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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 NTRS2024

Derivation of Equations of Motion and Model-based Control for 3D Rigid Body Approximation of LUVOIR

The Large UV/Optical/IR Surveyor (LUVOIR) is a conceptual space observatory under development by NASA Goddard Space Flight Center for the Astronomy and Astrophysics Decadal Survey. As with similar space telescopes, e.g., James Webb, this spacecraft will have ultra-stringent pointing stability requirements, i.e., on the order of miliarcseconds. Thus, the design of the LUVOIR attitude control system (ACS) may benefit from a model-based approach. In this document, we present an approximate model of the LUVOIR composed of two 3D rigid bodies connected by a 1-DOF rotary joint. From this model, we derive the nonlinear equations of motion, following the approach of Eric T. Stoneking [1], and linearize them about an arbitrary reference orientation. Using the subsequent state space representation, it is straightforward to compute a set of control gains (e.g., via the ”lqr” or ”place” commands in MATLAB). We conclude this memo with a comparison of our LQR approach with the existing PID slew controller designed by a former NASA intern.

William Bentz↗
NASA NTRS1979

Choice reaction time to movement of eccentric visual targets during concurrent rotary acceleration

This study investigates the influence of concurrent rotary acceleration on choice reaction time (RT) to a small, accelerating visual cursor on a cathode-ray tube. Subjects sat in an enclosed rotating device at the center of rotation and observed a 3-mm dot accelerating at different rates across a cathode-ray tube. The dot was viewed at various eccentricities under conditions of visual stimulation alone and with concurrent rotary acceleration. Subjects responded to both vertical and horizontal dot movements. There was a significant inverse relationship between choice RT and level of dot acceleration (p less than .001), and a significant direct relationship between choice RT and eccentricity (p less than .001). There was no significant difference between choice RT to vertical or horizontal dot motion (p greater than .25), and choice RT was not significantly affected by concurrent rotary acceleration (p greater than .10). The results are discussed in terms of the effects of vestibular stimulation on choice RT to visual motion.

Hamerman, J. A.↗
DOE OSTI2020

Hypothetical Efficiency of Electrical to Mechanical Energy Transfer during Individual Stochastic Molecular Switching Events

There are now many examples of single molecule rotors, motors and switches in the literature that, when driven by photons, electrons or chemical reactions, exhibit well defined motions. As a step towards using these single molecule devices to perform useful functions one must understand how they interact with their environment and quantify their ability to perform work on it. Using a single molecule rotary switch we examine the transfer of electrical energy, delivered via electron tunneling, to mechanical motion and measure the forces the switch experiences with a non-contact q-plus atomic force microscope. Action spectra reveal that the molecular switch has two stable states and can be excited resonantly between them at a bias of 100 mV via a one-electron inelastic tunneling process which corresponds to an energy input of 16 zepto Joules. Furthermore, while the electrically induced switching events are stochastic and no net work is to done on the cantilever, by measuring the forces between the molecular switch and the AFM cantilever we can derive the maximum hypothetical work the switch could perform during a single switching event which is ~55 meV, equal to 8.9 zepto Joules which translates to a hypothetical efficiency ~55% per individual inelastic tunneling electron induced switching event. When co considering the total electrical energy input this drops to 1x10 -7 % due to elastic tunneling events that dominate the tunneling current. However, this approach constitutes a general method for quantifying and comparing the energy input and output of molecularmechanical devices.

36 MATERIALS SCIENCE↗
NASA NTRS1986

Rotary Joint for Heat Transfer

Rotary joint exchanges heat between two heat pipes - one rotating and one stationary. Joint accommodates varying heat loads with little temperature drop across interface. According to concept, heat pipe enters center of disklike stationary section of joint. There, wicks in central artery of heat pipe separate into multiple strands that lead to concentric channels on rotaryinterface side of stationary disk. Thin layer of liquid sodium/potassium alloy carries heat from one member of rotary joint to other. Liquid conducts heat efficiently while permitting relative motion between members. Polypropylene rings contain liquid without interfering with rotation.

