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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 NTRS2021

Magnetic Reconnection in a Sheared Magnetic Flux Tube: Slippage Versus Tearing

The process of magnetic reconnection in a flux tube can occur in a time-stationary fashion as slippage reconnection or in a time-dependent manner based on, for example, the tearing instability. However, it is not well known under which conditions a system can sustain slippage reconnection. Likewise, it is unclear whether systems can exhibit slippage reconnection and time-dependent reconnection simultaneously. In order to investigate these questions, we employ a set of 3D magnetohydrodynamic simulation. Using these simulations, we model a twisted flux tube with a spatially localized resistive region in the center of the simulation box, and an applied driver on one end plane of the simulation box. As a result, the Poynting flux injected at the boundary propagates to the resistive region and dissipates there. If the driver is nearly circular, we find a predominance of slippage reconnection, which decouples the applied driver entirely from one half of the flux tube. Second, a tearing-like instability occurs with slippage reconnection in the resistive region when the resistivity is strong enough and the cross section of the flux tube, as defined by the shape of the applied velocity perturbation, is elliptical enough. In this case we find the surprising feature that magnetic field perturbation generated by the tearing-like instability radiates away from the resistive region to influence the entire flux tube shape.

Hidetaka Kuniyoshi↗
NASA NTRS1975

Correction of burst errors containing bit slippages for cyclic block codes

A technique is presented for correction of an (n,k) cyclic block code subjected to a noise disturbance consisting of an arbitrary number of both bit deletions and bit inversions contained within a single error burst. Following the procedure described by Meggitt (1961), the correction of a b-bit burst is attempted by first loading the initial error syndrome into an (n-k) order feedback shift register with taps selected for the code's generating polynomial; the register is then successively shifted one bit position in the direction of lower order. The discussion covers burst correction with m-bit deletion, burst/deletion decoder implementation, false correction probability, and bit slippage involving bit insertions. The principal elements of the burst/deletion correction decoder are presented in schematic form.

Green, E. P.↗
NASA NTRS2018

Restore-L Satellite Servicing Internship Final Report

An experiment was conducted to determine whether a sample of shorter flexible metal hoses could sustain tensile loads of up to 200 lbf and continue to meet the minimum mission requirements. The purpose of this experiment was to determine if tension loads during the processing of the hoses compromise performance. With this information, it will be decided whether the flight flex-hose manufacturer should proceed with the testing of the full-scale flex-hoses. To reduce the time and funding required for this test, a test fixture was designed and assembled in the Engineering Development & Operations (EDO) test facility. In this test fixture, two Engineering Development Unit (EDU) flex-hoses were loaded with free floating weights up to 350 lbf. A load of 200 lbf equates to the maximum expected loading with a margin of safety, thus all data recorded after 200 lbf was purely for reference. Measurements were taken using a tape measure and a custom datum measurement system to record the loaded and unloaded length of each flex-hose at various loads. Any permanent stretching beyond a 1/8th of an inch was indicative of inelastic yielding. The loading of each flex-hose was done with an initial weight 80 lbf and was increased to 100 lbf. Additional loading up to 350 lbf was done by 50 lbf increments thereafter. During the performance of the test, slippage occurred in the mounting of the flex-hoses in the test fixture. The first slippage occurred during the testing of the first flex-hose due to the collar of the flex-hose slipping within the collet of the top Kellem. As a result, the first flex-hose test was terminated early to modify the fixture. Due to the flex-hose not inelastically yielding, the test was repeated on the first flex hose. This test resulted in another instance of slippage in the upper collar of the Kellem due to tape interfering with the securing of a collet around the collar of the flex-hose. The test was then continued with one more slippage of the flex-hose within the collet of the bottom Kellem. Preventive measures were taken for future slippage, and the second hose remained secure during testing.Once the tests were concluded, the elongation of each hose was analyzed for inelastic yielding. Both flex-hoses stretched a measurable and repeatable amount under loading, however, this stretching was recovered once each hose was unloaded. As a result, both EDU flex-hoses did not experience any inelastic yielding during the tension testing. Once received, one additional flex-hose will be tested for yielding, but at the time of this paper, the recommendation is to proceed with testing of the full-scale flex-hoses at the flex-hose manufacturer.

