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NASA NTRS2005

Cerebellum Augmented Rover Development

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

King, Matthew↗

NASA NTRS1990

Asymmetric supersonic flow around cones with noncircular sections

The unsteady, compressible, single and double thin-layer, Navier-Stokes equations are used to solve for steady and unsteady, asymmetric, supersonic flow around pointed bodies with noncircular sections at high incidence and zero side slip. The equations are solved by using an implicit, upwind, flux-difference splitting finite-volume scheme. Since the flow is locally conical, the solutions are presented on a cross-flow plane at the axial station of unit. The grid is generated by using a modified Joukowski transformation. The computational applications cover noncircular sections with elliptic and diamond shapes. Unsteady asymmetric vortex shedding has been captured at large angles of attack. It is shown that for the same flow conditions and same cross-section fineness ratio, the diamond-section cones develop less flow asymmetry than the elliptic-section cones. Passive control of flow asymmetry was also demonstrated computationally.

Kandil, Osama A.↗

NASA NTRS1972

An elastic analysis of stresses in a uniaxially loaded sheet containing an interference-fit bolt

The stresses in a sheet with an interference-fit bolt have been calculated for two sheet-bolt interface conditions: a frictionless interface and a fixed (no-slip) interface. The stress distributions were calculated for various combinations of sheet and bolt moduli. The results show that for repeated loading the local stress range is significantly smaller if an interference bolt is used instead of a loosely fitting one. This reduction in local stress range is more pronounced when the ratio of bolt modulus to sheet modulus is large. The analysis also indicates that currently used standard values of interference cause yielding in the sheet.

Crews, J. H., Jr.↗

NASA NTRS1986

Tectonic escape in the evolution of the continental crust

The continental crust originated by processes similar to those operating today and continents consist of material most of which originated long ago in arc-systems that have later been modified, especially at Andean margins and in continental collisions where crustal thickening is common. Collision-related strike-slip motion is a general process in continental evolution. Because buoyant continental (or arc) material generally moves during collision toward a nearby oceanic margin where less buoyant lithosphere crops out, the process of major strike-slip dominated motion toward a 'free-face' is called 'tectonic escape'. Tectonic escape is and has been an element in continental evolution throughout recorded earth-history. It promotes: (1) rifting and the formation of rift-basins with thinning of thickened crust; (2) pervasive strike-slip faulting late in orogenic history which breaks up mountain belts across strike and may juxtapose unrelated sectors in cross-section; (3) localized compressional mountains and related foreland-trough basins.

Burke, K.↗

NASA NTRS1988

Anisotropic constitutive modeling for nickel-base single crystal superalloys

An anisotropic constitutive model was developed based on crystallographic slip theory for nickel base single crystal superalloys. The constitutive equations developed utilizes drag stress and back stress state variables to model the local inelastic flow. Specially designed experiments were conducted to evaluate the existence of back stress in single crystal superalloy Rene N4 at 982 C. The results suggest that: (1) the back stress is orientation dependent; and (2) the back stress state variable is required for the current model to predict material anelastic recovery behavior. The model was evaluated for its predictive capability on single crystal material behavior including orientation dependent stress-strain response, tension/compression asymmetry, strain rate sensitivity, anelastic recovery behavior, cyclic hardening and softening, stress relaxation, creep and associated crystal lattice rotation. Limitation and future development needs are discussed.

Sheh, Michael Y.↗

NASA NTRS2000

Flow in the Proximity of the Pin-Tool in Friction Stir Welding and Its Relation to Weld Homogeneity

