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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Magnetic field drift shell splitting - Cause of unusual dayside particle pitch angle distributions during storms and substorms

This paper presents a magnetic field drift shell-splitting model for the unusual butterfly and head-and-shoulder energetic (E greater than 25 keV) particle pitch angle distributions (PADs) which appear deep within the dayside magnetosphere during the course of storms and substorms. Drift shell splitting separates the high and low pitch angle particles in nightside injections as they move to the dayside magnetosphere, so that the higher pitch angle particles move radially away from earth. Consequently, butterfly PADs with a surplus of low pitch angle particles form on the inner edge of the injection, but head-and-shoulder PADs with a surplus of high pitch angle particles form on the outer edge. A similar process removes high pitch angle particles from the inner dayside magnetosphere during storms, leaving the remaining lower pitch angle particles to form butterfly PADs on the inner edge of the ring current. A detailed case and statistical study of Charge Composition Explorer/Medium-energy Particle Analyzer observations, as well as a review of previous work, shows most examples of unusual PADs to be consistent with the model.

Sibeck, D. G.↗
NASA NTRS1989

Attitude angle effects on Nimbus-7 Scanning Multichannel Microwave Radiometer radiances and geophysical parameter retrievals

The attitude of the Nimbus-7 spacecraft has varied significantly over its lifetime. A summary of the orbital and long-term behavior of the attitude angles and the effects of attitude variations on Scanning Multichannel Microwave Radiometer (SMMR) brightness temperatures is presented. One of the principal effects of these variations is to change the incident angle at which the SMMR views the Earth's surface. The brightness temperatures depend upon the incident angle sensitivities of both the ocean surface emissivity and the atmospheric path length. Ocean surface emissivity is quite sensitive to incident angle variation near the SMMR incident angle, which is about 50 degrees. This sensitivity was estimated theoretically for a smooth ocean surface and no atmosphere. A 1-degree increase in the angle of incidence produces a 2.9 C increase in the retrieved sea surface temperature and a 5.7 m/sec decrease in retrieved sea surface wind speed. An incident angle correction is applied to the SMMR radiances before using them in the geophysical parameter retrieval algorithms. The corrected retrieval data is compared with data obtained without applying the correction.

Macmillan, Daniel S.↗
NASA NTRS1959

A Dynamic Model Investigation of the Effect of a Sharp-Edge Vertical Gust on Blade Periodic Flapping Angles and Bending Moments of a Two-Blade Rotor

A two-blade rotor having a diameter of 4 feet and a solidity of 0.037 was subjected to sharp-edge vertical gusts while being operated at various forward speeds to study the effect of the gusts on the blade periodic bending moments and flapping angles. Variables studied included gust velocity, collective pitch angle, flapping hinge offset, and tip-speed ratio. Dimensionless coefficients are derived for the periodic components of the incremental changes in blade flapping angles and bending moments which arise when a rotor blade penetrates a sharp-edge gust. Mental changes in both the flapping angles and bending moments are essentially proportional to gust velocity, and the coefficients express the ratio of these increments to gust velccity. The results show that the flapping coefficient usually increases with an increase in collective pitch angle, is generally dependent on tip-speed ratio, and is essentially independent of the amount of flapping hinge offset. The bending-moment coefficient is also dependent on collective pitch angle and tip-speed ratio. Expected reductions in bending moments are realized by the use of flapping hinges, and further reductions in bending moments are achieved as the amount of flapping hinge offset is increased. Comparison of the experimental results of this investigation with limited available theoretical results shows substantial agreement but indicates that the assumption that the response of the rotor to a sharp-edge gust is independent of the collective pitch angle prior to gust entry is probably inadequate.

McCarty, John Locke↗
NASA NTRS1990

Prediction of the noise from a propeller at angle of attack

An analysis is presented to predict the noise of a propeller at angle of attack. The analysis is an extension of that reported by Mani which predicted the change in noise due to angle of attack to both unsteady loading and to azimuthal variation of the radiation efficiency of steady noise sources. Mani's analysis, however, was limited to small angles of attack. The analysis reported herein removes this small angle limitation. Results from the analysis are compared with the data of Woodward for a single rotation propeller and a counter rotating propeller. The comparison shows that including the effect of angle of attack on the steady noise sources significantly improves the agreement with data. Including higher order effects of angle of attack, while changing the predicted noise at far forward and aft angles, has little effect near the propeller plane.

