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  • MECHANICAL ENGINEERING  (1,039)
  • 2020-2023
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  • 1
    Publication Date: 2005-11-10
    Description: In controller design for flexible structures, certain system modes are extremely important for the overall performance of the structure. A reduced-order model (ROM) based control focuses on these modes, providing a viable, active control algorithm for large systems. Unfortunately, unmodeled structure dynamics can interact with the ROM controller (CSI) and cause crippling deterioration of system performance, possibly to the point that system stability is lost. A residual model filter (RMF) eliminates one channel of control structure interaction (CSI), while adding only a simple, second-order filter to the control loop. Thus, the ROM controller can be designed independently, based strictly on performance criteria, and residual mode filters can then be selected to compensate for CSI. A flexible robot manipulator is used for preliminary experimentation with the ROM/RMF design methodology. Since the controller was to be implemented both with, and without compensation for CSI, the ROM control gains are carefully chosen such that closed loop stability is never compromised. In this way, RMF effectiveness is easily evaluated in terms of the improvement in system performance resulting from CSI compensation.
    Keywords: MECHANICAL ENGINEERING
    Type: First Annual Symposium. Volume 1: Plenary Session; 10 p
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  • 2
    Publication Date: 2011-08-19
    Keywords: MECHANICAL ENGINEERING
    Type: Journal of Propulsion and Power (ISSN 0748-4658); 5; 610-614
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  • 3
    Publication Date: 2011-08-19
    Description: A generalized methodology to predict the fatigue life and reliability of a rotating disk such as used for aircraft engine turbines and compressors is advanced. The approach incorporates the computed life of elemental stress volumes to predict system life and reliability. Disk speed and thermal gradients as well as design varibles such as disk diameter and thickness and bolt hole size, number and location are considered.
    Keywords: MECHANICAL ENGINEERING
    Type: ASME, Transactions, Journal of Vibration, Acoustics, Stress, and Reliability in Design (ISSN 0739-3717); 111; 311-316
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  • 4
    Publication Date: 2011-08-19
    Description: A dynamic analysis of a 2240-kW (3000-hp) helicopter planetary system is presented. Results from both analytical and experimental studies show good correlation in gear-tooth loads. A parametric study indicates that the mesh damping ratio has a significant effect on maximum gear tooth load, stress, and vibration. Correlation with experimental results indicates that the Sun-planet mesh damping ratio can significantly differ from the planet ring mesh damping ratio. A numerical fast Fourier transform (FFT) procedure was applied to examine the mesh load components in the frequency domain and the magnitudes of multiple tooth pass frequencies excited by nonsynchronous meshing of the planets. Effects of tooth-spacing errors and tooth-profile modifications with tip relief are examined. A general discussion of results and correlation with the experimental study are also presented.
    Keywords: MECHANICAL ENGINEERING
    Type: Franklin Institute, Journal (ISSN 0016-0032); 326; 5, 19; 721-735
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  • 5
    facet.materialart.
    Unknown
    In:  Other Sources
    Publication Date: 2011-08-19
    Description: This paper describes the process for manufacturing high-quality test specimens for uses in evaluations of interlaminar tensile strength of laminated composites. The chosen specimen configuration is a curved beam which experiences interlaminar tension in the region of greatest curvature when the beam is subjected to 'opening' forces. The manufacturing process uses a lock-mold tooling approach, the principle of which relies upon the difference in coefficients of thermal expansion between the internal rubber mandrel and the surrounding steel female mold. With this method, compaction pressures above those provided by a typical autoclave can be achieved.