In the Friction Stir Welding (FSW) process a rotating pin inserted into a seam literally stirs the metal from each side of the seam together. It is proposed that the flow in the vicinity of the pin-tool comprises a primary rapid shear over a cylindrical envelope covering the pin-tool and a relatively slow secondary flow taking the form of a ring vortex about the tool circumference. This model is consistent with a plastic characterization of metal flow, where discontinuities in shear flow are allowed but not viscous effects. It is consistent with experiments employing several different kinds of tracer: atomic markers, shot, and wire. If a rotating disc with angular velocity w is superposed on a translating continuum with linear velocity omega, the trajectories of tracer points become circular arcs centered upon a point displaced laterally a distance v/omega from the center of rotation of the disc in the direction of the advancing side of the disc. In the present model a stream of metal approaching the tool (taken as the coordinate system of observation) is sheared at the slip surface, rapidly rotated around the tool, sheared again on the opposite side of the tool, and deposited in the wake of the tool. Local shearing rates are high, comparable to metal cutting in this model. The flow patterns in the vicinity of the pin-tool determine the level of homogenization and dispersal of contaminants that occurs in the FSW process. The approaching metal streams enfold one another as they are rotated around the tool. Neglecting mixing they return to the same lateral position in the wake of the tool preserving lateral tracer positions as if the metal had flowed past the tool like an extrusion instead of being rotated around it. (The seam is, however, obliterated.) The metal stream of thickness approximately that of the tool diameter D is wiped past the tool at elevated temperatures drawn out to a thickness of v/2(omega) in the wiping zone. Mixing distances in the wiping zone are multiplied in the unfolded metal. Inhomogeneities on a smaller scale than the mixing length are obliterated, but structure on a larger scale may be transmitted to the wake of a FSW weld.

Nunes, Arthur C., Jr.↗

NASA NTRS1975

An improved source flow characteristic technique for the analysis of scramjet exhaust flow fields

The process is discussed of designing a nozzle for a hypersonic airbreathing vehicle which involves a complex study of the inter-relationship among many parameters: internal-external expansion, vehicle lift, drag, pitching moments, and structural and weight limitations. The source flow characteristic approach to the design process was extended and improved, and streamline interpolation procedure was incorporated. All characteristic and boundary calculations were made compatible with frozen, equilibrium and ideal gas thermodynamic options, while slip surface calculations (cowl interaction) were extended to underexpanded flow conditions. Since viscous forces can significantly influence vehicle forces, pitching moments and structural/weight considerations, a local integration via flat plate boundary layer skin friction and heat transfer coefficients was included. These effects are calculated using the Spalding and Chi method, and all force and moment calculations are performed via integration of the local forces acting on the specified vehicle wetted areas.

Delguidice, P. D.↗

NASA NTRS1991

Nonequilibrium chemical and radiation coupling phenomena in AOTV flowfields

A flowfield model for the nonequilibrium stagnation region of high altitude entry vehicles which includes nonequilibrium chemistry, multitemperature, viscous, conduction, and diffusion effects is presented. It contains coupled nongray nonequilibrium radiative transfer for atoms and molecules and local thermodynamic nonequilibrium phenomena. Comparison with Fire 2 flight data verifies that the model is reasonably accurate; and it has been applied to two AFE trajectory points, a high speed return from Mars, a series of points at 80 km for 12 to 16 km/sec, and three altitudes at 16 km/sec. Based on these results shock slip is significant, radiation cooling/coupling is minor at AFE conditions but important by 14 km/sec and dominant at 16 km/sec, radiation for the AFE is small but important and primarily molecular, above 12 km/sec atomic radiation is a significant or dominant portion of the total heating, and local thermodynamic nonequilibrium is important and should be included in all models.

Carlson, Leland A.↗

NASA NTRS1988

Anisotropic constitutive modeling for nickel base single crystal superalloys using a crystallographic approach

A micromechanical model based on crystallographic slip theory was formulated for nickel-base single crystal superalloys. The current equations include both drag stress and back stress state variables to model the local inelastic flow. Specially designed experiments have been conducted to evaluate the effect of back stress in single crystals. The results showed that (1) the back stress is orientation dependent; and (2) the back stress state variable in the inelastic flow equation is necessary for predicting anelastic behavior of the material. The model also demonstrated improved fatigue predictive capability. Model predictions and experimental data are presented for single crystal superalloy Rene N4 at 982 C.

Stouffer, D. C.↗

NASA NTRS1990

A crystallographic model for the tensile and fatigue response for Rene N4 at 982 C

An anisotropic constitutive model based on crystallographic slip theory was formulated for nickel-base single-crystal superalloys. The current equations include both drag stress and back stress state variables to model the local inelastic flow. Specially designed experiments have been conducted to evaluate the existence of back stress in single crystals. The results showed that the back stress effect of reverse inelastic flow on the unloading stress is orientation-dependent, and a back stress state variable in the inelastic flow equation is necessary for predicting inelastic behavior. Model correlations and predictions of experimental data are presented for the single crystal superalloy Rene N4 at 982 C.

