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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Stress concentrations in cylindrically orthotropic plates with radial variation of the compliances

The stresses in a circular composite plate with a central circular hole in which the material is cylindrically orthotropic and the compliances vary with distance from the center are calculated. A numerical example shows that an arrangement of the fibers at predominantly + or - 45 deg to the radii in the neighborhood of the hole reduces the stress concentrations significantly in an otherwise quasi-isotropic plate.

Muser, C.↗
NASA NTRS1986

Compliance matrices for cracked bodies

An algorithm is presented which can be used to develop compliance matrices for cracked bodies. The method relies on the numerical solution of singular integral equations with Cauchy-type kernels and provides an efficient and accurate procedure for relating applied loadings to crack opening displacements. The algorithm should be of interest to those performing repetitive calculations in the analysis of experimental results obtained from fracture specimens.

Ballarini, R.↗
NASA NTRS1986

Active control of robot manipulator compliance

Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

Nguyen, C. C.↗
NASA NTRS1987

Environmental projects. Volume 2: Underground storage tanks compliance program

Six large parabolic dish antennas are located at the Goldstone Deep Space Communications Complex north of Barstow, California. As a large-scale facility located in a remote, isolated desert region, the GDSCC operations require numerous on-site storage facilities for gasoline, diesel and hydraulic oil. These essential fluids are stored in underground storage tanks (USTs). Because USTs may develop leaks with the resultant seepage of their hazardous contents into the surrounding soil, local, State and Federal authorities have adopted stringent regulations for the testing and maintenance of USTs. Under the supervision of JPL's Office of Telecommunications and Data Acquisition, a year-long program has brought 27 USTs at the Goldstone Complex into compliance with Federal, State of California and County of San Bernadino regulations. Of these 27 USTs, 15 are operating today, 11 have been temporary closed down, and 1 abandoned in place. In 1989, the 15 USTs now operating at the Goldstone DSCC will be replaced either by modern, double-walled USTs equipped with automatic sensors for leak detection, or by above ground storage tanks. The 11 inactivated USTs are to be excavated, removed and disposed of according to regulation.

Kushner, L.↗
NASA NTRS1986

Compliance matrices for cracked bodies

An algorithm is developed to construct the compliance matrix for a cracked solid in the integral-equation formulation of two-dimensional linear-elastic fracture mechanics. The integral equation is reduced to a system of algebraic equations for unknown values of the dislocation-density function at discrete points on the interval from -1 to 1, using the numerical procedure described by Gerasoulis (1982). Sample numerical results are presented, and it is suggested that the algorithm is especially useful in cases where iterative solutions are required; e.g., models of fiber-reinforced concrete, rocks, or ceramics where microcracking, fiber bridging, and other nonlinear effects are treated as nonlinear springs along the crack surfaces (Ballarini et al., 1984).

Ballarini, R.↗
NASA NTRS1988

Comparison of compliance results for the wedge-loaded compact specimen

Results of the ratio of stress intensity factor to crack-mouth displacement as a function of crack length are presented for the wedge-loaded compact specimen. Comparisons are made between experimental compliance results, numerical results from collocation methods, and deep-crack limit-solution results. Applications are for crack-arrest and stress-corrosion-cracking tests for metals and other materials under predominantly linear elastic conditions.

Underwood, J. H.↗
NASA NTRS1987

Environmental projects. Volume 3: Environmental compliance audit

The Goldstone Deep Space Communications Complex is part of NASA's Deep Space Network, one of the world's largest and most sensitive scientific telecommunications and radio navigation networks. Activities at Goldstone are carried out in support of six large parabolic dish antennas. In support of the national goal of the preservation of the environment and the protection of human health and safety, NASA, JPL and Goldstone have adopted a position that their operating installations shall maintain a high level of compliance with Federal, state, and local laws governing the management of hazardous substances, abestos, and underground storage tanks. A JPL version of a document prepared as an environmental audit of Goldstone operations is presented. Both general and specific items of noncompliance at Goldstone are identified and recommendations are provided for corrective actions.

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NASA NTRS1990

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Tesar, Delbert↗
NASA NTRS1990

The effect of wall compliance on the Goertler vortex instability

The stability of the flow of a viscous incompressible fluid over a curved compliant wall to longitudinal Goertler vortices is investigated. The compliant wall is modeled by a particularly simple equation relating the induced wall displacement to the pressure in the overlying fluid. Attention is restricted to the large Goertler number regime; this regime being appropriate to the most unstable Goertler mode. The effect of wall compliance on this most unstable mode is investigated.

Denier, J. P.↗
NASA NTRS1992

Closed form expressions for crack mouth displacements and stress intensity factors for chevron notched short bar and short rod specimens based on experimental compliance measurements

A set of equations are presented describing certain fracture mechanics parameters for chevron notch bar and rod specimens. They are developed by fitting compliance calibration data reported earlier. The equations present the various parameters in their most useful forms. The data encompass the entire range of the specimen geometries most commonly used. Their use will facilitate the testing and analysis of brittle metals, ceramics, and glasses.

Bubsey, R. T.↗
NASA NTRS1992

Compliance control with embedded neural elements

The authors discuss a control approach that embeds the neural elements within a model-based compliant control architecture for robotic tasks that involve contact with unstructured environments. Compliance control experiments have been performed on actual robotics hardware to demonstrate the performance of contact control schemes with neural elements. System parameters were identified under the assumption that environment dynamics have a fixed nonlinear structure. A robotics research arm, placed in contact with a single degree-of-freedom electromechanical environment dynamics emulator, was commanded to move through a desired trajectory. The command was implemented by using a compliant control strategy.