    Keywords: MECHANICAL ENGINEERING
    Type: Experimental Techniques (ISSN 0732-8818); 13; 20-22
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  • 6
    Publication Date: 2013-08-31
    Description: An approach is described to modeling the flexibility effects in spatial mechanisms and manipulator systems. The method is based on finite element representations of the individual links in the system. However, it should be noted that conventional finite element methods and software packages will not handle the highly nonlinear dynamic behavior of these systems which results form their changing geometry. In order to design high-performance lightweight systems and their control systems, good models of their dynamic behavior which include the effects of flexibility are required.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Langley Research Center, Computational Methods for Structural Mechanics and Dynamics; p 459-489
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  • 7
    Publication Date: 2013-08-31
    Description: Experiences of several organizations using worm gearing for spacecraft are discussed. Practical aspects and subtleties of using worm gearing for design and operation is included. Knowledge gained from these applications is analyzed, and guidelines for usage are proposed.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 291-307
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  • 8
    Publication Date: 2013-08-31
    Description: Problems and challenges of designing flight telerobot mechanisms are discussed. Specific experiences are drawn from the following system developments: (1) the Force Reflecting Hand Controller, (2) the Smart End Effector, (3) the force-torque sensor, and a generic multi-degrees-of-freedom manipulator.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 223-239
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  • 9
    Publication Date: 2013-08-31
    Description: The development of a mechanism for instrumentation and solar-array deployment is discussed. One part of the technology consists of a smart motor which can operate in either an analog mode to provide high speed and torque, or in the stepper mode to provide accurate positioning. The second technology consists of a coilable lattice mast which is deployed and rotated about its axis with a common drive system. A review of the design and function of the system is presented. Structural and thermal test data are included.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 77-100
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  • 10
    Publication Date: 2013-08-31
    Description: The NASA Stabilized Payload Deployment System (SPDS) is discussed. The lightweight and heavy-duty system rolls payloads over the orbiter's side rather than ejecting them upward. The system will enhance the orbiter capability of carrying larger and heavier payloads. The design, function, and analysis of a new three-pin double swivel toggle release mechanism which is crucial to the successful deployment of the SPDS are described.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 39-57
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  • 11
    Publication Date: 2013-08-31
    Description: The status of recently completed and already ongoing technology developments, as well as some of the most important future developments of the European Space Agency are discussed. Among the subjects considered are Scientific Satellites, Columbus space station development, applications spacecraft for communications, Earth observation and meteorology, and the Ariane V and Hermes space transportation systems.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposiums; p 1-16
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  • 12
    Publication Date: 2013-08-31
    Description: It is essential that high-performance centrifugal compressors be free of subsynchronous vibrations. A new high-performance centrifugal compressor has been developed by applying the latest rotordynamics knowledge and design techniques: (1) To improve the system damping, a specially designed oil film seal was developed. This seal attained a damping ratio three times that of the conventional design. The oil film seal contains a special damper ring in the seal cartridge. (2) To reduce the destabilizing effect of the labyrinth seal, a special swirl canceler (anti-swirl nozzle) was applied to the balance piston seal. (3) To confirm the system damping margin, the dynamic simulation rotor model test and the full load test applied the vibration exciting test in actual load conditions.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 445-459
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  • 13
    Publication Date: 2013-08-31
    Description: New methods are presented that allow straightforward application of complex nonlinearities to finite element based rotor dynamic analyses. The key features are: (1) the methods can be implemented with existing finite element or dynamic simulation programs, (2) formulation is general for simple application to a wide range of problems, and (3) implementation is simplified because nonlinear aspects are separated from the linear part of the model. The new techniques are illustrated with examples of inertial nonlinearity and torquewhirl which can be important in rubbing turbomachinery. The sample analyses provide new understanding of these nonlinearities which are discussed.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 431-444
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  • 14
    Publication Date: 2013-08-31
    Description: The stability of a high pressure compressor is investigated with special regard to the self-exciting effects in oil seals and labyrinths. It is shown how to stabilize a rotor in spite of these effects and even increase its stability with increasing pressure.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 395-413