Sheh, M. Y.↗

NASA NTRS1977

The 1974 Ethiopian rift geodimeter survey

The field techniques and methods of data reduction for five successive geodimeter surveys in the Ethiopian rift valley are enlarged upon, with the considered conclusion that there is progressive accumulation of upper crustal strain, consonant with on-going rift extension. The extension is restricted to the Quaternary volcanotectonic axis of the rift, namely the Wonji fault belt, and is occurring at rates of 3 to 6 mm/yr in the northern sector of the rift valley. Although this concurs with the predictions of platetectonic analysis of the Afar triple junction, it is considered premature to endorse such a concurrence on the basis of only 5 years of observations. This is underlined by the detection of local tectonic contractions and expansions associated with geothermal and gravity anomalies in the central sector of the rift valley. There is a hint of a component of dextral slip along some of the rift-floor fault zones, both from geological evidence and from the strain patterns detected in the present geodetic surveys.

Mohr, P.↗

NASA NTRS1977

Combustion of liquid sprays at high pressures

The combustion of pressure atomized fuel sprays in high pressure stagnant air was studied. Measurements were made of flame and spray boundaries at pressures in the range 0.1-9 MPa for methanol and n-pentane. At the higher test pressure levels, critical phenomena are important. The experiments are compared with theoretical predictions based on a locally homogeneous two-phase flow model. The theory correctly predicted the trends of the data, but underestimates flame and spray boundaries by 30-50 percent, indicating that slip is still important for the present experiments (Sauter mean diameters of 30 microns at atmospheric pressure under cold flow conditions). Since the sprays are shorter at high pressures, slip effects are still important even though the density ratio of the phases approach one another as the droplets heat up. The model indicates the presence of a region where condensed water is present within the spray and provides a convenient means of treating supercritical phenomena.

Shearer, A. J.↗

NASA NTRS1986

Thermofluid analysis of the SSME preburner using a gas-gas diffusion model for oxygen and hydrogen combustion at supercritical pressures

The paper discusses the thermofluid analysis of the Space Shuttle Main Engine (SSME) fuelside preburner. The governing equations have been solved numerically to predict flow, heat transfer, mixing, and combustion. A two-fluid approach is adopted in which oxygen is regarded as one fluid and hydrogen is regarded as the other fluid. The chemical kinetics is assumed to be very fast so that combustion is primarily controlled by the rate of mixing between oxygen and hydrogen. The preburner pressure is much greater than the critical pressures of oxygen and hydrogen; hence, a gas-gas diffusion model (rather than an evaporation model) has been developed to compute the rate of interphase mixing. Empirical correlations have been incorporated to account for the effect of slip on the interphase exchange. A sensitivity study has been performed with various model parameters. It is observed that the model can predict possibility of incomplete combustion and local regions of high temperatures under steady operating conditions. Some of these anomalies have been observed in actual tests, and the numerical model is useful for understanding possible causes and remedies. At least some measurements are needed for quantitative verification of the model.

Prakash, C.↗

NASA NTRS2000

A Unified Wall Boundary Treatment for Viscous and Inviscid Flows in the CE/SE Method

In the setting of the conservation element-solution element (CE/SE) method, a new and unified wall boundary treatment for the Navier-Stokes and Euler Equations is proposed. In essence, the shear stress exerted on the fluid by a wall is modeled as a source term as a part of local spacetime flux conservation in the vicinity of a wall boundary. When the fluid is inviscid, the source term vanishes and the boundary condition reduces to the usual 'slip' condition. On the other hand, when the fluid is viscous, the source-term effect is consistent with the traditional no-slip condition. Numerical results show that the new treatment is robust, efficient, and accurate for viscous and inviscid flows.

