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At least 145 records · Page 8

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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 NTRS1970

History of NACA/NASA rotating-wing aircraft research, 1915-1970. IV Cont'd

NACA/NASA rotary wing aircraft research, considering rotor loads and configurations, ground resonance, blade flutter and flapping, motion equations and VTOL

Gustafson, F. B.↗

DOE OSTI2023

Deuteron off-resonance rotating frame relaxation for the characterization of slow motions in rotating and static solid-state proteins

Here, we demonstrate the feasibility of deuterium solid-state NMR off-resonance rotating frame relaxation measurements for studies of slow motions in biomolecular solids. The pulse sequence, which includes adiabatic pulses for magnetization alignment, is illustrated for static and magic-angle spinning conditions away from rotary resonances. We apply the measurements for three systems with selective deuterium labels at methyl groups: a) a model compound, Fluorenylmethyloxycarbonyl methionine-D 3 amino acid, for which the principles of the measurements and corresponding motional modeling based on rotameric interconversions are demonstrated; b) amyloid-β 1-40 fibrils labeled at a single alanine methyl group located in the disordered N-terminal domain. This system has been extensively studied in prior work and here serves as a test of the method for complex biological systems. The essential features of the dynamics consist of large-scale rearrangements of the disordered N-terminal domain and the conformational exchange between the free and bound forms of the domain, the latter one due to transient interactions with the structured core of the fibrils. and c) a 15-residue helical peptide which belongs to the predicted α-helical domain near the N-terminus of apolipoprotein B. The peptide is solvated with triolein and incorporates a selectively labeled leucine methyl groups. The method permits model refinement, indicating rotameric interconversions with a distribution of rate constants.

59 BASIC BIOLOGICAL SCIENCES↗

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

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.↗

DOE OSTI2025

A molecular conveyor belt-associated protein controls the rotational direction of the bacterial type 9 secretion system

ABSTRACT Many bacteria utilize the type 9 secretion system (T9SS) for gliding motility, surface colonization, and pathogenesis. This dual-function motor supports both gliding motility and protein secretion, where rotation of the T9SS plays a central role. Fueled by the energy of the stored proton motive force and transmitted through the torque of membrane-anchored stator units, the rotary T9SS propels an adhesin-coated conveyor belt along the bacterial outer membrane like a molecular snowmobile, thereby enabling gliding motion. However, the mechanisms controlling the rotational direction and gliding motility of T9SS remain elusive. Shedding light on this mechanism, we find that in the gliding bacteriumFlavobacterium johnsoniae, deletion of the C-terminus of the conveyor belt-associated protein GldJ controls and, in fact, reverses the rotational direction of T9SS from counterclockwise (CCW) to clockwise (CW). This suggests that the interface between the conveyor belt-associated protein GldJ and the T9SS ring protein GldK plays an important role in controlling the directionality of T9SS, potentially by modulating its interaction with the stator complex GldLM, which drives motor rotation. Combined with MD simulation of the T9SS stator units GldLM, we suggest a “tri-component gearset” model where GldJ controls the rotational direction of its driver, the T9SS, thus providing adaptive sensory feedback to influence the motility of the gliding bacterium. IMPORTANCE The type 9 secretion system (T9SS) is fundamental to bacterial gliding motility, pathogenesis, and surface colonization. Our findings reveal that the C-terminal region of the conveyor belt-associated protein GldJ functions as a molecular switch which is capable of reversing the rotational direction of T9SS. Through the coordinated actions of the T9SS stator units (akin to a driving motor), the GldK ring (the gear that converts rotational energy into linear movement), and GldJ, this machinery forms a smart conveyor belt system reminiscent of flexible or cognitive mechanical conveyors. Such advanced conveyors can alter their direction to adapt to shifting demands. Here, we show that the bacterial T9SS similarly adjusts its rotational bias based on feedback from the conveyor belt-associated protein GldJ. This dual-role feedback mechanism underscores an evolved, controllable biological snowmobile, offering new avenues for studying how bacteria fine-tune motility in dynamic environments.