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  • 15
    Publication Date: 2013-08-31
    Description: The recent studies of the dynamic stiffness properties of fluid lubricated bearing and seals by the authors have yielded most of the generalized characteristics discussed and used in this paper. They include bearing and seal nonlinear fluid film properties associated with stiffness, damping, and fluid average circumferential velocity ratio. Analytical relationships yield the rotor system's dynamic stiffness characteristics. This paper shows the combination of these data to provide the fluid-induced rotor stability equations.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 415-430
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  • 16
    Publication Date: 2013-08-31
    Description: A new type of electromagnetic bearing was built and tested. It consists of fixed AC-electromagnets in a star formation surrounding a conducting rotor. The bearing works by repulsion due to eddy-currents induced in the rotor. A single bearing is able to fully support a short rotor. The rotor support is inherently stable in all five degrees of freedom. No feedback control is needed. The bearing is also able to accelerate the rotor up to speed and decelerate the rotor back to standstill. The bearing design and the experimentation to verify its capabilities are described.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 389-394
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  • 17
    Publication Date: 2013-08-31
    Description: Methods for including the effects of general race and housing compliance and outer race-to-housing deadband (clearance) in rolling element bearing mechanics analysis is presented. It is shown that these effects can cause significant changes in bearing stiffness characteristics, which are of major importance in rotordynamic response of turbomachinery and other rotating systems. Preloading analysis is demonstrated with the finite element/contact mechanics hybrid method applied to a 45 mm angular contact ball bearing.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 373-387
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  • 18
    Publication Date: 2013-08-31
    Description: Active magnetic bearings can be implemented with frequency band-reject filtering that decreases the bearing stiffness and damping at a small bandwidth around a chosen frequency. The control scheme was used for reducing a rotor dynamic force, such as an imbalance force, transmitted to the bearing stator. The scheme creates additional system vibration modes at the same frequency. It also shows that the amount of force reduction is limited by the stability requirement of these modes.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 341-352
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  • 19
    Publication Date: 2013-08-31
    Description: Many rotating machines such as compressors, turbines and pumps have long thin shafts with resulting vibration problems, and would benefit from additional damping near the center of the shaft. Magnetic dampers have the potential to be employed in these machines because they can operate in the working fluid environment unlike conventional bearings. An experimental test rig is described which was set up with a long thin shaft and several masses to represent a flexible shaft machine. An active magnetic damper was placed in three locations: near the midspan, near one end disk, and close to the bearing. With typical control parameter settings, the midspan location reduced the first mode vibration 82 percent, the disk location reduced it 75 percent and the bearing location attained a 74 percent reduction. Magnetic damper stiffness and damping values used to obtain these reductions were only a few percent of the bearing stiffness and damping values. A theoretical model of both the rotor and the damper was developed and compared to the measured results. The agreement was good.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 353-372
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  • 20
    Publication Date: 2013-08-31
    Description: The fluid forces on a centrifugal impeller rotating and whirling in a vaned diffuser are analyzed on the assumption that the number of impeller and diffuser vanes is so large that the flows are perfectly guided by the vanes. The flow is taken to be two dimensional, inviscid, and incompressible, but the effects of impeller and diffuser losses are taken into account. It is shown that the interaction with the vaned diffuser may cause destabilizing fluid forces. From these discussions, it is found that the whirling forces are closely related to the steady head-capacity characteristics of the impeller. This physical understanding of the whirling forces can be applied also to the cases with volute casings. At partial capacities, it is shown that the impeller forces change greatly when the flow rate and whirl velocity are near to the impeller or vaned diffuser attributed rotating stall onset capacity, and the stall propagation velocity, respectively. In such cases the impeller forces may become destabilizing for impeller whirl.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 307-322
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  • 21
    Publication Date: 2013-08-31