Krejsa, Eugene A.↗
NASA NTRS1990

Prediction of the noise from a propeller at angle of attack

An analysis is presented to predict the noise of a propeller at angle of attack. The analysis is an extension of that reported by Mani (1990) which predicted the change in noise due to angle of attack due to both unsteady loading and to azimuthal variation of the radiation efficiency of steady noise sources. Mani's analysis, however, was limited to small angles of attack. The analysis reported herein removes this small angle limitation. Results from the analysis are compared with the data of Woodward (1987, 1988), for a single rotation propeller and for a counter rotating propeller. The comparison shows that including the effect of angle of attack on the steady noise sources significantly improves the agreement with data. Including higher order effects of angle of attack, while changing the predicted noise at far forward and aft angles, has little effect near the propeller plane.

Krejsa, Eugene A.↗
NASA NTRS1991

Compression failure of angle-ply laminates

The present work deals with modes and mechanisms of failure in compression of angle-ply laminates. Experimental results were obtained from 42 angle-ply IM7/8551-7a specimens with a lay-up of ((plus or minus theta)/(plus or minus theta)) sub 6s where theta, the off-axis angle, ranged from 0 degrees to 90 degrees. The results showed four failure modes, these modes being a function of off-axis angle. Failure modes include fiber compression, inplane transverse tension, inplane shear, and inplane transverse compression. Excessive interlaminar shear strain was also considered as an important mode of failure. At low off-axis angles, experimentally observed values were considerably lower than published strengths. It was determined that laminate imperfections in the form of layer waviness could be a major factor in reducing compression strength. Previously developed linear buckling and geometrically nonlinear theories were used, with modifications and enhancements, to examine the influence of layer waviness on compression response. The wavy layer is described by a wave amplitude and a wave length. Linear elastic stress-strain response is assumed. The geometrically nonlinear theory, in conjunction with the maximum stress failure criterion, was used to predict compression failure and failure modes for the angle-ply laminates. A range of wave length and amplitudes were used. It was found that for 0 less than or equal to theta less than or equal to 15 degrees failure was most likely due to fiber compression. For 15 degrees less than theta less than or equal to 35 degrees, failure was most likely due to inplane transverse tension. For 35 degrees less than theta less than or equal to 70 degrees, failure was most likely due to inplane shear. For theta less than 70 degrees, failure was most likely due to inplane transverse compression. The fiber compression and transverse tension failure modes depended more heavily on wave length than on wave amplitude. Thus using a single parameter, such as a ratio of wave amplitude to wave length, to describe waviness in a laminate would be inaccurate. Throughout, results for AS4/3502, studied previously, are included for comparison. At low off-axis angles, the AS4/3502 material system was found to be less sensitive to layer waviness than IM7/8551-7a. Analytical predictions were also obtained for laminates with waviness in only some of the layers. For this type of waviness, laminate compression strength could also be considered a function of which layers in the laminate were wavy, and where those wavy layers were. Overall, the geometrically nonlinear model correlates well with experimental results.

Peel, Larry D.↗
NASA NTRS1995

Studies of the draping and flaring angles of the Mars and Earth magnetotails

Observations of the Mars tail by the spacecraft have been used to estimate the draping angle of the magnetic field within the tail and the boundary flaring angle. The boundary of the tail is defined by the sudden disappearance of the proton flux by the TAUS ion spectrometer. Solar wind measurements by the TAUS instrument are used to calculate the approximate solar wind dynamic pressure when the spacecraft is within the tail boundary. The average draping angle (Acrsin((square root of (B(sub y)(exp 2) + B(sub z)(exp 2)))/B(sub T))) is found to be 27.2 deg +/- 1.4 deg. The draping angle magnitude depends on the solar wind dynamic pressure, but is quite variable. The flaring angle of the tail boundary at X = -2.5 R(sub M) has also been calculated from the balance of pressure between the lobe of the Martian tail and the component pressures of the solar wind. The flaring angle depends strongly on the solar wind dynamic pressure, and this dependence is identical to that obtained at the Earth by Petrinec and Russell. However, the magnitude of the flaring angle at Mars X = -2.5 R(sub M) is one-half the value obtained at Earth for -22.5 R(sub E) is less than or equal to X -10 R(sub E).