Shauback, R.↗
NASA NTRS1986

Predicting Aircraft Spray Patterns on Crops

Agricultural Dispersion Prediction (AGDISP) system developed to predict deposition of agricultural material released from rotary- and fixed-wing aircraft. AGDISP computes ensemble average mean motion resulting from turbulent fluid fluctuations. Used to examine ways of making dispersal process more efficient by insuring uniformity, reducing waste, and saving money. Programs in AGDISP system written in FORTRAN IV for interactive execution.

Teske, M. E.↗
NASA NTRS1987

High-Temperature Vibration Damper

Device for damping vibrations functions at temperatures up to 400 degrees F. Dampens vibrational torque loads as high as 1,000 lb-in. but compact enough to be part of helicopter rotor hub. Rotary damper absorbs energy from vibrating rod, dissipating it in turbulent motion of viscous hydraulic fluid forced by moving vanes through small orifices.

Clarke, Alan↗
DOE OSTI2021

Prototype and Codesign of Nascent Flexible Wave Energy Converter Concepts

Prevailing mainstream ocean wave energy converter (WEC) archetypes are often relatively large monolithic rigid bodies with singular means of power take-off (e.g., relative motion between rigid bodies) and solo prime mover mechanisms (e.g. a rotary generator, a hydraulic piston). These mainstream WEC archetypes have existed for decades with some having histories spanning more than a century of significant investments and interests. As an alternative to the domain of mainstream WEC archetypes is the domain of distributed embedded energy converter technologies (also known as DEEC-Tec). Use of DEEC-Tec to create WECs - often called flexWECs - is a nascent domain of research and development that centers itself upon the interconnection of many relatively small energy converters - very small energy transducers - that interconnect and combine to create a much larger, overall, energy converting structure. The DEEC-Tec domain enables promising possibilities such as: direct in situ ocean wave energy harvesting and conversion throughout the volume of an entire flexWEC; inherent broad-banded ocean wave energy capture and conversion arising from near semi-continuous structural degrees of freedom; an innate absence of focusing and concentrating of ocean wave energy into a single prime mover and/or transmission system; and built-in implicit redundancy. As such, the DEEC-Tec domain could revolutionize how we conceptualize ocean wave energy conversion - both in terms of ocean wave energy converter design and what we view as viable environments and circumstances for ocean wave energy conversion. The research and development opportunities for the DEEC-Tec domain, therefore, are vast compared to the prevailing mainstream ocean wave energy converter domain. Correspondingly, there are ample opportunities to invest time and money into the DEEC-Tec domain with an aim to enable a paradigm shift in how ocean waves can be utilized as a more viable form of renewable energy. To that end, two seedling efforts have been enacted providing a very cursory investigation into the DEEC-Tec domain: (1) a preliminary simple fabrication/prototyping effort and (2) a preliminary co-design effort. The prototype seedling centers upon the design of a fabrication and evaluation rig for individual DEEC-Tec transducers; e.g., dielectric elastomer generators. The co-design seedling centers upon the analysis of those methods suitable for DEEC-Tec, ocean wave energy conversion, and fluid-structure interaction co-design efforts.

50 EE - Wind and Water Power Program - Water (EE-4↗
NASA NTRS1989

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

Vold, Havard I.↗
NASA NTRS1985

Recent developments in rotary-balance testing of fighter aircraft configurations at NASA Ames Research Center

Two rotary balance apparatuses were developed for testing airplane models in a coning motion. A large scale apparatus, developed for use in the 12-Foot Pressure Wind tunnel primarily to permit testing at high Reynolds numbers, was recently used to investigate the aerodynamics of 0.05-scale model of the F-15 fighter aircraft. Effects of Reynolds number, spin rate parameter, model attitude, presence of a nose boom, and model/sting mounting angle were investigated. A smaller apparatus, which investigates the aerodynamics of bodies of revolution in a coning motion, was used in the 6-by-6 foot Supersonic Wind Tunnel to investigate the aerodynamic behavior of a simple representation of a modern fighter, the Standard Dynamic Model (SDM). Effects of spin rate parameter and model attitude were investigated. A description of the two rigs and a discussion of some of the results obtained in the respective test are presented.