    Description: The shrouded-impeller leakage path forces calculated by Childs (1987) have been analyzed to answer two questions. First, because of certain characteristics of the results of Childs, the forces could not be modeled with traditional approaches. Therefore, an approach has been devised to include the forces in conventional rotordynamic analyses. The forces were approximated by traditional stiffness, damping and inertia coefficients with the addition of whirl-frequency-dependent direct and cross-coupled stiffness terms. The forces were found to be well-modeled with this approach. Finally, the effect these forces had on a simple rotor-bearing system was analyzed, and, therefore, they, in addition to seal forces, were applied to a Jeffcott rotor. The traditional methods of dynamic system analysis were modified to incorporate the impeller forces and yielded results for the eigenproblem, frequency response, critical speed, transient response and an iterative technique for finding the frequency of free vibration as well as system stability. All results lead to the conclusion that the forces have little influence on natural frequency but can have appreciable effects on system stability. Specifically, at higher values of fluid swirl at the leakage path entrance, relative stability is reduced. The only unexpected response characteristics that occurred are attributed to the nonlinearity of the model.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 323-339
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  • 22
    Publication Date: 2013-08-31
    Description: The dynamic coefficients of seals are calculated for shaft movements around an eccentric position. The turbulent flow is described by the Navier-Stokes equations in connection with a turbulence model. The equations are solved by a finite-difference procedure.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 269-284
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  • 23
    Publication Date: 2013-08-31
    Description: Lateral fluid forces on two-dimensional centrifugal impellers, which whirl on a circular orbit in a vaneless diffuser, were reported. Experiments were further conducted for the cases in which a three-dimensional centrifugal impeller, a model of the boiler feed pump, whirls in vaneless and vaned diffusers. The influence of the clearance configuration between the casing and front shroud of the impeller was also investigated. The result indicated that the fluid dynamic interaction between the impeller and the guide vanes induces quite strong fluctuating fluid forces to the impeller, but nevertheless its influence on radial and tangential force components averaged over a whirling orbit is relatively small.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Perforance Turbomachinery, 1988; p 285-306
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  • 24
    facet.materialart.
    Unknown
    In:  CASI
    Publication Date: 2013-08-31
    Description: An articulated structure is defined as an assembly of flexible bodies that may be coupled by kinematic connections and force elements that permit large relative displacement and rotation. Kinematics of such systems is defined using one reference frame for each body in the system and deformation modal coordinates that define displacement fields within flexible bodies. Deformation kinematics are defined by both elastic vibration and static correction deformation modes. Linear elastic deformation is presumed; i.e., a linear stress-strain relation is valid and relative displacements within each elastic component are small enough so that the theory of linear elasticity applies. Coupling of reference and modal coordinates leads to a system of nonlinear equations of motion. Methods of automatically generating and solving these equations of motion are outlined.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Langley Research Center, Computational Methods for Structural Mechanics and Dynamics; p 491-515
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  • 25
    Publication Date: 2013-08-31
    Description: The performance of dry-lubricated, angular contact ball bearings in vacuum at a temperature of 20 degrees K has been investigated, and is compared with the in-vacuo performance at room temperatures. Bearings were lubricated using dry-lubricant techniques which have been previously established for space applications involving operations at or near room temperature. Comparative tests were undertaken using three lubricants: molybdenum disulphide, lead, and PTFE. Results obtained using the three lubricants are presented.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 319-333
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  • 26
    Publication Date: 2013-08-31
    Description: The development of an approach to the visual perception of object surface information using laser range data in support of robotic grasping is discussed. This is a very important problem area in that a robot such as the EVAR must be able to formulate a grasping strategy on the basis of its knowledge of the surface structure of the object. A description of the problem domain is given as well as a formulation of an algorithm which derives an object surface description adequate to support robotic grasping. The algorithm is based upon concepts of differential geometry namely, Gaussian and mean curvature.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lyndon B.; NASA, Lyndon B. John
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  • 27
    Publication Date: 2013-08-29
    Description: The current state of development of the NASA/GSFC (Goddard Space Flight Center) Split-Rail Parallel Gripper (SRPG) is described. The SPRG has been shown to be a high performance gripper for industrial robots. It has a precise wide throw and at the same time, it is light, simple, compact, rugged, and jam-proof against side loads. Originated at the National Bureau of Standards (NBS), this gripper is undergoing further development at NASA/GSFC in pursuit of two goals: as a potential gripper for robots in space and as the basis for sensory-interactive industrial gripper as part of NASA's technology utilization program. The gripper design features, its principles of operation and how it is constructed are described. Test results are included.
