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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
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↗
NASA NTRS1994

Dexterity enhancement in microsurgery using telemicro-robotics

The presentation will focus on finding the spectrum of dexterity performance while performing microsurgery in various specialties. It will be noted that individuals vary markedly in their performance in the position, velocity, stability, and force domains. There are surgeons who have a tremor who otherwise move very slowly and carefully while there are other surgeons who apply excessive force, but never have a tremor or move excessively fast. There are yet other surgeons who move excessively fast, yet they do not have a tremor. Dexterity enhancement includes position down scaling, tremor filtering, fatigue elimination, and other second-order issues such as confining the work space, velocities, accelerations, or forces. It will be described that the hand's position performance is degraded when it is asked to actuate the tools and that remote actuation alone increases the positioning capabilities. It will be noted that rotary and telescopic functions are far more difficult than writing or engraving-like motions. The safety issues concerning velocities and forces will be discussed and the need for impedance control pointed out. Simplistically, the devices should be made with variable compliance so that they can function rigidly as a robot would or compliantly as a human would, depending on the setting of this parameter. Tool interfaces will be discussed with an emphasis on the overall performance of the position, end effector, and tool as a unit. Space constraints, force, and velocity requirements will be discussed in this section as well. Referencing the coordinate system to pre- or inter-operative imaging systems will be discussed as well as an emphasis on the system architecture.

Charles, Steve↗
NASA NTRS1990

A new continuum model for suspensions of gyrotactic micro-organisms

A new continuum model is formulated for dilute suspensions of swimming micro-organisms with asymmetric mass distributions. Account is taken of randomness in a cell's swimming direction, p, by postulating that the probability density function for p satisfies a Fokker-Planck equation analogous to that obtained for colloid suspensions in the presence of rotational Brownian motion. The deterministic torques on a cell, viscous and gravitational, are balanced by diffusion, represented by an isotropic rotary diffusivity Dr, which is unknown a priori, but presumably reflects stochastic influences on the cell's internal workings. When the Fokker-Planck equation is solved, macroscopic quantities such as the average cell velocity Vc, the particle diffusivity tensor D and the effective stress tensor sigma can be computed; Vc and D are required in the cell conservation equation, and sigma in the momentum equation. The Fokker-Planck equation contains two dimensionless parameters, lambda and epsilon; lambda is the ratio of the rotary diffusion time Dr-1 to the torque relaxation time B (balancing gravitational and viscous torques), while epsilon is a scale for the local vorticity or strain rate made dimensionless with B. In this paper we solve the Fokker-Planck equation exactly for epsilon = 0 (lambda arbitrary) and also obtain the first-order solution for small epsilon. Using experimental data on Vc and D obtained with the swimming alga, Chlamydomonas nivalis, in the absence of bulk flow, the epsilon = 0 results can be used to estimate the value of lambda for that species (lambda approximately 2.2; Dr approximately 0.13 s-1). The continuum model for small epsilon is then used to reanalyse the instability of a uniform suspension, previously investigated by Pedley, Hill & Kessler (1988). The only qualitatively different result is that there no longer seem to be circumstances in which disturbances with a non-zero vertical wavenumber are more unstable than purely horizontal disturbances. On the way, it is demonstrated that the only significant contribution to sigma, other than the basic Newtonian stress, is that derived from the stresslets associated with the cells' intrinsic swimming motions.

NASA Discipline Number 28-20↗
NASA NTRS1985

Rotary-balance experiments on a modern fighter aircraft configuration at high Reynolds numbers

NASA Ames Research Center's research program to investigate high-angle-of-attack aerodynamic phenomena associated with high-performance aircraft includes the development and use of rotary balance apparatuses for wind balance apparatuses for wind tunnel tests of airplane models in a coning motion. A large scale apparatus, developed for testing models at high Reynolds numbers in the Ames 12-Foot Pressure Wind Tunnel, was recently tested with an 0.05-scale F-15 fighter model. Measurements were made at low subsonic Mach numbers and chord Reynolds numbers of 1 to 5.5 million, with angles of attack from 0 to 90 deg and sideslip angles from -15 to +15 deg. Effects of Reynolds number, spin-rate parameter, model attitude, presence of a nose boom, and model/sting mounting angle were investigated.

