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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 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

Chen, Vincent Wei-Kang↗
NASA NTRS1993

Unsteady three-dimensional thermal field prediction in turbine blades using nonlinear BEM

A time-and-space accurate and computationally efficient fully three dimensional unsteady temperature field analysis computer code has been developed for truly arbitrary configurations. It uses boundary element method (BEM) formulation based on an unsteady Green's function approach, multi-point Gaussian quadrature spatial integration on each panel, and a highly clustered time-step integration. The code accepts either temperatures or heat fluxes as boundary conditions that can vary in time on a point-by-point basis. Comparisons of the BEM numerical results and known analytical unsteady results for simple shapes demonstrate very high accuracy and reliability of the algorithm. An example of computed three dimensional temperature and heat flux fields in a realistically shaped internally cooled turbine blade is also discussed.

Martin, Thomas J.↗
NASA NTRS1982

Calculation of composition distribution of ultrafine ion-H2O-H2SO4 clusters using a modified binary ion nucleation theory

Thomson's ion nucleation theory was modified to include the effects of curvature dependence of the microscopic surface tension of field dependent, nonlinear, dielectric properties of the liquid; and of sulfuric acid hydrate formation in binary mixtures of water and sulfuric acid vapors. The modified theory leads to a broadening of the ion cluster spectrum, and shifts it towards larger numbers of H2O and H2SO4 molecules. Whether there is more shifting towards larger numbers of H2O or H2SO4 molecules depends on the relative humidity and relative acidity of the mixture. Usually, a broadening of the spectrum is accompanied by a lowering of the mean cluster intensity. For fixed values of relative humidity and relative acidity, a similar broadening pattern is observed when the temperature is lowered. These features of the modified theory illustrate that a trace of sulfuric acid can facilitate the formation of ultrafine, stable, prenucleation ion clusters as well as the growth of the prenucleation ion clusters towards the critical saddle point conditions, even with low values of relative humidity and relative acidity.

Singh, J. J.↗
NASA NTRS1983

Special opportunities in helicopter aerodynamics

Aerodynamic research relating to modern helicopters includes the study of three dimensional, unsteady, nonlinear flow fields. A selective review is made of some of the phenomenon that hamper the development of satisfactory engineering prediction techniques, but which provides a rich source of research opportunities: flow separations, compressibility effects, complex vortical wakes, and aerodynamic interference between components. Several examples of work in progress are given, including dynamic stall alleviation, the development of computational methods for transonic flow, rotor-wake predictions, and blade-vortex interactions.

Mccroskey, W. J.↗
NASA NTRS1985

Viscous effects on transonic airfoil stability and response

Viscous effects on transonic airfoil stability and response are investigated using an integral boundary layer model coupled to the inviscid XTRAN2L transonic small disturbance code. Unsteady transonic airloads required for stability analyses are computed using a pulse transfer function analysis including viscous effects. The pulse analysis provides unsteady aerodynamic forces for a wide range of reduced frequency in a single flow field computation. Nonlinear time marching aeroelastic solutions are presented which show the effects of viscosity on airfoil response behavior and flutter. Effects of amplitude on time marching responses are demonstrated. A state space aeroelastic model employing Pade approximants to describe the unsteady airloads is used to study the effects of viscosity on transonic airfoil stability. State space dynamic pressure root loci are in good overall agreement with time marching damping and frequency estimates. Parallel sets of results with and without viscous effects reveal the effects of viscosity on transonic unsteady airloads and aeroelastic characteristics of airfoils.

Berry, H. M.↗
NASA NTRS1984

Plastic flow of plasma sprayed ceramics

The plastic flow of plasma-sprayed ZrO2-8Y2O3 ceramic has been measured at temperatures up to 1250 C and compared to the plastic flow of pressed and sintered ZrO2-8Y2O3. Plasma spraying of binary oxide ceramics is found to result in a metastable state which is inelastic at high temperature but can also be stabilized or devitrified through heat treating so as to decrease plastic properties. The mechanical properties of the as-plasma sprayed and devitrified ceramic sheet material was measured. An improved algorithm that incorporates the inherently nonlinear thermomechanical field equations was used to determine the influence of inelastic material behavior on the thermomechanical response of ceramic coated seal components. Significant creep was found during the thermal shock and steady heating periods with insufficient time during thermal quench to reverse the process, thereby inducing significant residual stresses into the components.

Padovan, J.↗
NASA NTRS1987

Nonlinear force-free magnetic fields: Calculation and applicatin to astrophysics

The problem concerned in this work is that of calculating magnetic field configurations in which the Lorentz force (vector)j x (vector)B is everywhere zero, subject to specified boundary conditions. The magnetic field is represented in terms of Clebsch variables in the form (vector)B = del alpha x del beta. These variables are constant on any field line. The most appropriate choice of boundary conditions is to specify the values of alpha and beta on the bounding surface. It is proposed that the field lines move in the direction of local Lorentz force and relax towards a force-free field configuration. This concept leads to an iteration procedure for modifying the variables alpha and beta that tends asymptotically towards the force-free state. This method is first applied to a simple problem in two rectangular dimensions; the calculation shows that the convergence of magnetic field energy to a minimum state (force-free) is close to exponential. This method is then applied to study some astrophysical force-free magnetic fields, such as the structures and evolution of magnetic fields of rotating sunspots and accretion disks. The implication of the results, as related to the mechanisms of solar flares, extragalactic radio sources and radio jets, are discussed.