    Keywords: MECHANICAL ENGINEERING
    Type: ESA, Second European In-Orbit Operations Technology Symposium; p 383-387
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  • 28
    Publication Date: 2013-08-29
    Description: The NASA Goddard telerobotic program is structured to increase the scope and efficiency of what man can accomplish in space through the use of robotics. The main focus is to service Space Station Freedom and its payloads, but robotic assembly of Space Station Freedom and platforms is also anticipated. The approach being taken to achieve this by telerobotics, where manipulators can be controlled by human operators or computer programs. The Goddard Space Flight Center (GSFC) has the responsability to develop the Flight Telerobotic Servicer (FTS) for Space Station Freedom. The current plan at GSFC in support of telerobotics for Space Station Freedom and the in-orbit servicing of platforms are reviewed. Plans for ground demonstrations involving the use of an engineering test bed and an operational facility are discussed.
    Keywords: MECHANICAL ENGINEERING
    Type: ESA, Second European In-Orbit Operations Technology Symposium; p 13-21
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  • 29
    Publication Date: 2013-08-31
    Description: The Manipulator Emulator Testbed (MET) is to provide a facility capable of hosting the simulation of various manipulator configurations to support concept studies, evaluation, and other engineering development activities. Specifically, the testbed is intended to support development of the Space Station Remote Manipulator System (SSRMS) and related systems. The objective of this study is to evaluate the math models developed for the MET simulation of a manipulator's rigid body dynamics and the servo systems for each of the driven manipulator joints. Specifically, the math models are examined with regard to their amenability to pipeline and parallel processing. Based on this evaluation and the project objectives, a set of prioritized recommendations are offered for future work.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lyndon B.; NASA, Lyndon B. John
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  • 30
    Publication Date: 2013-08-31
    Description: A test apparatus was constructed and was applied to investigate static and dynamic characteristics of annular seals for turbopumps. The fluid forces acting on the seals were measured for various parameters such as the preswirl velocity, the pressure difference between the inlet and outlet of the seal, the whirling amplitude, and the ratio of whirling speed to spinning speed of the rotor. Influence of these parameters on the static and dynamic characteristics was investigated from the experimental results. As a result, preswirl affects the dynamic characteristics strongly. Especially, the preswirl opposing the rotating direction has a stabilizing role on the rotor system.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 229-251
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  • 31
    Publication Date: 2013-08-31
    Description: A new seal test facility for measuring high-pressure seal rotor-dynamic characteristics has recently been made operational at Case Western Reserve University (CWRU). This work is being sponsored by the Electric Power Research Institute (EPRI). The fundamental concept embodied in this test apparatus is a double-spool-shaft spindle which permits independent control over the spin speed and the frequency of an adjustable circular vibration orbit for both forward and backward whirl. Also, the static eccentricity between the rotating and non-rotating test seal parts is easily adjustable to desired values. By accurately measuring both dynamic radial displacement and dynamic radial force signals, over a wide range of circular orbit frequency, one is able to solve for the full linear-anisotropic model's 12 coefficients rather than the 6 coefficients of the more restrictive isotropic linear model. Of course, one may also impose the isotropic assumption in reducing test data, thereby providing a valid qualification of which seal configurations are well represented by the isotropic model and which are not. In fact, as argued in reference (1), the requirement for maintaining a symmetric total system mass matrix means that the resulting isotropic model needs 5 coefficients and the anisotropic model needs 11 coefficients.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 253-267
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  • 32
    Publication Date: 2013-08-31
    Description: One of the main problems in designing a centrifugal pump is to achieve a good efficiency while not neglecting the dynamic performance of the machine. The first aspect leads to the design of grooved seals in order to minimize the leakage flow. But the influence of these grooves to the dynamic behavior is not well known. Experimental and theoretical results of the rotordynamic coefficients for different groove shapes and depths in seals is presented. In addition, the coefficients are applied to a simple pump model.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 197-210
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  • 33
    Publication Date: 2013-08-31
