model is part of a flutter clearance program at the NASA Langley Transonic Dynamics Tunnel. Parametric analysis of this model using GRUMCBL software was conducted to assess stability for wind tunnel tests. Two configurations of the F/A-18 E/F were examined. The parameters examined were pulley-cable friction, mach number, dynamic pressure, cable geometry, center of gravity location, cable tension, snubbing the model, drag, and test medium. For the nominal cable geometry (Cable Geometry 1), Configuration One was unstable for cases with higher pulley-cable friction coefficients. A new cable geometry (Cable Geometry 3) was determined in which Configuration One was stable for all cases evaluated. Configuration Two with the nominal center of gravity position was found to be unstable for cases with higher pulley-cable friction coefficients; however, the model was stable when the center of gravity moved forward 1/2. The model was tested using the cable mount system during the initial wind tunnel entry and was stable as predicted.

Thompson, Nancy↗
NASA NTRS1992

Capacitance-type blade-tip clearance measurement system using a dual amplifier with ramp/dc inputs and integration

The analysis and prototype results of a dual-amplifier circuit for measuring blade-tip clearance in turbine engines are presented. The capacitance between the blade tip and mounted capacitance electrode within a guard ring of a probe forms one of the feedback elements of an operational amplifier (op amp). The differential equation governing the circuit taking into consideration the nonideal features of the op amp was formulated and solved for two types of inputs (ramp and dc) that are of interest for the application. Under certain time-dependent constraints, it is shown that (1) with a ramp input the circuit has an output voltage proportional to the static tip clearance capacitance, and (2) with a dc input, the output is proportional to the derivative of the clearance capacitance, and subsequent integration recovers the dynamic capacitance. The technique accommodates long cable lengths and environmentally induced changes in cable and probe parameters. System implementation for both static and dynamic measurements having the same high sensitivity is also presented.

Sarma, Garimella R.↗
NASA NTRS1968

Tension measurement device Patent

Apparatus for measuring load on cable under static or dynamic conditions comprising pulleys pivoting structure against restraint of tension strap

Grubbs, T. M.↗
NASA NTRS2009

Long Cable Deployments During Martian Touchdown: Lessons Learned

The launch of NASA/JPL's next generation Mars rover is planned for the fall of 2011. The landing scheme chosen for this rover represents a step forward in unmanned payload delivery. The rover will be lowered from a rocket powered descent stage and then placed onto the surface while hanging from three bridles. During this touchdown event, the communication between the rover and descent stage is maintained by an electrical umbilical cable which is deployed in parallel with the structural bridles. During the development of the deployment device for the electrical umbilical, many obstacles were identified and overcome. Many of these challenges were due in large part to the helical nature of the packing geometry of the umbilical cable. And although none of these issues resulted in the failure of the design, they increased both development and assembly time. Many of the issues and some of the benefits of a helical deployment were not immediately apparent during the trade studies carried out during the deployment selection process. Tests were conducted upon completion of the device in order to characterize both the deployment and separation characteristics of the cable. Extraction loads were needed for inputs to touchdown models and separation dynamics were required to assess cable-rover recontact risk. Understanding the pros and cons surrounding the deployment of a helically packed cable would most certainly influence the outcome of future trade studies surrounding the selection of cable deployment options.

Mars Science Lab↗
NASA NTRS1972

Dynamics of a spinning space station with a counterweight connected by multiple cables.

A unique and relatively simple approach is presented for obtaining the linearized equations of motion. A conservative system consisting of two rigid bodies connected by any number of massless cables with linear axial stiffness is assumed. The cable forces and torques are expanded in a Taylor series about the equilibrium values of the system coordinates which results in a cable stiffness matrix. The method of obtaining the equilibrium values of the coordinates is discussed and results are presented. The range of validity of the linear model is determined by comparing results with a digital simulation of the nonlinear system.