Dziekan, Joseph↗
NASA NTRS2005

Path Following with Slip Compensation for a Mars Rover

A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.

Helmick, Daniel↗
NASA NTRS2013

Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

terramechanics↗
NASA NTRS1989

Corotation lag of the Jovian atmosphere, ionosphere, and magnetosphere

The Jovian ionosphere-magnetosphere coupling model of Hill (1979) was modified to include the rotational slippage of the neutral atmosphere at ionospheric heights, relative to a frame of reference corotating rigidly with Jupiter. Equations were derived for the altitude distributions of ionospheric neutral and ion velocities, and a generalized expression was obtained for the corotation lag of the magnetosphere. The results of calculations provide independent support for the expectation that vertical mixing in Jupiter's atmosphere is much more vigorous at high latitudes than near the equator. They also indicate that the observed corotation lag in the magnetosphere and the Io torus is largely attributable to the slippage of the neutral atmosphere itself, rather than to the slippage of ionospheric ions relative to ionospheric neutrons, as previously suggested.

Huang, T. S.↗
NASA NTRS2012

Determining Wheel-Soil Interaction Loads Using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.

Contreras, Michael T.↗
NASA NTRS1973

Evaluation of feasibility of mapping seismically active faults in Alaska

The author has identified the following significant results. The sharp bend in the Alaska Range near 65 deg N, 150 deg W in now thought to enclose a corner of the northwesterly migrating north Pacific lithospheric plate. Subduction of the plate beneath the continent is believed, on the basis of hypocentral distribution, to occur along Cook Inlet and the eastern flanks of the Aleutian and Alaska Ranges as far northward as Mt. McKinley. The nature of tectonic deformation here, particularly in the area of the bend in the Alaska Range, is understandably complex. The Denali fault is thought to be a transform character in the vicinity of Mt. McKinley (i.e., it is thought to be the surface along which the oceanic plate separates from the continental plate). On the ERTS-1 imagery, however, it appears that there are a number of sub-parallel faults which branch off of the Denali fault in a southwesterly direction. Slippage along these would tend to squeeze material around the inside of the band rather than the plate being directly underthrust. All of these sub-parallel faults are seismically active. The right-lateral fault-plane solution obtained for this event is consistent with the concept of slippage around the bend on a set of sub-parallel faults in the manner postulated. The best images to show these features are 1066-20444 and 1266-20572.

Gedney, L. D.↗
NASA NTRS1976

Deformations of thick two-material cylinder under axially varying radial pressure

Stresses and deformations in thick, short, composite cylinder subjected to axially varying radial pressure are studied. Effect of slippage at the interface is examined. In the NASTRAN finite element model, multipoint constraint feature is utilized. Results are compared with theoretical analysis and SAP-IV computer code. Results from NASTRAN computer code are in good agreement with the analytical solutions. Results suggest a considerable influence of interfacial slippage on the axial bending stresses in the cylinder.

Patel, Y. A.↗
NASA NTRS1980

Slip sensor

Slippage of one surface, relative to another is detected by "ball bearing" magnetic sensor. Omnidirectional sensor responds to slippage in any direction. Sensor is mounted in "finger" of mechanical claw manipulator and signals operator who tightens grip by remote control when object slips.

Bejczy, A. K.↗
NASA NTRS1992

Shuttle Rocket Motor Program: NASA should delay awarding some construction contracts. Report to the Chair, Subcommittee on Government Activities and Transportation, Committee on Government Operations, House of Representatives

Even though the executive branch has proposed terminating the Advanced Solid Rocket Motor (ASRM) program, NASA is proceeding with all construction activity planned for FY 1992 to avoid schedule slippage if the program is reinstated by Congress. However, NASA could delay some construction activities for at least a few months without affecting the current launch data schedule. For example, NASA could delay Yellow Creek's motor storage and dock projects, Stennis' dock project, and Kennedy's rotation processing and surge facility and dock projects. Starting all construction activities as originally planned could result in unnecessarily incurring additional costs and termination liability if the funding for FY 1993 is not provided. If Congress decides to continue the program, construction could still be completed in time to avoid schedule slippage.

