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At least 73 records · Page 4

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Cordova, Luis↗

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Cordova, Luis↗

The Somali current and the southwest monsoon: An ocean atmosphere instability

The Somali current and the southwest monsoon are identified as arising from an ocean atmosphere instability which is associated with the low latitude variation of the Coriolis force. Data on the fall of isotherms, surface wind speed, ocean response to frictional force, and upwelling of cold water are discussed.

Price, J. C.↗

Controlling Palm-Object Interactions via Friction for Enhanced In-Hand Manipulation

In-hand manipulation is necessary, yet challenging for robotic hands as robots begin to interact with real-world objects and environments. The intentional incorporation of an active palm can lead to improved dexterity. In this work, we demonstrate how controlling the palm-object interaction enables access to different sets of motion primitives. We first discuss how various properties of the palm affect in-hand manipulation, as well as grasping. Here, we focus on varying the friction force between the object and the palm by either changing the coefficient of friction or the normal load. We explore how these two design factors can be actively controlled to enable 5-degree-of-freedom object motion within the hand. We present variable-friction and variable-preload palms that enable on-the-fly switching between in-plane and out-of-plane manipulation modes. Additionally, we discuss their impact on grasp stability. Finally, we demonstrate how an object can be translated and pivoted within the hand by sequentially performing synchronized palm and finger actions.

Clark B Teeple↗

Synthesizing Friction In A Force-Reflecting Hand Controller

Algorithm synthesizes frictionlike limited reaction force in force-reflecting hand controller. Synthetic friction enhances operator's feel and improves control characteristics in two ways: handle of controller retains setting when operator releases it, and in case of multiple-axis controller, synthetic frictional force helps to hold control setting on one axis when handle pushed to command movement along another axis.

Kauffman, James↗

Kinetic Friction of Non-Coalescing and Non- Wetting Drops

This project has focused on the experimental determination of the frictional forces associated with noncoalescing and nonwetting systems. In particular, the focus has been on friction associated with an isothermal nonwetting droplet sliding on a solid surface. The nonwetting phenomenon is driven by the establishment of a thin (of order microns in thickness) layer of lubricating gas that is swept by viscous action into the space between the liquid and solid, preventing them from coming into contact. The mechanism has been described in the review article by Neitzel & Dell'Aversana (2002). The work performed under this NASA GSRP sponsorship extends work done by Dell'Aversana & Neitzel (2004) on the load-carrying capacities of thermocapillary nonwetting droplets for a given relative displacement of the two surfaces in question.

Neitzel, G. paul↗

Diffusion effects on the helium abundance of the solar transition region and corona

The diffusion of helium in the solar transition region is studied by solving the mass and momentum conservation equations for a hydrogen-helium plasma given a representative temperature profile. Steady state solutions show that two distinct atmospheres may result. In cases where the thermal force on alpha-particles is balanced by the partial pressure gradient force, helium is the dominant coronal species. On the other hand, if it is the frictional force between protons and alpha-particles which balances the thermal force on alpha-particles then hydrogen is the major coronal component. In order to explore which of these solutions are attainable within reasonable time scales, the time-dependent equations are solved, starting from an initial state with a uniform helium abundance of 10 percent. The atmosphere as a whole is close to hydrostatic equilibrium, but due the thermal forces the individual elements are not. This force inbalance leads to a differential flow between species. It is found that this differential flow leads to a significant enhancement of the coronal helium abundance. Even for the relatively shallow temperature gradient used the helium abundance in the lower corona increases to 30 percent over a 24 hr period.

Hansteen, Viggo H.↗

Single acting translational/rotational brake

A brake system is provided that applies braking forces on surfaces in both the translational and rotational directions using a single acting self-contained actuator that travels with the translational mechanism. The brake engages a mechanical lock and creates a frictional force on the translational structure preventing translation while simultaneously creating a frictional torque that prevents rotation of the vertical support. The system may include serrations on the braking surfaces to provide increased braking forces.

Allred, Johnny W.↗

On the performance of finite journal bearings lubricated with micropolar fluids

A study of the performance parameters for a journal bearing of finite length lubricated with micropolar fluids is undertaken. Results indicate that a significantly higher load carrying capacity than the Newtonian fluids may result depending on the size of material characteristic length and the coupling number. It is also shown that although the frictional force associated with micropolar fluid is in general higher than that of a Newtonian fluid, the friction coefficient of micropolar fluids tends to be lower than that of the Newtonian.