Microbiology↗

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.↗

NASA NTRS2005

Nanoactuators Based on Electrostatic Forces on Dielectrics

Nanoactuators of a proposed type would exploit the forces exerted by electric fields on dielectric materials. As used here, "nanoactuators" includes motors, manipulators, and other active mechanisms that have dimensions of the order of nanometers and/or are designed to manipulate objects that have dimensions of the order of nanometers. The underlying physical principle can be described most simply in terms of the example of a square parallel-plate capacitor in which a square dielectric plate is inserted part way into the gap between the electrode plates (see Figure Typically, the force is small from our macroscopic human perspective. The above equation shows that the force depends on the ratio between the capacitor dimensions but does not depend on the size. In other words, the force remains the same if the capacitor and the dielectric slab are shrunk to nanometer dimensions. At the same time, the masses of all components are proportional to third power of their linear dimensions. Therefore the force-to-mass ratio (and, consequently, the acceleration that can be imparted to the dielectric slab) is much larger at the nanoscale than at the macroscopic scale. The proposed actuators would exploit this effect. The upper part of Figure 2 depicts a simple linear actuator based on a parallel- plate capacitor similar to Figure 1. In this case, the upper electrode plate would be split into two parts (A and B) and the dielectric slab would be slightly longer than plate A or B. The actuator would be operated in a cycle. During the first half cycle, plate B would be grounded to the lower plate and plate A would be charged to a potential, V, with respect to the lower plate, causing the dielectric slab to be pulled under plate A. During the second half cycle, plate A would be grounded and plate B would be charged to potential V, causing the dielectric slab to be pulled under plate B. The back-and-forth motion caused by alternation of the voltages on plates A and B could be used to drive a nanopump, for example. A rotary motor, shown in the middle part of Figure 2, could include a dielectric rotor sandwiched between a top and a bottom plate containing multiple electrodes arranged symmetrically in a circle. Voltages would be applied sequentially to electrode pairs 1 and 1a, then 2 and 2a, then 3 and 3a in order to attract the dielectric rotor to sequential positions between the electrode pairs.

Wang, Yu↗

DOE OSTI2024

Solvent-Dependent Dynamics of Cellulose Nanocrystals in Process-Relevant Flow Fields

Flow-assisted alignment of anisotropic nanoparticles is a promising route for the bottom-up assembly of advanced materials with tunable properties. While aligning processes could be optimized by controlling factors such as solvent viscosity, flow deformation, and the structure of the particles themselves, it is necessary to understand the relationship between these factors and their effect on the final orientation. In this study, we investigated the flow of surface-charged cellulose nanocrystals (CNCs) with the shape of a rigid rod dispersed in water and propylene glycol (PG) in an isotropic tactoid state. In situ scanning small-angle X-ray scattering (SAXS) and rheo-optical flow-stop experiments were used to quantify the dynamics, orientation, and structure of the assigned system at the nanometer scale. The effects of both shear and extensional flow fields were revealed in a single experiment by using a flow-focusing channel geometry, which was used as a model flow for nanomaterial assembly. Due to the higher solvent viscosity, CNCs in PG showed much slower Brownian dynamics than CNCs in water and thus could be aligned at lower deformation rates. Moreover, CNCs in PG also formed a characteristic tactoid structure but with less ordering than CNCs in water owing to weaker electrostatic interactions. The results indicate that CNCs in water stay assembled in the mesoscale structure at moderate deformation rates but are broken up at higher flow rates, enhancing rotary diffusion and leading to lower overall alignment. Albeit being a study of cellulose nanoparticles, the fundamental interplay between imposed flow fields, Brownian motion, and electrostatic interactions likely apply to many other anisotropic colloidal systems.

36 MATERIALS SCIENCE↗

NASA NTRS2007

Recent NASA Research on Aerodynamic Modeling of Post-Stall and Spin Dynamics of Large Transport Airplanes

A simulation study was conducted to investigate aerodynamic modeling methods for prediction of post-stall flight dynamics of large transport airplanes. The research approach involved integrating dynamic wind tunnel data from rotary balance and forced oscillation testing with static wind tunnel data to predict aerodynamic forces and moments during highly dynamic departure and spin motions. Several state-of-the-art aerodynamic modeling methods were evaluated and predicted flight dynamics using these various approaches were compared. Results showed the different modeling methods had varying effects on the predicted flight dynamics and the differences were most significant during uncoordinated maneuvers. Preliminary wind tunnel validation data indicated the potential of the various methods for predicting steady spin motions.

Murch, Austin M.↗