Source record↗
NASA NTRS1993

A continuum theory of a lubrication problem with solid particles

The governing equations for a two-dimensional lubrication problem involving the mixture of a Newtonian fluid with solid particles at an arbitrary volume fraction are developed using the theory of interacting continuua (mixture theory). The equations take the interaction between the fluid and the particles into consideration. Provision is made for the possibility of particle slippage at the boundaries. The equations are simplified assuming that the solid volume fraction varies in the sliding direction alone. Equations are solved for the velocity of the fluid phase and that of the solid phase of the mixture flow in the clearance space of an arbitrary shaped bearing. It is shown that the classical pure fluid case can be recovered as a special case of the solutions presented. Extensive numerical solutions are presented to quantify the effect of particulate solid for a number of pertinent performance parameters for both slider and journal bearings. Included in the results are discussions on the influence of particle slippage on the boundaries as well as the role of the interacting body force between the fluid and solid particles.

Dai, Fuling↗
NASA NTRS1994

Design and testing of a model CELSS chamber robot

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended. This proved that it was stable. Another pre-test was the actuator slip test used to determine if there is an adequate coefficient of friction between the actuator drive wheels and drive cable to enable the actuator to fully extend and retract the arm. This pre-test revealed that the coefficient of friction was not large enough to prevent slippage. Sandpaper was glued to the drive wheel and this eliminated the slippage problem. The class preformed a fit test in the CELSS chamber to ensure that the completed robot arm is capable of reaching the entire working envelope. The robot was centered in the chamber and the arm was fully extended to the sides of the chamber. The arm was also able to retract to clear the drain pipes separating the upper and lower plant trays.

Davis, Mark↗
NASA NTRS2005

Learning for Autonomous Navigation

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

mixture of Gaussians↗
NASA NTRS2009

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗
NASA NTRS2015

Testing of Two-Speed Transmission Configurations for Use in Rotorcraft

Large civil tiltrotors have been identified to replace regional airliners over medium ranges to alleviate next-generation air traffic. Variable rotor speed for these vehicles is required for efficient high-speed operation. Two-speed drive system research has been performed to support these advanced rotorcraft applications. Experimental tests were performed on two promising two-speed transmission configurations. The offset compound gear (OCG) transmission and the dual star/idler (DSI) planetary transmission were tested in the NASA Glenn Research Center variable-speed transmission test facility. Both configurations were inline devices with concentric input and output shafts and designed to provide 1:1 and 2:1 output speed reduction ratios. Both were designed for 200 hp and 15,000 rpm input speed and had a dry shift clutch configuration. Shift tests were performed on the transmissions at input speeds of 5,000, 8,000, 10,000, 12,500, and 15,000 rpm. Both the OCG and DSI configurations successfully perform speed shifts at full rated 15,000 rpm input speed. The transient shifting behavior of the OCG and DSI configurations were very similar. The shift clutch had more of an effect on shifting dynamics than the reduction gearing configuration itself since the same shift clutch was used in both configurations. For both OCG and DSI configurations, low-to-high speed shifts were limited in applied torque levels in order to prevent overloads on the transmission due to transient torque spikes. It is believed that the relative lack of appreciable slippage of the dry shifting clutch at operating conditions and pressure profiles tested was a major cause of the transient torque spikes. For the low-to-high speed shifts, the output speed ramp-up time slightly decreased and the peak out torque slightly increased as the clutch pressure ramp-down rate increased. This was caused by slightly less clutch slippage as the clutch pressure ramp-down rate increased.

Lewicki, David G.↗