Zhang, T.-L.↗
NASA NTRS1996

Evaluation of High-Angle-of-Attack Handling Qualities for the X-31A Using Standard Evaluation Maneuvers

The X-31A aircraft gross-acquisition and fine-tracking handling qualities have been evaluated using standard evaluation maneuvers developed by Wright Laboratory, Wright-Patterson Air Force Base. The emphasis of the testing is in the angle-of-attack range between 30 deg and 70 deg. Longitudinal gross-acquisition handling qualities results show borderline Level 1/Level 2 performance. Lateral gross-acquisition testing results in Level 1/Level 2 ratings below 45 deg angle of attack, degrading into Level 3 as angle of attack increases. The fine-tracking performance in both longitudinal and lateral axes also receives Level 1 ratings near 30 deg angle of attack, with the ratings tending towards Level 3 at angles of attack greater than 50 deg. These ratings do not match the expectations from the extensive close-in combat testing where the X-31A aircraft demonstrated fair to good handling qualities maneuvering for high angles of attack. This paper presents the results of the high-angle-of-attack handling qualities flight testing of the X-31A aircraft. Discussion of the preparation for the maneuvers, the pilot ratings, and selected pilot comments are included. Evaluation of the results is made in conjunction with existing Neal-Smith, bandwidth, Smith-Geddes, and military specifications.

Stoliker, Patrick C.↗
NASA NTRS1997

Evaluation of High-Angle-of-Attack Handling Qualities for the X-31A Using Standard Evaluation Maneuvers

The X-31A aircraft gross-acquisition and fine-tracking handling qualities have been evaluated using standard evaluation maneuvers developed by Wright Laboratory, Wright Patterson Air Force Base. The emphasis of the testing is in the angle-of-attack range between 30 deg. and 70 deg. Longitudinal gross-acquisition handling qualities results show borderline Level l/Level 2 performance. Lateral gross-acquisition testing results in Level l/Level 2 ratings below 45 deg. angle of attack, degrading into Level 3 as angle of attack increases. The fine tracking performance in both longitudinal and lateral axes also receives Level 1 ratings near 30 deg. angle of attack, with the ratings tending towards Level 3 at angles of attack greater than 50 deg. These ratings do not match the expectations from the extensive close-in combat testing where the X-31A aircraft demonstrated fair to good handling qualities maneuvering for high angles of attack. This paper presents the results of the high-angle-of-attack handling qualities flight testing of the X-31A aircraft. Discussion of the preparation for the maneuvers, the pilot ratings, and selected pilot comments are included. Evaluation of the results is made in conjunction with existing Neal Smith, bandwidth, Smith-Geddes, and military specifications.

Stoliker, Patrick C.↗
NASA NTRS2001

HST Multicolor (255-1042 nm) Photometry of Saturn's Main Rings: Radial Profiles, Phase and Opening Angle Variations, and Regional Spectra - 1

The main rings of Saturn were observed with the Planetary Camera of the WFPC2 instrument on the Hubble Space Telescope (HST) from September 1996 to August 2000 as the'ring opening angle to Earth and Sun increased from 4 deg to 24 deg, with a spread of phase angles between 0.3 deg and 6 deg at each opening angle. The rings were routinely observed in the five HST wideband UBVRI filters (F336W, F439W, F555W, F675W, and F814W) and occasionally in the F255W, F785LP, and F1042M filters. The emphasis in this series of papers will be on radial color (implying compositional) variations. In this first paper we describe the analysis technique and calibration procedure, note revisions in a previously published Voyager ring color data analysis, and present new results based on over 100 HST images. In the 300-600 nm spectral range where the rings are red, the 555nm/336nm ratio increases by about 14% as the phase angle increases from 0.3 deg to 6 deg. This effect, never reported previously for the rings, is significantly larger than the phase reddening which characterizes other icy objects, primarily because of the redness of the rings. However, there is no discernible tendency for color to vary with ring opening angle at a given phase angle, and there is no phase variation of color where the spectrum is flat. We infer from this combination of facts that multiple intraparticle scattering, either in a regolith or between facets of an unusually rough surface, is important in these geometries, but that multiple interparticle scattering in a vertically extended layer is not. Voyager color ratios at a phase angle of 14 deg are compatible with this trend, but calibration uncertainties prevent their use in quantitative modeling. Overall ring-average spectra are compatible with those of earlier work within calibration uncertainties, but ring spectra vary noticeably with region. We refine and subdivide the regions previously defined by others. The variation seen between radial profiles of ratios between different wavelength suggests the presence of multiple compositional components with different radial distributions. We present new radial profiles of far UV color ratio (F336W/F255W) showing, substantial global variations having a different radial structure than seen between 555 and 336nm. We also find evidence for absorption in the 850nm spectral range (a feature previously only weakly indicated in ring-averaged spectra) primarily through its radial variation; it is located primarily in the C ring, where the particles are known to have lower albedo, and is consistent with "interplanetary pollution" of the rings.