    Description: A method to calculate the dynamic coefficients of seals with arbitrary geometry is presented. The Navier-Stokes equations are used in conjunction with the k-e turbulence model to describe the turbulent flow. These equations are solved by a full 3-dimensional finite-difference procedure instead of the normally used perturbation analysis. The time dependence of the equations is introduced by working with a coordinate system rotating with the precession frequency of the shaft. The results of this theory are compared with coefficients calculated by a perturbation analysis and with experimental results.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 211-227
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  • 34
    Publication Date: 2013-08-31
    Description: The compressible, turbulent, time dependent and three dimensional flow in a labyrinth seal can be described by the Navier-Stokes equations in conjunction with a turbulence model. Additionally, equations for mass and energy conservation and an equation of state are required. To solve these equations, a perturbation analysis is performed yielding zeroth order equations for centric shaft position and first order equations describing the flow field for small motions around the seal center. For numerical solution a finite difference method is applied to the zeroth and first order equations resulting in leakage and dynamic seal coefficients respectively.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 161-175
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  • 35
    Publication Date: 2013-08-31
    Description: The basic equations are derived for compressible flow in a stepped labyrinth gas seal. The flow is assumed to be completely turbulent in the circumferential direction where the friction factor is determined by the Blasius relation. Linearized zeroth and first-order perturbation equations are developed for small motion about a centered position by an expansion in the eccentricity ratio. The zeroth-order pressure distribution is found by satisfying the leakage equation while the circumferential velocity distribution is determined by satisfying the momentum equations. The first order equations are solved by a separation of variables solution. Integration of the resultant pressure distribution along and around the seal defines the reaction force developed by the seal and the corresponding dynamic coefficients. The results of this analysis are presented in the form of a parametric study, since there are no known experimental data for the rotordynamic coefficients of stepped labyrinth gas seals. The parametric study investigates the relative rotordynamic stability of convergent, straight and divergent stepped labyrinth gas seals. The results show that, generally, the divergent seal is more stable, rotordynamically, than the straight or convergent seals. The results also show that the teeth-on-stator seals are not always more stable, rotordynamically, then the teeth-on-rotor seals as was shown by experiment by Childs and Scharrer (1986b) for a 15 tooth seal.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 177-195
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  • 36
    facet.materialart.
    Unknown
    In:  CASI
    Publication Date: 2013-08-31
    Description: A new type of vibration damper for rotor systems was developed and tested. The damper contains electroviscous fluid which solidifies and provides Coulomb damping when an electric voltage is imposed across the fluid. The damping capacity is controlled by the voltage. The damper was incorporated in a flexible rotor system and found to be able to damp out high levels of unbalanced excitation. Other proven advantages include controllability, simplicity, and no requirement for oil supply. Still unconfirmed are the capabilities to eliminate critical speeds and to suppress rotor instabilities.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 133-141
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  • 37
    Publication Date: 2013-08-31
    Description: High speed motion pictures have revealed several operating regimes in a squeeze film damper. Pressure measurements corresponding to these distinct regimes were made to examine their effect on the performance of such dampers. Visual observation also revealed the means by which the pressure in the feed groove showed higher amplitudes than the theory predicts. Comparison between vapor and gaseous cavitation are made based on their characteristic pressure wave, and the effect this has on the total force and its phase.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 111-132
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  • 38
    Publication Date: 2013-08-31
    Description: The active control of rotordynamic vibrations and stability by magnetic bearings and electromagnetic shakers was discussed extensively in the literature. These devices, though effective, are usually large in volume and add significant weight to the stator. The use of piezoelectric pushers may provide similar degrees of effectiveness in light, compact packages. Analyses are contained which extend quadratic regulator, pole placement and derivative feedback control methods to the prescribed displacement character of piezoelectric pushers. The structural stiffness of the pusher is also included in the theory. Tests are currently being conducted at NASA Lewis Research Center with piezoelectric pusher-based active vibration control. Results performed on the NASA test rig as preliminary verification of the related theory are presented.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 87-110