Yang, Wei-Hong↗
NASA NTRS1986

Special opportunities in helicopter aerodynamics

Aerodynamic research relating to modern helicopters includes the study of three dimensional, unsteady, nonlinear flow fields. A selective review is made of some of the phenomenon that hamper the development of satisfactory engineering prediction techniques, but which provides a rich source of research opportunities: flow separations, compressibility effects, complex vortical wakes, and aerodynamic interference between components. Several examples of work in progress are given, including dynamic stall alleviation, the development of computational methods for transonic flow, rotor-wake predictions, and blade-vortex interactions.

Mccroskey, W. J.↗
NASA NTRS1988

Accurate boundary conditions for exterior problems in gas dynamics

The numerical solution of exterior problems is typically accomplished by introducing an artificial, far field boundary and solving the equations on a truncated domain. For hyperbolic systems, boundary conditions at this boundary are often derived by imposing a principle of no reflection. However, waves with spherical symmetry in gas dynamics satisfy equations where incoming and outgoing Riemann variables are coupled. This suggests that natural reflections may be important. A reflecting boundary condition is proposed based on an asymptotic solution of the far field equations. Nonlinear energy estimates are obtained for the truncated problem and numerical experiments presented to validate the theory.

Hagstrom, Thomas↗
NASA NTRS1988

Method to predict external store carriage characteristics at transonic speeds

Development of a computational method for prediction of external store carriage characteristics at transonic speeds is described. The geometric flexibility required for treatment of pylon-mounted stores is achieved by computing finite difference solutions on a five-level embedded grid arrangement. A completely automated grid generation procedure facilitates applications. Store modeling capability consists of bodies of revolution with multiple fore and aft fins. A body-conforming grid improves the accuracy of the computed store body flow field. A nonlinear relaxation scheme developed specifically for modified transonic small disturbance flow equations enhances the method's numerical stability and accuracy. As a result, treatment of lower aspect ratio, more highly swept and tapered wings is possible. A limited supersonic freestream capability is also provided. Pressure, load distribution, and force/moment correlations show good agreement with experimental data for several test cases. A detailed computer program description for the Transonic Store Carriage Loads Prediction (TSCLP) Code is included.

Rosen, Bruce S.↗
NASA NTRS1988

External store carriage loads prediction at transonic speeds

A computational method for prediction of external store carriage loads at transonic speeds is described. The geometric flexibility required for treatment of isolated and underwing, pylon-mounted stores is achieved by computing solutions on a five-level embedded grid arrangement. A completely automated grid generation procedure facilitates applications. Store modeling capability consists of bodies of revolution with multiple fore and aft fins. A body-conforming grid improves the accuracy of the computed store body flow field. A nonlinear finite difference relaxation scheme, developed specifically for modified transonic small disturbance flow equations, enhances numerical stability and accuracy. As a result, more accurate treatment of low aspect ratio, highly swept and tapered wing planforms is possible. A limited supersonic freestream capability is also provided. Pressure, load distribution, force and moment correlations show good agreement for several test cases.

Rosen, Bruce S.↗
NASA NTRS1989

Method to predict external store carriage loads at transonic speeds

A computational method for prediction of external store carriage loads at transonic speeds is described. The geometric flexibility required for treatment of isolated and underwing, pylon mounted stores is achieved by computing solutions on a five level embedded grid arrangement. A completely automated grid generation procedure facilitates applications. Store modeling capability consists of bodies of revolution with multiple fore and aft fins. A body conforming grid improves the accuracy of the computed store body flow field. A nonlinear finite difference relaxation scheme, developed specifically for modified transonic small disturbance flow equations, enhances numerical stability and accuracy. As a result, more accurate treatment of low aspect ratio, highly swept and tapered wing planforms is possible. A limited supersonic freestream capability is also provided. Pressure, load distribution, force and moment correlation show good agreement for several test cases.

Rosen, Bruce S.↗
NASA NTRS1988

Accurate boundary conditions for exterior problems in gas dynamics

The numerical solution of exterior problems is typically accomplished by introducing an artificial, far-field boundary and solving the equations on a truncated domain. For hyperbolic systems, boundary conditions at this boundary are often derived by imposing a principle of no reflection. However, waves with spherical symmetry in gas dynamics satisfy equations where incoming and outgoing Riemann variables are coupled. This suggests that natural reflections may be important. A reflecting boundary condition is proposed based on an asymptotic solution of the far-field equations. Nonlinear energy estimates are obtained for the truncated problem and numerical experiments presented to validate the theory.

Hagstrom, Thomas↗
NASA NTRS1992

Loss of 'complexity' and aging. Potential applications of fractals and chaos theory to senescence

The concept of "complexity," derived from the field of nonlinear dynamics, can be adapted to measure the output of physiologic processes that generate highly variable fluctuations resembling "chaos." We review data suggesting that physiologic aging is associated with a generalized loss of such complexity in the dynamics of healthy organ system function and hypothesize that such loss of complexity leads to an impaired ability to adapt to physiologic stress. This hypothesis is supported by observations showing an age-related loss of complex variability in multiple physiologic processes including cardiovascular control, pulsatile hormone release, and electroencephalographic potentials. If further research supports this hypothesis, measures of complexity based on chaos theory and the related geometric concept of fractals may provide new ways to monitor senescence and test the efficacy of specific interventions to modify the age-related decline in adaptive capacity.

Non-NASA Center↗