Nixon, D. D.↗
DOE OSTI2020

Distributed Acoustic Sensing as a Distributed Hydraulic Sensor in Fractured Bedrock

Distributed acoustic sensing (DAS) was originally intended to measure oscillatory strain at frequencies of 1 Hz or more on a fiber optic cable. Recently, measurements at much lower frequencies have opened the possibility of using DAS as a dynamic strain sensor in boreholes. A fiber optic cable mechanically coupled to a geologic formation will strain in response to hydraulic stresses in pores and fractures. A DAS interrogator can measure dynamic strain in the borehole, which can be related to fluid pressure through the mechanical compliance properties of the formation. Because DAS makes distributed measurements, it is capable of both locating hydraulically active features and quantifying the fluid pressure in the formation. We present field experiments in which a fiber optic cable was mechanically coupled to two crystalline rock boreholes. The formation was stressed hydraulically at another well using alternating injection and pumping. The DAS instrument measured oscillating strain at the location of a fracture zone known to be hydraulically active. Rock displacements of less than 1 nm were measured. Laboratory experiments confirm that displacement is measured correctly. These results suggest that fiber optic cable embedded in geologic formations may be used to map hydraulic connections in three-dimensional fracture networks. A great advantage of this approach is that strain, an indirect measure of hydraulic stress, can be measured without beforehand knowledge of flowing fractures that intersect boreholes. The technology has obvious applications in water resources, geothermal energy, CO 2 sequestration, and remediation of groundwater in fractured bedrock.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1972

A study analysis of cable-body systems totally immersed in a fluid stream

A general stability analysis of a cable-body system immersed in a fluid stream is presented. The analytical portion of this analysis treats the system as being essentially a cable problem, with the body dynamics giving the end conditions. The mathematical form of the analysis consists of partial differential wave equations, with the end and auxiliary conditions being determined from the body equations of motion. The equations uncouple to give a lateral problem and a longitudinal problem as in first order airplane dynamics. A series of tests on a tethered wind tunnel model provide a comparison of the theory with experiment.

Delaurier, J. D.↗
NASA NTRS1984

Body-freedom flutter of a 1/2-scale forward-swept-wing model, an experimental and analytical study

The aeroelastic phenomenon known as body-freedom flutter (BFF), a dynamic instability involving aircraft-pitch and wing-bending motions which, though rarely experienced on conventional vehicles, is characteristic of forward swept wing (FSW) aircraft was investigated. Testing was conducted in the Langley transonic dynamics tunnel on a flying, cable-mounted, 1/2-scale model of a FSW configuration with and without relaxed static stability (RSS). The BFF instability boundaries were found to occur at significantly lower airspeeds than those associated with aeroelastic wing divergence on the same model. For those cases with RSS, a canard-based stability augmentation system (SAS) was incorporated in the model. This SAS was designed using aerodynamic data measured during a preliminary tunnel test in which the model was attached to a force balance. Data from the subsequent flutter test indicated that BFF speed was not dependent on open-loop static margin but, rather, on the equivalent closed-loop dynamics provided by the SAS. Servo-aeroelastic stability analyses of the flying model were performed using a computer code known as SEAL and predicted the onset of BFF reasonably well.

Chipman, R.↗
NASA NTRS1981

Experimental and analytical study on the flutter and gust response characteristics of a torsion-free-wing airplane model

Experimental data and correlative analytical results on the flutter and gust response characteristics of a torsion-free-wing (TFW) fighter airplane model are presented. TFW consists of a combined wing/boom/canard surface and was tested with the TFW free to pivot in pitch and with the TFW locked to the fuselage. Flutter and gust response characteristics were measured in the Langley Transonic Dynamics Tunnel with the complete airplane model mounted on a cable mount system that provided a near free flying condition. Although the lowest flutter dynamic pressure was measured for the wing free configuration, it was only about 20 deg less than that for the wing locked configuration. However, no appreciable alleviation of the gust response was measured by freeing the wing.

Murphy, A. C.↗