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  • 39
    Publication Date: 2013-08-31
    Description: A 21 MW electric power generating unit comprises a gas turbine, a planetary gear, and a generator connected together by gear couplings. For simplicity of the design and high performance the pinion of the gear has no bearing. It is centered by the planet wheels only. The original design showed a strong instability and a natural frequency increasing with the load between 2 and 6.5 MW. In this operating range the natural frequency was below the operating speed of the gas turbine, n sub PT = 7729 RPM. By shortening the pinion shaft and reduction of its moment of inertia the unstable natural frequency was shifted well above the operating speed. With that measure the unit now operates with stability in the entire load range.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 19-39
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  • 40
    Publication Date: 2013-08-31
    Description: Some problems associated with non-synchronous vibrations are analyzed by describing three cases experienced with fairly large rotating machines in operating conditions. In each case, a brief description is first given of the machine and of the instrumentation used. The experimental results are then presented, with reference to time or frequency domain recordings. The lines followed in diagnosis are then discussed and, lastly, the corrective action undertaken is presented.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 41-59
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  • 41
    Publication Date: 2013-08-31
    Description: Aero-engine structures have very low inherent damping and so artificial damping is often introduced by pumping oil into annular gaps between the casings and the outer races of some or all of the rolling-element bearings supporting the rotors. The thin oil films so formed are called squeeze film dampers and they can be beneficial in reducing rotor vibration due to unbalance and keeping to reasonable limits the forces transmitted to the engine casing. However, squeeze-film dampers are notoriously non-linear and as a result can introduce into the assembly such phenomena as subharmonic oscillations, jumps and combination frequencies. The purpose of the research is to investigate such phenomena both theoretically and experimentally on a test facility reproducing the essential features of a medium-size aero engine. The forerunner of this work was published. It was concerned with the examination of a squeeze-film damper in series with housing flexibility when supporting a rotor. The structure represented to a limited extent the essentials of the projected Rolls Royce RB401 engine. That research demonstrated the ability to calculate the oil-film forces arising from the squeeze film from known motions of the bearing components and showed that the dynamics of a shaft fitted with a squeeze film bearing can be predicted reasonably accurately. An aero-engine will normally have at least two shafts and so in addition to the excitation forces which are synchronous with the rotation of one shaft, there will also be forces at other frequencies from other shafts operating on the squeeze-film damper. Theoretical and experimental work to consider severe loading of squeeze-film dampers and to include these additional effects are examined.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 61-86
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  • 42
    Publication Date: 2013-08-31
    Description: A lot of large chemical fertilizer plants producing 1000 ton NH3/day and 1700 ton urea/day were constructed in the 1970's in China. During operation, subsynchronous vibration takes place occasionally in some of the large turbine-compressor sets and has resulted in heavy economic losses. Two cases of subsynchronous vibration are described: Self-excited vibration of the low-pressure (LP) cylinder of one kind of N2-H2 multistage compressor; and Forced subsynchronous vibration of the high-pressure (HP) cylinder of the CO2 compressor.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Lewis Research Center, Rotordynamic Instability Problems in High-Performance Turbomachinery, 1988; p 1-18
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  • 43
    Publication Date: 2013-08-31
    Description: The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.
    Keywords: MECHANICAL ENGINEERING
    Type: Proceedings of the NASA Conference on Space Telerobotics, Volume 5; p 173-182
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  • 44
    Publication Date: 2013-08-31
    Description: There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.
    Keywords: MECHANICAL ENGINEERING
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the 3rd Annual Conference on Aerospace Computational Control, Volume 2; p 664-673
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  • 45
    Publication Date: 2013-08-31
    Description: For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.
    Keywords: MECHANICAL ENGINEERING
    Type: JPL, Proceedings of the 3rd Annual Conference on Aerospace Computational Control, Volume 1; p 447-448
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  • 46
    Publication Date: 2013-08-31
    Description: The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.
