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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Admittance model for the shuttle remote manipulator system in four configurations

A possible scenario for robot task performance in space is to mount two small, dexterous arms to the end of the Shuttle Remote Manipulator System (SRMS). As these small robots perform tasks, the flexibility of the SRMS may cause unsuccessful task executions. In order to simulate the dynamic coupling between the SRMS and the arms, admittance models of the SRMS in four brakes locked configurations were developed. The admittance model permits calculation of the SRMS end-effector response due to end-effector disturbing forces. The model will then be used in conjunction with a Stewart Platform, a vehicle emulation system. An application of the admittance model was shown by simulating the disturbing forces using two SRMS payloads, the Dextrous Orbital Servicing System (DOSS) manipulator and DOSS carrying a 1000 lb. cylinder. Mode by mode comparisons were conducted to determine the minimum number of modes required in the admittance model while retaining dynamic fidelity. It was determined that for all four SRMS configurations studied, between 4 and 6 modes of the SRMS structure (depending on the excitation loads) were sufficient to retain tolerance of 0.01 inches and 0.01 deg. These tolerances correspond to the DOSS manipulator carrying no object. When the DOSS carries the 1000 lb. cylinder, between 15 and 20 modes were sufficient, approximately three or four times as many modes as for the unloaded case.

Papadopoulos, Loukas↗
NASA NTRS1985

Admittance functions from Venus vertical gravity and modes of topographic support

Two-dimensional Fourier admittance functions have been estimated for various regions of Venus, using as input the Pioneer Venus topography data and the Venus vertical gravity model of Sjogren. Model admittance functions are computed for various cases, such as lithospheric loading from above, and support from below, for comparison. These models are functions of depth of compensation, flexural rigidity, and crust and mantle densities. The long wavelength topography and gravity signals contain most of the spectral power in the Venus data, and the admittances at these wavelengths are compatible with deep compensation of surface topography.

Williams, D. R.↗
NASA NTRS1979

Studies of oceanic tectonics based on GEOS-3 satellite altimetry

Using statistical analysis, geoidal admittance (the relationship between the ocean geoid and seafloor topography) obtained from GEOS-3 altimetry was compared to various model admittances. Analysis of several altimetry tracks in the Pacific Ocean demonstrated a low coherence between altimetry and seafloor topography except where the track crosses active or recent tectonic features. However, global statistical studies using the much larger data base of all available gravimetry showed a positive correlation of oceanic gravity with topography. The oceanic lithosphere was modeled by simultaneously inverting surface wave dispersion, topography, and gravity data. Efforts to incorporate geoid data into the inversion showed that the base of the subchannel can be better resolved with geoid rather than gravity data. Thermomechanical models of seafloor spreading taking into account differing plate velocities, heat source distributions, and rock rheologies were discussed.

Poehls, K. A.↗
NASA NTRS1995

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

Garrahan, Steven L.↗
NASA NTRS2005

Global Admittance Estimates of Elastic and Crustal Thickness of Venus: Results from Top, Hot Spot, and Bottom Loading Models

We have calculated admittance spectra using the spatio-spectral method [14] for Venus by moving the central location of the spectrum over a 1 grid, create 360x180 admittance spectra. We invert the observed admittance using top-loading (TL), hot spot (HS), and bottom loading (BL) models, resulting in elastic, crustal, and lithospheric thickness estimates (Te, Zc, and Zl) [0]. The result is a global map for interpreting subsurface structure. Estimated values of Te and Zc concur with previous TL local admittance results, but BL estimates indicate larger values than previously suspected.

Smrekar, S. E.↗
NASA NTRS2011

Higher Order Mode Coupling in Feed Waveguide of a Planar Slot Array Antenna

A simple technique was developed to account for the higher order mode coupling between adjacent coupling slots in the feed waveguide of a planar slot array. The method uses an equation relating the slot impedance to the slot voltage and a reaction integral involving the equivalent magnetic current of the slot aperture and the magnetic field coupled from an adjacent slot. In the proposed method, one uses the Elliott s design technique to determine tilt angles and lengths of the coupling slots. The radiating slots are modeled as shunt admittances, and the coupling slots are modeled as series impedances.

Rengarajan, Sembiam↗
NASA NTRS1992

Automatically calibrating admittances in KATE's autonomous launch operations model

This report documents a 1000-line Symbolics LISP program that automatically calibrates all 15 fluid admittances in KATE's Autonomous Launch Operations (ALO) model. (KATE is Kennedy Space Center's Knowledge-based Autonomous Test Engineer, a diagnosis and repair expert system created for use on the Space Shuttle's various fluid flow systems.) As a new KATE application, the calibrator described here breaks new ground for KSC's Artificial Intelligence Lab by allowing KATE to both control and measure the hardware she supervises. By automating a formerly manual process, the calibrator: (1) saves the ALO model builder untold amounts of labor; (2) enables quick repairs after workmen accidently adjust ALO's hand valves; and (3) frees the modeler to pursue new KATE applications that previously were too complicated. Also reported are suggestions for enhancing the program: (1) to calibrate ALO's TV cameras, pumps, and sensor tolerances; and (2) to calibrate devices in other KATE models, such as the shuttle's LOX and Environment Control System (ECS).