Khonsari, M. M.↗

On the performance of finite journal bearings lubricated with micropolar fluids

A study of the performance parameters for a journal bearing of finite length lubricated with micropolar fluids is undertaken. Results indicate that a significantly higher load carrying capacity than the Newtonian fluids may result depending on the size of material characteristics length and the coupling number. It is also shown that although the frictional force associated with micropolar fluid is, in general, higher than that of a Newtonian fluid, the friction coefficient of micropolar fluids tends to be lower than that of the Newtonian.

Khonsari, M. M.↗

Impact micro-positioning actuator

An impact micro-positioning actuator. In one aspect of the invention, a threaded shaft is threadably received in a nut and the nut is impacted by an impacting device, causing the nut first to rotate relative to the shaft by slipping as a result of shaft inertia and subsequently to stick to the shaft as a result of the frictional force therebetween. The nut is returned to its initial position by a return force provided by a return mechanism after impact. The micro-positioning actuator is further improved by controlling at least one and preferably all of the following: the friction, the impact provided by the impacting device, the return force provided by the return mechanism, and the inertia of the shaft. In another aspect of the invention, a threaded shaft is threadably received in a nut and the shaft is impacted by an impacting device, causing the shaft to rotate relative to the nut.

Cuerden, Brian↗

Local skin friction coefficients and boundary layer profiles obtained in flight from the XB-70-1 airplane at Mach numbers up to 2.5

Boundary-layer and local friction data for Mach numbers up to 2.5 and Reynolds numbers up to 3.6 x 10 to the 8th power were obtained in flight at three locations on the XB-70-1 airplane: the lower forward fuselage centerline (nose), the upper rear fuselage centerline, and the upper surface of the right wing. Local skin friction coefficients were derived at each location by using (1) a skin friction force balance, (2) a Preston probe, and (3) an adaptation of Clauser's method which derives skin friction from the rake velocity profile. These three techniques provided consistent results that agreed well with the von Karman-Schoenherr relationship for flow conditions that are quasi-two-dimensional. At the lower angles of attack, the nose-boom and flow-direction vanes are believed to have caused the momentum thickness at the nose to be larger than at the higher angles of attack. The boundary-layer data and local skin friction coefficients are tabulated. The wind-tunnel-model surface-pressure distribution ahead of the three locations and the flight surface-pressure distribution ahead of the wing location are included.

Fisher, D. F.↗

Vented compression molding

A new process, vented compression molding, is developed for molding low density particulates, such as ablative materials used in the Space Shuttle. This process is a modification of standard compression molding that uses a perforated surface as the molding surface. An excess of material is used to fill the mold cavity and this material is forced through the openings in the surface of the mold as the mold closes. This process creates frictional forces, which can be determined approximately by Mohr-Coulomb yield criterion, generating the pressure that compacts the material. The pressure in the mold is shown to be governed by the geometry of the openings and the mechanical properties of the particulate, and not by the displacement or the volume of the mold. It is determined that this uncoupling of the pressure-displacement relationship allows uniform material distribution and compaction without requiring large-scale flow of the particulates.

Mccree, J. O.↗

Effect of electronic structure of the diamond surface on the strength of the diamond-metal interface

A diamond surface undergoes a transformation in its electronic structure by a vacuum anneal at approximately 900 C. The polished surface has no electronic states in the band gap, whereas the annealed surface has both occupied and unoccupied states in the and gap and exhibits some electrical conductivity. The effect of this transformation on the strength of the diamond metal interface was investigated by measuring the static friction force of an atomically clean meta sphere on a diamond flat in ultrahigh vacuum. It was found that low friction (weak bonding) is associated with the diamond surface devoid of gap states whereas high friction (strong bonding) is associated with the diamond surface with gap states. Exposure of the annealed surface to excited hydrogen also leads to weak bonding. The interfacial bond is discussed in terms of interaction of the metal conduction band electrons with the band gap states on the diamond surface. Effects of surface electrical conductivity on the interfacial bond are also be considered.