Malcolm, G. N.↗
NASA NTRS1985

Recent developments in rotary-balance testing of fighter aircraft configurations at NASA Ames Research Center

Two rotary balance apparatuses were developed for testing airplane models in a coning motion. A large scale apparatus, developed for use in the 12-foot Pressure Wind Tunnel primarily to permit testing at high Reynolds numbers, was recently used to investigate the aerodynamics of 0.05-scale model of the F-15 fighter aircraft. Effects of Reynolds number, spin rate parameter, model attitude, presence of a nose boom, and model/sting mounting angle were investigated. A smaller apparatus, which investigates the aerodynamics of bodies of revolution in a coning motion, was used in the 6-by-6 foot Supersonic Wind Tunnel to investigate the aerodynamic behavior of a simple representation of a modern fighter, the Standard Dynamic Model (SDM). Effects of spin rate parameter and model attitude were investigated. A description of the two rigs and a discussion of some of the results obtained in the respective tests are presented.

Malcolm, G. N.↗
NASA NTRSDate not supplied

Hazard Perception & Avoidance (HPA), Assured Vehicle Automation 1 Simulation (AVA-1h) Results Outbrief

In late 2022, the Human Autonomy Teaming Lab (NASA Ames Research Center) conducted a manned, human-in-the-loop (HITL) simulation. This HITL was the lab’s second Hazard Perception and Avoidance (HPA) technical work under NASA’s Advanced Air Mobility (AAM), Automated Flight and Contingency Management (AFCM) Sub-Project. The goals were to assess detect and avoid technology for manned, electric vertical takeoff and landing (eVTOL) aircraft. This simulation tested Resolution Advisory (RA) responses and return-to-course (RTC) maneuvers for the second version of the Airborne Collision Avoidance System’s (ACAS) rotary-wing (Xr) variant. This was conducted at the center's Vertical Motion Simulator (VMS), on a motion-based platform, and was configured to fly eVTOL aircraft while maneuvering for intruding traffic. Variables for this study included ACAS Xr modes (i.e., TA/RA and DAA) and phases of flight (i.e., Cruise, Hover, and Approach). The data collected included response times, losses of well clear, and pilots' noncompliances to alerts and guidance as well as subjective ratings like acceptability and perceived workload. Additional details and future anticipations are also discussed.

ACAS Xr↗
DOE OSTI2023

Moore Machine Motion Controls Refurbishment Statement of Work and Specification

Diamond Turning Machines known as “Moore” machines are used in the production of Potassium diHydrogen Phosphate (KDP) optics required for the National Ignition Facility (NIF). These machines are owned by the Department of Energy, as provided by Lawrence Livermore National Security LLC (LLNS). Moore Machines 1 and 2 are located at the Gooch & Housego (G&H) facility in Highland Heights, OH. The existing Aerotech motion controllers, motor drivers/amplifiers, input/output (I/O) hardware, control computer, software user interface, human machine interface (HMI), cabling, and encoders are beyond service life and require replacement. This Statement of Work (SoW) defines the motion control system refurbishment requirements for the Moore diamond turning machines designated Moore 1 and Moore 2. The motion controls system design shall include a motion control computer, control software, motor drive amplifiers and controllers, linear scale encoders, rotary encoders, HMI, power distribution, emergency stop (E-Stop) and interlocks, cabling, switches, solenoids, transducers, sensors, actuators, ancillary system interfaces, and related components necessary for a complete machine tool control system. The Subcontractor shall include effort to standardize systems between the two machines if reasonably possible.

42 ENGINEERING↗
NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links interconnected by rotary joints are derived. A technique is outlined for reducing the system of equations to eliminate contraint torques. The linearized dynamics equations for an n link manipulator system are derived. The general n link linearized equations are then applied to a two link configuration. The coordinated rate control algorithm used to compute individual joint rates when given end effector rates is described. A short discussion of simulation methodologies is presented.