Malcolm, G. N.↗
NASA NTRS1994

Vertical Axis Rotational Motion Cues in Hovering Flight Simulation

A previous study that examined how yaw motion affected a pilot's ability to perform realistic hovering flight tasks indicated that any amount of pure yaw motion had little-to-no effect on pilot performance or opinion. In that experiment, pilots were located at the vehicle's center of rotation; thus lateral or longitudinal accelerations were absent. The purpose of the new study described here was to investigate further these unanticipated results for additional flight tasks, but with the introduction of linear accelerations associated with yaw rotations when the pilot is not at the center of rotation. The question of whether a yaw motion degree-of-freedom is necessary or not is important to government regulators who specify what simulator motions are necessary according to prescribed levels of simulator sophistication. Currently, specifies two levels of motion sophistication for flight simulators: full 6-degree-of-freedom and 3-degree-of-freedom. For the less sophisticated simulator, the assumed three degrees of freedom are pitch, roll, and heave. If other degrees of freedom are selected, which are different f rom these three, they must be qualified on a case-by-case basis. Picking the assumed three axes is reasonable and based upon experience, but little empirical data are available to support the selection of critical axes. Thus, the research described here is aimed at answering this question. The yaw and lateral degrees of freedom were selected to be examined first, and maneuvers were defined to uncouple these motions from changes in the gravity vector with respect to the pilot. This approach simplifies the problem to be examined. For this experiment, the NASA Ames Vertical Motion Simulator was used in a comprehensive investigation. The math model was an AH-64 Apache in hover, which was identified from flight test data and had previously been validated by several AH-64 pilots. The pilot's head was located 4.5 ft in front of the vehicle center of gravity, which is representative of the AH-64 pilot location. Six test pilots flew three tasks that were specifically designed to represent a broad class of situations in which both lateral and yaw motion cues may be useful. For the first task, the pilot controlled only the yaw axis and was required to rapidly acquire a North heading from 15 deg yaw offsets to either the East or West. This task allowed for full, or 1:1, motion to be used in all axes (yaw, lateral, and longitudinal). The second task was a 10 sec., 180 deg. pedal turn over a runway, but with the pilot only controlling the yaw degree-of-freedom. The position of the vehicle's center-of-mass remained fixed. This maneuver was taken from a current U.S. Army rotary wing design standard5 and is representative of a maneuver performed for acceptance of military helicopters; however, it does not allow for full 1:1 motion, since the simulator cab cannot rotate 180 deg. The third task required the pilot to perform a rapid 9 ft climb at a constant heading. This task was challenging, because rapid collective lever movement in the unaugmented AH64 results in a substantial yawing moment (due to engine torque) that must be countered by the pilot. This task also had full motion in all axes, but, in this case, the pilot had two axes to control simultaneously, rather than one as in the previous tasks. Four motion configurations were examined for each task: full motion (except for the 180 deg turn, for which the motion system was configured to provide as much motion as possible), full linear with no yaw motion, full yaw with no linear motion, and no motion. Each configuration was flown four times in a randomized test matrix, and the pilots were not informed of the configuration given. Vehicle state data were recorded for objective performance comparisons, and pilots provided subjective comments and ratings. As part of the pilots' evaluation, they were asked to rate the compensation required, the overall fidelity of the motion as compared to real flight, and whether motion was detected or not in each of the six degrees of freedom. In addition, the pilots provided a numerical level-of confidence rating, between 1 and 7, corresponding to how sure they were whether or not motion was present in each degree-of-freedom. The latter rating allow classical signal detection analysis to be performed.

Schroeder, Jeffrey A.↗
NASA NTRS1986

Rotary-wing aircraft terrain-following/terrain-avoidance system development

Work being accomplished to develop a real-time, piloted simulation of a helicopter using the vertical motion simulator at NASA Ames is discussed. The trajectory generation algorithm and the flight path controller are described, and the software integration of the entire terrain following/terrain avoidance (TF/TA) system is discussed. Real-time simulation requirements and the unique features of applying TF/TA system to helicopter flight are summarized. Initial results indicate that the system is satisfactory for automatic, low level TF/TA helicopter flight.

Dorr, D. W.↗
NASA NTRS1986

Rotary-wing aircraft terrain-following/terrain-avoidance system development

Work being accomplished to develop a real-time, piloted simulation of a helicopter using the vertical motion simulator at NASA Ames is discussed. The trajectory generation algorithm and the flight path controller are described, and the software integration of the entire terrain following/terrain avoidance (TF/TA) system is discussed. Real-time simulation requirements and the unique features of applying TF/TA system to helicopter flight are summarized. Initial results indicate that the system is satisfactory for automatic, low level TF/TA helicopter flight.