Cuzzi, Jeffrey N.↗
NASA NTRS2006

Influence of the Angle of Attack on the Aerothermodynamics of the Mars Science Laboratory

An investigation of the effects of the incidence angle on the aerothermodynamic environments of the Mars Science Laboratory has been conducted. Flight conditions of peak heating, peak deceleration and chute deploy are selected and the effects of the angle of attack on the aerodynamics and aerothermodynamics are analyzed. The investigation found that static aerodynamics are well behaved within the considered range of incidence angles. Leeside laminar and turbulent computed heating rates decrease with incidence, despite the increase in the leeside running length. Stagnation point was found to stay on the conical flank at all angles of attack, and this is linked to the rapid flow expansion around the shoulder. Hypersonic lift to drag ratio is limited by the heating rates in the region of the windside shoulder. The effects of the high angle of incidence on the dynamic aero at low Mach remains to be determined. Influence of the angle of attack on the smooth-wall transition parameter indicates, that higher angle of attack flight may result in delayed turbulence onset, however, a coupled analysis, involving flight trajectory simulation is necessary.

Dyakonov, Artem A.↗
NASA NTRS2008

Instrument Display Visual Angles for Conventional Aircraft and the MQ-9 Ground Control Station

Aircraft instrument panels should be designed such that primary displays are in optimal viewing location to minimize pilot perception and response time. Human Factors engineers define three zones (i.e. "cones") of visual location: 1) "Easy Eye Movement" (foveal vision); 2) "Maximum Eye Movement" (peripheral vision with saccades), and 3) "Head Movement" (head movement required). Instrument display visual angles were measured to determine how well conventional aircraft (T-34, T-38, F- 15B, F-16XL, F/A-18A, U-2D, ER-2, King Air, G-III, B-52H, DC-10, B747-SCA) and the MQ-9 ground control station (GCS) complied with these standards, and how they compared with each other. Methods: Selected instrument parameters included: attitude, pitch, bank, power, airspeed, altitude, vertical speed, heading, turn rate, slip/skid, AOA, flight path, latitude, longitude, course, bearing, range and time. Vertical and horizontal visual angles for each component were measured from the pilot s eye position in each system. Results: The vertical visual angles of displays in conventional aircraft lay within the cone of "Easy Eye Movement" for all but three of the parameters measured, and almost all of the horizontal visual angles fell within this range. All conventional vertical and horizontal visual angles lay within the cone of "Maximum Eye Movement". However, most instrument vertical visual angles of the MQ-9 GCS lay outside the cone of "Easy Eye Movement", though all were within the cone of "Maximum Eye Movement". All the horizontal visual angles for the MQ-9 GCS were within the cone of "Easy Eye Movement". Discussion: Most instrument displays in conventional aircraft lay within the cone of "Easy Eye Movement", though mission-critical instruments sometimes displaced less important instruments outside this area. Many of the MQ-9 GCS systems lay outside this area. Specific training for MQ-9 pilots may be needed to avoid increased response time and potential error during flight.

Bendrick, Gregg A.↗
NASA NTRS2008

Instrument Display Visual Angles for Conventional Aircraft and the MQ-9 Ground Control Station