Chang, Sin-Chung↗

NASA NTRS1984

The Corfu Landslide: Analog to Giant Landslides on Mars

In an analog to the great landslides of the Vales Marineris, Mars, a detailed study was made of the Corfu Landslide in south-central Washington. This prehistoric slide is located on the northern flank of the Saddle Mountains, southwest of Othello, Washington. The slide covers a 13 square km area centered on section 11 of T.15N., R.27E., Willamette Meridian, adjacent to the Corfu townsite. Approximately 1 cubic km of material is involved in sliding that was probably initiated by Missoula flooding through the Channeled Scabland. It is concluded that there were four primary factors involved in the initiation of the Corfu landsliding: (1) A slip surface was present at the right orientation; (2) Glacial flooding undercut the slope; (3) Wetter climatic conditions prevailed during that time period; and (4) Some seismic vibrations, known to occur locally, probably acted as a trigger. These factors show that special conditions were required in conjunction to produce landsliding. Studies in progress of the Vales Marieneris suggest that the same factors probably contributed to landsliding there.

Scott W. Lewis↗

NASA NTRS1988

Geodetic Measurement of Deformation East of the San Andreas Fault in Central California

Triangulation and trilateration data from two geodetic networks located between the western edge of the Great Valley and the San Andreas fault have been used to calculate shear strain rates in the Diablo Range and to estimate the slip rate along the Calaveras and Paicines faults in Central California. Within the Diablo Range the average shear strain rate was determined for the time period between 1962 and 1982 to be 0.15 + or - 0.08 microrad/yr, with the orientation of the most compressive strain at N 16 deg E + or - 14 deg. The orientation of the principal compressive strain predicted from the azimuth of the major structures in the region is N 25 deg E. It is inferred that the measured strain is due to compression across the folds of this area: the average shear straining corresponds to a relative shortening rate of 4.5 + or - 2.4 mm/yr. From an examination of wellbore breakout orientations and the azimuths of P-axes from earthquake focal mechanisms the inferred orientation of maximum compressive stress was found to be similar to the direction of maximum compressive strain implied by the trend of local fold structures. Results do not support the hypothesis of uniform fault-normal compression within the Coast Ranges. From trilateration measurements made between 1972 and 1987 on lines that are within 10 km of the San Andreas fault, a slip rate of 10 to 12 mm/yr was calculated for the Calaveras-Paicines fault south of Hollister. The slip rate of the Paicines fault decreases to 4 mm/yr near Bitter.

Sauber, Jeanne M.↗

NASA NTRS1992

Environmental fatigue of an Al-Li-Cu alloy. Part 2: Microscopic hydrogen cracking processes

Based on a fractographic analysis of fatigue crack propagation (FCP) in Al-Li-Cu alloy 2090 stressed in a variety of inert and embrittling environments, microscopic crack paths are identified and correlated with intrinsic da/dN-delta K kinetics. FCP rates in 2090 are accelerated by hydrogen producing environments (pure water vapor, moist air, and aqueous NaCl), as defined in Part 1. For these cases, subgrain boundary fatigue cracking (SGC) dominates for delta K values where the crack tip process zone, a significant fraction of the cyclic plastic zone, is sufficiently large to envelop 5 micron subgrains in the unrecrystallized microstructure. SGC may be due to strong hydrogen trapping at T1 precipitates concentrated at sub-boundaries. At low delta K, the plastic zone diameter is smaller than the subgrain size and FCP progresses along (100) planes due to either local lattice decohesion or aluminum-lithium hydride cracking. For inert environments (vacuum, helium, and oxygen), or at high delta K where the hydrogen effect on da/dN is small, FCP is along (111) slip planes; this mode does not transition with increasing delta K and plastic zone size. The SGC and (100) crystallographic cracking modes, and the governing influence of the crack tip process zone volume (delta K), support hydrogen embrittlement rather than a surface film rupture and anodic dissolution mechanism for environmental FCP. Multi-sloped log da/dN-log delta K behavior is produced by changes in process zone hydrogen-microstructure interactions, and not by purely micromechanical-microstructure interactions, in contradiction to microstructural distance-based fatigue models.

Robert S Piascik↗

NASA NTRS2005

Slip compensation for a Mars Rover

This paper describes the design, implementation, and experimental results of an integrated system that enables Mars rover to navigate in a high slip environment.

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