Dorr, Dan W.↗
NASA NTRS2002

Effects of rotation on the sleep state-dependent midlatency auditory evoked P50 potential in the human

Sopite syndrome, characterized by loss of initiative, sensitivity to normally innocuous sensory stimuli, and impaired concentration amounting to a sensory gating deficit, is commonly associated with Space Motion Sickness (SMS). The amplitude of the P50 potential is a measure of level of arousal, and a paired-stimulus paradigm can be used to measure sensory gating. We used the rotary chair to elicit the sensory mismatch that occurs with SMS by overstimulating the vestibular apparatus. The effects of rotation on the manifestation of the P50 midlatency auditory evoked response were then assessed as a measure of arousal and distractibility. Results showed that rotation-induced motion sickness produced no change in the level of arousal but did produce a significant deficit in sensory gating, indicating that some of the attentional and cognitive deficits observed with SMS may be due to distractibility induced by decreased habituation to repetitive stimuli.

Clinical Trial↗
NASA NTRS1992

CFD lends the government a hand

The present survey of important and novel CFD applications being developed and implemented by U.S. Government contractors gives attention to naval vessel flow-modeling, Army ballistic and rotary wing aerodynamics, and NASA hypersonic vehicle related applications of CFD. CFD-generated knowledge of numerical algorithms, fluid motion, and supercomputer use is being incorporated into such additional areas as computational electromagnetics and acoustics. Attention is presently given to CFD methods' development status in such fields as submarine boundary layers, hypersonic kinetic energy projectile shock structures, helicopter main rotor tip flows, and National Aerospace Plane aerothermodynamics.

Lekoudis, Spiro↗
NASA NTRS1992

Structurally adaptive space crane concept for assembling space systems on orbit

Many future human space exploration missions will probably require large vehicles that must be assembled on orbit. Thus, a device that can move, position, and assemble large and massive spacecraft components on orbit becomes essential for these missions. A concept is described for such a device: a space crane concept that uses erectable truss hardware to achieve high-stiffness and low-mass booms and uses articulating truss joints that can be assembled on orbit. The hardware has been tested and shown to have linear load-deflection response and to be structurally predictable. The hardware also permits the crane to be reconfigured into different geometries to satisfy future assembly requirements. A number of articulating and rotary joint concepts have been sized and analyzed, and the results are discussed. Two strategies were proposed to suppress motion-induced vibration: placing viscous dampers in selected truss struts and preshaping motion commands. Preliminary analyses indicate that these techniques have the potential to greatly enhance structural damping.

Dorsey, John T.↗
NASA NTRS1974

Effects of several factors on theoretical predictions of airplane spin characteristics

The influence of different mathematical and aerodynamic models on computed spin motion was investigated along with the importance of some of the aerodynamic and nonaerodynamic quantities defined in these models. An analytical technique was used which included the aerodynamic forces and moments acting on a spinning aircraft due to steady rotational flow and the contribution of the rotary derivatives to the oscillatory component of the total angular rates. It was shown that (1) during experimental-analytical correlation studies, the flight-recorded control time histories must be faithfully duplicated since the spinning motion can be sensitive to a small change in the application of the spin entry controls; (2) an error in the assumed inertias, yawing moments at high angle of attack, and initial spin entry bank angle do not influence the developed spin significantly; (3) damping in pitch derivatives and the center of gravity location play a role in the spinning motion; and (4) the experimental spin investigations conducted in a constant atmospheric density environment duplicate the Froude number only at the initial full-scale spin altitude (since the full-scale airplane at high altitudes experiences large density changes during the spin.)

Bihrle, W., Jr.↗
NASA NTRS1986

Design and testing of an electromagnetic coupling

Hostile environments such as the hard vacuum of space, and exposure to water or caustic fluids have fostered the development of devices which allow mechanical rotary feed throughs with positive sealing without the use of conventional dynamic seals. One such device is an electromagnetic coupling which transfers motion across a hermetic seal by means of a rotating magnetic field. Static pull-out torque and dynamic heat build-up and pull-out torque tests of a synchronous reluctance homopolar coupling are reported herein. Coupling efficiencies are estimated for a range of speeds and torques.

Anderson, William J.↗
NASA NTRS1993

Rotary-wing aeroelasticity with application to VTOL vehicles

A concise assessment is presented of the state of the art in the field of rotary-wing aeroelasticity (RWE). The basic ingredients of RWE are reviewed, including structural modeling, unsteady aerodynamic modeling, formulation of the equations of motion, and solution methods. Results illustrating these methods are presented for isolated blades and coupled rotor-fuselage problems. The application of active controls to suppress aeromechanical and aeroelastic instabilities and to reduce vibration in rotorcraft is discussed. Structural optimization with aeroelastic constraints, gust response analysis of helicopters, and aeroelastic problems in special VTOL vehicles are briefly examined.

Friedmann, Peretz P.↗