Pepper, S. V.↗

Acquisition and Retaining Granular Samples via a Rotating Coring Bit

This device takes advantage of the centrifugal forces that are generated when a coring bit is rotated, and a granular sample is entered into the bit while it is spinning, making it adhere to the internal wall of the bit, where it compacts itself into the wall of the bit. The bit can be specially designed to increase the effectiveness of regolith capturing while turning and penetrating the subsurface. The bit teeth can be oriented such that they direct the regolith toward the bit axis during the rotation of the bit. The bit can be designed with an internal flute that directs the regolith upward inside the bit. The use of both the teeth and flute can be implemented in the same bit. The bit can also be designed with an internal spiral into which the various particles wedge. In another implementation, the bit can be designed to collect regolith primarily from a specific depth. For that implementation, the bit can be designed such that when turning one way, the teeth guide the regolith outward of the bit and when turning in the opposite direction, the teeth will guide the regolith inward into the bit internal section. This mechanism can be implemented with or without an internal flute. The device is based on the use of a spinning coring bit (hollow interior) as a means of retaining granular sample, and the acquisition is done by inserting the bit into the subsurface of a regolith, soil, or powder. To demonstrate the concept, a commercial drill and a coring bit were used. The bit was turned and inserted into the soil that was contained in a bucket. While spinning the bit (at speeds of 600 to 700 RPM), the drill was lifted and the soil was retained inside the bit. To prove this point, the drill was turned horizontally, and the acquired soil was still inside the bit. The basic theory behind the process of retaining unconsolidated mass that can be acquired by the centrifugal forces of the bit is determined by noting that in order to stay inside the interior of the bit, the frictional force must be greater than the weight of the sample. The bit can be designed with an internal sleeve to serve as a container for granular samples. This tube-shaped component can be extracted upon completion of the sampling, and the bottom can be capped by placing the bit onto a corklike component. Then, upon removal of the internal tube, the top section can be sealed. The novel features of this device are: center dot A mechanism of acquiring and retaining granular samples using a coring bit without a closed door. center dot An acquisition bit that has internal structure such as a waffle pattern for compartmentalizing or helical internal flute to propel the sample inside the bit and help in acquiring and retaining granular samples. center dot A bit with an internal spiral into which the various particles wedge. center dot A design that provides a method of testing frictional properties of the granular samples and potentially segregating particles based on size and density. A controlled acceleration or deceleration may be used to drop the least-frictional particles or to eventually shear the unconsolidated material near the bit center.

Bar-Cohen, Yoseph↗

Pre-Finishing of SiC for Optical Applications

13 Manufacturing & Prototyping A method is based on two unique processing steps that are both based on deterministic machining processes using a single-point diamond turning (SPDT) machine. In the first step, a high-MRR (material removal rate) process is used to machine the part within several microns of the final geometry. In the second step, a low-MRR process is used to machine the part to near optical quality using a novel ductile regime machining (DRM) process. DRM is a deterministic machining process associated with conditions under high hydrostatic pressures and very small depths of cut. Under such conditions, using high negative-rake angle cutting tools, the high-pressure region near the tool corresponds to a plastic zone, where even a brittle material will behave in a ductile manner. In the high-MRR processing step, the objective is to remove material with a sufficiently high rate such that the process is economical, without inducing large-scale subsurface damage. A laser-assisted machining approach was evaluated whereby a CO2 laser was focused in advance of the cutting tool. While CVD (chemical vapor deposition) SiC was successfully machined with this approach, the cutting forces were substantially higher than cuts at room temperature under the same machining conditions. During the experiments, the expansion of the part and the tool due to the heating was carefully accounted for. The higher cutting forces are most likely due to a small reduction in the shear strength of the material compared with a larger increase in friction forces due to the thermal softening effect. The key advantage is that the hybrid machine approach has the potential to achieve optical quality without the need for a separate optical finishing step. Also, this method is scalable, so one can easily progress from machining 50-mm-diameter samples to the 250-mm-diameter mirror that NASA desires.

Rozzi, Jay↗

The gas kinetics of very high flight speeds

The aerodynamic forces on bodies of arbitrary shape were investigated under conditions such that the mean free path of the air molecule is greater than the dimensions of the body. Air pressures and friction forces were calculated from gas kinetic theory for surfaces facing both toward and away from the air stream at any angle. Air forces for an atmosphere of definite composition (molecular hydrogen) were calculated as a function of the flight velocity. The results indicate that the friction stresses between the air and the body surface are of the same magnitude as the dynamic pressure and as the air pressures normal to the surface. The application of the general method to the specific cases such as thin airfoils and projectiles leads to high drag coefficients and poor glide ratios even for the theoretically best wing sections.

AIR FLOW VELOCITY - MOLECULAR ENERGIES↗