Lowrie, J. W.↗
NASA NTRS2009

T-Slide Linear Actuators

T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off-the-shelf, electric servomotor, a motor angle resolution sensor (typically an encoder or resolver), and microprocessor-based intelligent software. In applications requiring precision positioning, it may be necessary to add strain gauges to the T-slide housing. Existing sensory- interactive motion control art will work for T slides. For open-loop positioning, a stepping motor emulation technique can be used.

Vranish, John↗
NASA NTRS2013

Implementation of Kane's Method for a Spacecraft Composed of Multiple Rigid Bodies

Equations of motion are derived for a general spacecraft composed of rigid bodies connected via rotary (spherical or gimballed) joints in a tree topology. Several supporting concepts are developed in depth. Basis dyads aid in the transition from basis-free vector equations to component-wise equations. Joint partials allow abstraction of 1-DOF, 2-DOF, 3-DOF gimballed and spherical rotational joints to a common notation. The basic building block consisting of an "inner" body and an "outer" body connected by a joint enables efficient organization of arbitrary tree structures. Kane's equation is recast in a form which facilitates systematic assembly of large systems of equations, and exposes a relationship of Kane's equation to Newton and Euler's equations which is obscured by the usual presentation. The resulting system of dynamic equations is of minimum dimension, and is suitable for numerical solution by computer. Implementation is ·discussed, and illustrative simulation results are presented.

Stoneking, Eric T.↗
NASA NTRS2010

Developments and Validations of Fully Coupled CFD and Practical Vortex Transport Method for High-Fidelity Wake Modeling in Fixed and Rotary Wing Applications

A novel Computational Fluid Dynamics (CFD) coupling framework using a conventional Reynolds-Averaged Navier-Stokes (BANS) solver to resolve the near-body flow field and a Particle-based Vorticity Transport Method (PVTM) to predict the evolution of the far field wake is developed, refined, and evaluated for fixed and rotary wing cases. For the rotary wing case, the RANS/PVTM modules are loosely coupled to a Computational Structural Dynamics (CSD) module that provides blade motion and vehicle trim information. The PVTM module is refined by the addition of vortex diffusion, stretching, and reorientation models as well as an efficient memory model. Results from the coupled framework are compared with several experimental data sets (a fixed-wing wind tunnel test and a rotary-wing hover test).

Anusonti-Inthra, Phuriwat↗
NASA NTRS1981

Kinematic properties of rotary-wing and fixed-wing aircraft in steady coordinated high-g turns

An analytical approach to the study of flight dynamics of aircraft operating in a high-angle-of-attack flight regime and of helicopters operating in extreme thrust conditions is presented. Steady coordinated high-g turns are used to establish the initial equilibrium flight conditions near stall angles of attack. The kinematic properties of the aircraft in steady coordinated turns are examined: in high-g turns, pitch rate (independent of the angle of attack) is of a much larger magnitude than roll and yaw rate; a substantial roll rate is found to develop in steep turns for all angles of attack; the angle of attack also has a significant effect on the pitch attitude, with decreasing influence as the normal load factor increases. The exact small disturbance equations of motion of the aircraft in general steady turns are also developed for application to both rotary-wing and fixed-wing aircraft in extreme conditions. These equations are in a first-order, vector-matrix format, and are thus compatible with many efficient software packages developed in modern system theory.

Chen, R. T. N.↗
NASA NTRS1954

On traveling waves in beams

The basic equations of Timoshenko for the motion of vibrating nonuniform beams, which allow for effects of transverse shear deformation and rotary inertia, are presented in several forms, including one in which the equations are written in the directions of the characteristics. The propagation of discontinuities in moment and shear, as governed by these equations, is discussed. Numerical traveling-wave solutions are obtained for some elementary problems of finite uniform beams for which the propagation velocities of bending and shear discontinuities are taken to be equal. These solutions are compared with modal solutions of Timoshenko's equations and, in some cases, with exact closed solutions. (author)

Leonard, Robert W↗