Morgan, Steve↗
NASA NTRS1992

Single-phase power distribution system power flow and fault analysis

Alternative methods for power flow and fault analysis of single-phase distribution systems are presented. The algorithms for both power flow and fault analysis utilize a generalized approach to network modeling. The generalized admittance matrix, formed using elements of linear graph theory, is an accurate network model for all possible single-phase network configurations. Unlike the standard nodal admittance matrix formulation algorithms, the generalized approach uses generalized component models for the transmission line and transformer. The standard assumption of a common node voltage reference point is not required to construct the generalized admittance matrix. Therefore, truly accurate simulation results can be obtained for networks that cannot be modeled using traditional techniques.

Halpin, S. M.↗
NASA NTRS2022

Regional Variations of Mercury's Crustal Density and Porosity From MESSENGER Gravity Data

A new solution of Mercury's gravity field to degree and order 160, named HgM009, is retrieved through a reprocessing of MESSENGER radio science measurements. By combining our latest gravity field with topography data, localized spectral admittance analyses are carried out to investigate Mercury's crustal and lithospheric properties across the northern hemisphere. The measured spectra are compared with admittances predicted by lithospheric flexure models. The localized gravity/topography admittance analyses yield key information on the lateral variations of the bulk density of the upper crust. Elastic and crustal thicknesses are also adjusted in our study, but the local admittance spectra allow us to constrain these parameters only over a few regions. The average bulk density across the observed areas in the northern hemisphere is 2540 ±60 kg m −3 . The crustal porosity is then constrained by using an estimate of the pore-free grain density of surface materials with our measured bulk density. Our estimate of the mean porosity is 14.7 ±1.6 %, which is comparable to, but slightly higher than, the average value measured on the Moon. Larger crustal porosities are observed over heavily cratered regions, suggesting that impact bombardment is the main cause of the crustal porosity.

Mercury's crust↗
NASA NTRS1995

Solution of the three-dimensional Helmholtz equation with nonlocal boundary conditions

The Helmholtz equation is solved within a three-dimensional rectangular duct with a nonlocal radiation boundary condition at the duct exit plane. This condition accurately models the acoustic admittance at an arbitrarily-located computational boundary plane. A linear system of equations is constructed with second-order central differences for the Helmholtz operator and second-order backward differences for both local admittance conditions and the gradient term in the nonlocal radiation boundary condition. The resulting matrix equation is large, sparse, and non-Hermitian. The size and structure of the matrix makes direct solution techniques impractical; as a result, a nonstationary iterative technique is used for its solution. The theory behind the nonstationary technique is reviewed, and numerical results are presented for radiation from both a point source and a planar acoustic source. The solutions with the nonlocal boundary conditions are invariant to the location of the computational boundary, and the same nonlocal conditions are valid for all solutions. The nonlocal conditions thus provide a means of minimizing the size of three-dimensional computational domains.

Hodge, Steve L.↗
NASA NTRS1977

Transient excitation and mechanical admittance test techniques for prediction of payload vibration environments

Transient excitation forces were applied separately to simple beam-and-mass launch vehicle and payload models to develop complex admittance functions for the interface and other appropriate points on the structures. These measured admittances were then analytically combined by a matrix representation to obtain a description of the coupled system dynamic characteristics. Response of the payload model to excitation of the launch vehicle model was predicted and compared with results measured on the combined models. These results are also compared with results of earlier work in which a similar procedure was employed except that steady-state sinusoidal excitation techniques were included. It is found that the method employing transient tests produces results that are better overall than the steady state methods. Furthermore, the transient method requires far less time to implement, and provides far better resolution in the data. However, the data acquisition and handling problem is more complex for this method. It is concluded that the transient test and admittance matrix prediction method can be a valuable tool for development of payload vibration tests.

Kana, D. D.↗
NASA NTRS1985

Planetary Interior Modeling and Tectonic Implications

A technique is described for estimating spectral admittance functions using Pioneer Venus gravity and topography data. These admittance functions provide a convenient means to carry out systematic geophysical studies over much of the surface of Venus with a variety of interior density models. The admittance functions are calculated in the observation space of line-of-sight (LOS) gravity. Both closed and open system petrological models are considered for the Tharsis region of Mars. An analytic theory for isostatic compensation on one-plate planet is applied, including membrane stresses in the lithosphere, self gravitation, and rotational ellipticity. Crucial to this stress modeling and also to the petrological modeling is the observation that the earliest fracturing seen in the Tharsis region is associated with isostatic stresses. The radial fractures that extend far from Tharsis are associated with an additional and/or a completely different mechanism.