Aircraft instrument panels should be designed such that primary displays are in optimal viewing location to minimize pilot perception and response time. Human Factors engineers define three zones (i.e. cones ) of visual location: 1) "Easy Eye Movement" (foveal vision); 2) "Maximum Eye Movement" (peripheral vision with saccades), and 3) "Head Movement (head movement required). Instrument display visual angles were measured to determine how well conventional aircraft (T-34, T-38, F- 15B, F-16XL, F/A-18A, U-2D, ER-2, King Air, G-III, B-52H, DC-10, B747-SCA) and the MQ-9 ground control station (GCS) complied with these standards, and how they compared with each other. Selected instrument parameters included: attitude, pitch, bank, power, airspeed, altitude, vertical speed, heading, turn rate, slip/skid, AOA, flight path, latitude, longitude, course, bearing, range and time. Vertical and horizontal visual angles for each component were measured from the pilot s eye position in each system. The vertical visual angles of displays in conventional aircraft lay within the cone of "Easy Eye Movement" for all but three of the parameters measured, and almost all of the horizontal visual angles fell within this range. All conventional vertical and horizontal visual angles lay within the cone of Maximum Eye Movement. However, most instrument vertical visual angles of the MQ-9 GCS lay outside the cone of Easy Eye Movement, though all were within the cone of Maximum Eye Movement. All the horizontal visual angles for the MQ-9 GCS were within the cone of "Easy Eye Movement". Most instrument displays in conventional aircraft lay within the cone of Easy Eye Movement, though mission-critical instruments sometimes displaced less important instruments outside this area. Many of the MQ-9 GCS systems lay outside this area. Specific training for MQ-9 pilots may be needed to avoid increased response time and potential error during flight. The learning objectives include: 1) Know three physiologic cones of eye/head movement; 2) Understand how instrument displays comply with these design principles in conventional aircraft and an uninhabited aerial vehicle system. Which of the following is NOT a recognized physiologic principle of instrument display design? Cone of Easy Eye Movement 2) Cone of Binocular Eye Movement 3) Cone of Maximum Eye Movement 4) Cone of Head Movement 5) None of the above. Answer: # 2) Cone of Binocular Eye Movement

Kamine, Tovy Haber↗
NASA NTRS2010

When Deriving the Spatial QRS-T Angle from the 12-lead ECG, which Transform is More Frank: Regression or Inverse Dower?

Our primary objective was to ascertain which commonly used 12-to-Frank-lead transformation yields spatial QRS-T angle values closest to those obtained from simultaneously collected true Frank-lead recordings. Simultaneous 12-lead and Frank XYZ-lead recordings were analyzed for 100 post-myocardial infarction patients and 50 controls. Relative agreement, with true Frank-lead results, of 12-to-Frank-lead transformed results for the spatial QRS-T angle using Kors regression versus inverse Dower was assessed via ANOVA, Lin s concordance and Bland-Altman plots. Spatial QRS-T angles from the true Frank leads were not significantly different than those derived from the Kors regression-related transformation but were significantly smaller than those derived from the inverse Dower-related transformation (P less than 0.001). Independent of method, spatial mean QRS-T angles were also always significantly larger than spatial maximum (peaks) QRS-T angles. Spatial QRS-T angles are best approximated by regression-related transforms. Spatial mean and spatial peaks QRS-T angles should also not be used interchangeably.

Schlegel, Todd T.↗
NASA NTRS2013

Aerodynamic Investigation of Incidence Angle Effects in a Large Scale Transonic Turbine Cascade

Aerodynamic measurements showing the effects of large incidence angle variations on an HPT turbine blade set are presented. Measurements were made in NASA's Transonic Turbine Blade Cascade Facility which has been used in previous studies to acquire detailed aerodynamic and heat transfer measurements for CFD code validation. The current study supports the development of variable-speed power turbine (VSPT) speed-change technology for the NASA Large Civil Tilt Rotor (LCTR) vehicle. In order to maintain acceptable main rotor propulsive efficiency, the VSPT operates over a nearly 50 percent speed range from takeoff to altitude cruise. This results in 50deg or more variations in VSPT blade incidence angles. The cascade facility has the ability to operate over a wide range of Reynolds numbers and Mach numbers, but had to be modified in order to accommodate the negative incidence angle variation required by the LCTR VSPT operation. Using existing blade geometry with previously acquired aerodynamic data, the tunnel was re-baselined and the new incidence angle range was exercised. Midspan exit total pressure and flow angle measurements were obtained at seven inlet flow angles. For each inlet angle, data were obtained at five flow conditions with inlet Reynolds numbers varying from 6.83×10(exp 5) to 0.85×10(exp 5) and two isentropic exit Mach numbers of 0.74 and 0.34. The midspan flowfield measurements were acquired using a three-hole pneumatic probe located in a survey plane 8.6 percent axial chord downstream of the blade trailing edge plane and covering three blade passages. Blade and endwall static pressure distributions were also acquired for each flow condition.