Venkataraman, S. T.↗
NASA NTRS1993

Orthostatic intolerance during a 13-day bed rest does not result from increased leg compliance

Increased leg compliance (LC) has been proposed as a mechanism for orthostatic intolerance after spaceflight or bed rest. Using venous occlusion plethysmography with mercury-in-Silastic strain gauge, we evaluated LC before, during, and after a 13-day head-down bed rest in 10 men. LC was measured by the relationship between the increased calf areas at thigh cuff occlusions of 20, 30, 50, 70, and 80 mmHg. Orthostatic tolerance was evaluated by a presyncopal-limited lower body negative pressure test before and after bed rest. The 10 subjects were divided into TOL (n= 5) and INT (n=5) groups for which the orthostatic tolerance was similar and lower after bed rest, respectively. For TOL (INT) before bed rest, calf area increases were 2.2 +/- 0.5 (SE) (1.3 +/- 0.4), 3.5 +/- 0.7 (2.3 +/- 0.5), 5.0 +/- 0.9 (3.5 +/- 0.6), 5.6 +/- 0.9 (4.4 +/- 0.6), and 6.4 +/- 1.1 (4.7 +/- 0.6) sq cm for thigh occlusion pressures of 20, 30, 50, 70, and 80 mmHg, respectively. Neither for INT nor for TOL were these results significantly changed by bed rest. These results suggest that other mechanisms than increased LC have to be taken into account to explain the decreased orthostatic tolerance induced by this 13-day bed rest.

Melchior, Francois M.↗
NASA NTRS1994

Compliance measurements of chevron notched four point bend specimen

The experimental stress intensity factors for various chevron notched four point bend specimens are presented. The experimental compliance is verified using the analytical solution for a straight through crack four point bend specimen and the boundary integral equation method for one chevron geometry. Excellent agreement is obtained between the experimental and analytical results. In this report, stress intensity factors, loading displacements and crack mouth opening displacements are reported for different crack lengths and different chevron geometries, under four point bend loading condition.

Calomino, Anthony↗
NASA NTRS1995

Major weapon system environmental life-cycle cost estimating for Conservation, Cleanup, Compliance and Pollution Prevention (C3P2)

The Titan 4 Space Launch Vehicle Program is one of many major weapon system programs that have modified acquisition plans and operational procedures to meet new, stringent environmental rules and regulations. The Environmental Protection Agency (EPA) and the Department of Defense (DOD) mandate to reduce the use of ozone depleting chemicals (ODC's) is just one of the regulatory changes that has affected the program. In the last few years, public environmental awareness, coupled with stricter environmental regulations, has created the need for DOD to produce environmental life-cycle cost estimates (ELCCE) for every major weapon system acquisition program. The environmental impact of the weapon system must be assessed and budgeted, considering all costs, from cradle to grave. The Office of the Secretary of Defense (OSD) has proposed that organizations consider Conservation, Cleanup, Compliance and Pollution Prevention (C(sup 3)P(sup 2)) issues associated with each acquisition program to assess life-cycle impacts and costs. The Air Force selected the Titan 4 system as the pilot program for estimating life-cycle environmental costs. The estimating task required participants to develop an ELCCE methodology, collect data to test the methodology and produce a credible cost estimate within the DOD C(sup 3)P(sup 2) definition. The estimating methodology included using the Program Office weapon system description and work breakdown structure together with operational site and manufacturing plant visits to identify environmental cost drivers. The results of the Titan IV ELCCE process are discussed and expanded to demonstrate how they can be applied to satisfy any life-cycle environmental cost estimating requirement.

Hammond, Wesley↗
NASA NTRS1998

A Back Face Strain Compliance Expression for the Compact Tension Specimen

A numerically generated expression to determine crack length in a compact tension specimen from back face strain compliance is presented. The numerically generated back face strain expression is bounded by two experimentally determined expressions previously published in the literature. Additionally, stress intensity factor and crack mouth opening expressions are determined. These expressions agree well with previously published results.

Riddell, William T.↗
NASA NTRS2002

Manipulability, force, and compliance analysis for planar continuum manipulators

Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance.

Non-NASA Center↗
NASA NTRS2005

Recommendations for Sense and Avoid Policy Compliance

Since unmanned aircraft do not have a human on board, they need to have a sense and avoid capability that provides an "equivalent level of safety" (ELOS) to manned aircraft. The question then becomes - is sense and avoid ELOS for unmanned aircraft adequate to satisfy the requirements of 14 CFR 91.113? Access 5 has proposed a definition of sense and avoid, but the question remains as to whether any sense and avoid system can comply with 14 CFR 91.113 as currently written. The Access 5 definition of sense and avoid ELOS allows for the development of a sense and avoid system for unmanned aircraft that would comply with 14 CFR 91.113. Compliance is based on sensing and avoiding other traffic at an equivalent level of safety for collision avoidance, as manned aircraft. No changes to Part 91 are necessary, with the possible exception of changing "see" to "sense," or obtaining an interpretation from the FAA General Counsel that "sense" is equivalent to "see."

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