Phillips, R. J.↗
NASA NTRSDate not supplied

TPSAS-NF1676L-33433-DND

Reducing aircraft noise is a major objective in the field of computational aeroacoustics. When designing next generation quiet aircraft, it is important to be able to accurately and efficiently predict the acoustic scattering by an aircraft body from a given noise source. Acoustic liners are an effective tool for aircraft noise reduction, and are characterized by a complex valued frequency-dependent impedance. Converted into the time-domain using Fourier transforms, an impedance boundary condition can be used to simulate the acoustic scattering of geometric bodies treated with acoustic liners. This work considers using either an impedance boundary condition or admittance boundary condition to allow acoustic scattering problems to be modeled with geometries consisting of both un-lined and lined surfaces; admittance is defined to be the inverse of impedance. Three different acoustic liner models will be discussed: the Extended Helmholtz Resonator Model, the Three-Parameter Impedance Model, and a Broadband Model. In the Extended Helmholtz Resonator Model and Three-Parameter Impedance Model, the liner impedance is specified at a single frequency; the Broadband Model allows for the investigation of multiple frequencies simultaneously. The impedance and admittance boundary conditions for each model will be derived and coupled with a time-domain boundary integral equation. The scattering solution will be obtained iteratively using spatial and temporal basis functions. Stability will be demonstrated through eigenvalue analysis. Moreover, fast algorithms and high performance computing are considered to both assess and reduce the computational cost of the simulation.

Michelle E Rodio↗
NASA NTRS1977

Effects of damping on mode shapes, volume 2

Displacement, velocity, and acceleration admittances were calculated for a realistic NASTRAN structural model of space shuttle for three conditions: liftoff, maximum dynamic pressure and end of solid rocket booster burn. The realistic model of the orbiter, external tank, and solid rocket motors included the representation of structural joint transmissibilities by finite stiffness and damping elements. Data values for the finite damping elements were assigned to duplicate overall low-frequency modal damping values taken from tests of similar vehicles. For comparison with the calculated admittances, position and rate gains were computed for a conventional shuttle model for the liftoff condition. Dynamic characteristics and admittances for the space shuttle model are presented.

Gates, R. M.↗
NASA NTRS2005

Baseline Computational Fluid Dynamics Methodology for Longitudinal-Mode Liquid-Propellant Rocket Combustion Instability

A computational method for the analysis of longitudinal-mode liquid rocket combustion instability has been developed based on the unsteady, quasi-one-dimensional Euler equations where the combustion process source terms were introduced through the incorporation of a two-zone, linearized representation: (1) A two-parameter collapsed combustion zone at the injector face, and (2) a two-parameter distributed combustion zone based on a Lagrangian treatment of the propellant spray. The unsteady Euler equations in inhomogeneous form retain full hyperbolicity and are integrated implicitly in time using second-order, high-resolution, characteristic-based, flux-differencing spatial discretization with Roe-averaging of the Jacobian matrix. This method was initially validated against an analytical solution for nonreacting, isentropic duct acoustics with specified admittances at the inflow and outflow boundaries. For small amplitude perturbations, numerical predictions for the amplification coefficient and oscillation period were found to compare favorably with predictions from linearized small-disturbance theory as long as the grid exceeded a critical density (100 nodes/wavelength). The numerical methodology was then exercised on a generic combustor configuration using both collapsed and distributed combustion zone models with a short nozzle admittance approximation for the outflow boundary. In these cases, the response parameters were varied to determine stability limits defining resonant coupling onset.

Litchford, R. J.↗
NASA NTRS1994

Effect of nonzero surface admittance on receptivity and stability of compressible boundary layer

The effect of small-amplitude short-scale variations in surface admittance on the acoustic receptivity and stability of two-dimensional compressible boundary layers is examined. In the linearized limit, the two problems are shown to be related both physically and mathematically. This connection between the two problems is used, in conjunction with some previously reported receptivity results, to infer the modification of stability properties due to surface permeability. Numerical calculations are carried out for a self-similar flat-plate boundary layer at subsonic and low supersonic speeds. Variations in mean suction velocity at the perforated admittance surface can also induce receptivity to an acoustic wave. For a subsonic boundary layer, the dependence of admittance-induced receptivity on the acoustic-wave orientation is significantly different from that of the receptivity produced via mean suction variation. The admittance-induced receptivity is generally independent of the angle of acoustic incidence, except in a relatively narrow range of upstream-traveling waves for which the receptivity becomes weaker. However, this range of angles is precisely that for which the suction-induced receptivity tends to be large. At supersonic Mach numbers, the admittance-induced receptivity to slow acoustic models is relatively weaker than that in the case of the fast acoustic modes. We also find that purely real values for the surface admittance tend to have a destabilizing effect on the evolution of an instability wave over a slightly permeable surface. The limits on the validity of the linearized approximation are also assessed in one specific case.

Choudhari, Meelan↗