McVetta, Ashlie B.↗
NASA NTRS2014

Aerodynamic Investigation of Incidence Angle Effects in a Large Scale Transonic Turbine Cascade

Aerodynamic measurements showing the effects of large incidence angle variations on an HPT turbine blade set are presented. Measurements were made in NASA's Transonic Turbine Blade Cascade Facility which has been used in previous studies to acquire detailed aerodynamic and heat transfer measurements for CFD code validation. The current study supports the development of variable-speed power turbine (VSPT) speed-change technology for the NASA Large Civil Tilt Rotor (LCTR) vehicle. In order to maintain acceptable main rotor propulsive efficiency, the VSPT operates over a nearly 50 percent speed range from takeoff to altitude cruise. This results in 50 deg or more variations in VSPT blade incidence angles. The cascade facility has the ability to operate over a wide range of Reynolds numbers and Mach numbers, but had to be modified in order to accommodate the negative incidence angle variation required by the LCTR VSPT operation. Using existing blade geometry with previously acquired aerodynamic data, the tunnel was re-baselined and the new incidence angle range was exercised. Midspan exit total pressure and flow angle measurements were obtained at seven inlet flow angles. For each inlet angle, data were obtained at five flow conditions with inlet Reynolds numbers varying from 6.83×10 (exp 5) to 0.85×10(exp 5) and two isentropic exit Mach numbers of 0.74 and 0.34. The midspan flowfield measurements were acquired using a three-hole pneumatic probe located in a survey plane 8.6 percent axial chord downstream of the blade trailing edge plane and covering three blade passages. Blade and endwall static pressure distributions were also acquired for each flow condition.

McVetta, Ashlie B.↗
NASA NTRS2012

Aerodynamic Investigation of Incidence Angle Effects in a Large Scale Transonic Turbine Cascade

Aerodynamic measurements showing the effects of large incidence angle variations on an HPT turbine blade set are presented. Measurements were made in NASA's Transonic Turbine Blade Cascade Facility which has been used in previous studies to acquire detailed aerodynamic and heat transfer measurements for CFD code validation. The current study supports the development of variable-speed power turbine (VSPT) speed-change technology for the NASA Large Civil Tilt Rotor (LCTR) vehicle. In order to maintain acceptable main rotor propulsive efficiency, the VSPT operates over a nearly 50% speed range from takeoff to altitude cruise. This results in 50 degrees or more variations in VSPT blade incidence angles. The cascade facility has the ability to operate over a wide range of Reynolds numbers and Mach numbers, but had to be modified in order to accommodate the negative incidence angle variation required by the LCTR VSPT operation. Using existing blade geometry with previously acquired aerodynamic data, the tunnel was re-baselined and the new incidence angle range was exercised. Midspan exit total pressure and flow angle measurements were obtained at seven inlet flow angles. For each inlet angle, data were obtained at five flow conditions with inlet Reynolds numbers varying from 6.83 × 10(exp 5) to 0.85 ×10(exp 5) and two isentropic exit Mach numbers of 0.74 and 0.34. The midspan flowfield measurements were acquired using a three-hole pneumatic probe located in a survey plane 8.6% axial chord downstream of the blade trailing edge plane and covering three blade passages. Blade and endwall static pressure distributions were also acquired for each flow condition

McVetta, Ashlie B.↗
NASA NTRS2017

Effect of Angle of Attack on Slope Climbing Performance

Ascending steep slopes is often a very difficult challenge for off-road vehicles, whether on Earth or on extraterrestrial bodies. This challenge is even greater if the surface consists of loose granular soil that does not provide much shear strength. This study investigated how the path at which a vehicle traverses a slope, specifically the angle that it is commanded to drive relative to the base of the hill (the angle of attack), can affect its performance. A vehicle was driven in loose sand at slope angles up to 15 degrees and angles of attack ranging from 10 to 90 degrees. A novel photogrammetry technique was implemented to both track vehicle motion and create a three-dimensional profile of the terrain. This allowed for true wheel sinkage measurements. The study showed that though low angles of attack result in lower wheel slip and sinkage, the efficiency of the vehicles uphill motion increased at higher angles of attack. For slopes up to 15 degrees, a 90 degree angle of attack provided the greatest likelihood of successful ascent.

wheel↗