    Keywords: MECHANICAL ENGINEERING
    Type: JPL, Proceedings of the 3rd Annual Conference on Aerospace Computational Control, Volume 1; p 421-423
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  • 47
    Publication Date: 2013-08-31
    Description: A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Marshall Space Flight Center, The 23rd Aerospace Mechanisms Symposium; p 207-222
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  • 48
    Publication Date: 2013-08-31
    Description: The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.
    Keywords: MECHANICAL ENGINEERING
    Type: University of Central Florida, NASA(ASEE Summer Faculty Fellowship Program; p 358-381
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  • 49
    Publication Date: 2013-08-31
    Description: Three questions are addressed: what mission must a cryogenic seal perform; what are the contrasts between desirable and available seal materials; and how realistic must test conditions be. The question of how to quantify the response of a material subject to large strains and which is susceptible to memory effects leads to a discussion of theoretical issues. Accordingly, the report summarizes some ideas from the rational mechanics of materials. The report ends with a list of recommendations and a conclusion.
    Keywords: MECHANICAL ENGINEERING
    Type: University of Central Florida, NASA(ASEE Summer Faculty Fellowship Program; p 226-269
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  • 50
    Publication Date: 2013-08-31
    Description: A computational procedure is presented for reducing the size of the analysis models of tires having unsymmetric material, geometry and/or loading. The two key elements of the procedure when applied to anisotropic tires are: (1) decomposition of the stiffness matrix into the sum of an orthotropic and nonorthotropic parts; and (2) successive application of the finite-element method and the classical Rayleigh-Ritz technique. The finite-element method is first used to generate few global approximation vectors (or modes). Then the amplitudes of these modes are computed by using the Rayleigh-Ritz technique. The proposed technique has high potential for handling practical tire problems with anisotropic materials, unsymmetric imperfections and asymmetric loading. It is also particularly useful for use with three-dimensional finite-element models of tires.
    Keywords: MECHANICAL ENGINEERING
    Type: Computational Methods for Structural Mechanics and Dynamics, Part 1; p 317-329
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  • 51
    Publication Date: 2013-08-31
    Description: As the connecting elements in multi-body structures, joints play a pivotal role in the overall dynamic response of these systems. Obviously, the linear stiffness of the joint strongly influences the system frequencies, but the joints are also likely to be the dominant sources of damping and nonlinearities, especially in aircraft and space structures. The general characteristics of such joints will be discussed. Then the state of the art in nonlinear joint characterization techniques will be surveyed. Finally, the impact that joints have on the overall response of structures will be evaluated.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Langley Research Center, Computational Methods for Structural Mechanics and Dynamics; p 543-569
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  • 52
    Publication Date: 2013-08-31
    Description: Flexibility can be a major limitation to the performance of high performance conventional machine systems. The current status of robotic manipulators is limited by the effects of system flexibility. The status of current commercial robots, anticipated development in 5 and 10 years is outlined.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Langley Research Center, Computational Methods for Structural Mechanics and Dynamics; p 455-458
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  • 53
    Publication Date: 2013-08-31
    Description: Results and methods on three different areas of contemporary research are outlined. These include adaptive methods, the rolling contact problem for finite deformation of a hyperelastic or viscoelastic cylinder, and non-classical friction laws for modeling dynamic friction phenomena.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA, Langley Research Center, Computational Methods for Structural Mechanics and Dynamics, Part 1; p 269-289
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  • 54
    Publication Date: 2011-08-19
    Description: A study of the performance parameters for a journal bearing of finite length lubricated with micropolar fluids is undertaken. Results indicate that a significantly higher load carrying capacity than the Newtonian fluids may result depending on the size of material characteristics length and the coupling number. It is also shown that although the frictional force associated with micropolar fluid is, in general, higher than that of a Newtonian fluid, the friction coefficient of micropolar fluids tends to be lower than that of the Newtonian.
    Keywords: MECHANICAL ENGINEERING
    Type: STLE Tribology Transactions (ISSN 0569-8197); 32; 155-160
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  • 55
    facet.materialart.
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    In:  Other Sources
    Publication Date: 2011-08-19
    Description: Three decades of research by U.S. industry and government laboratories have produced a vast body of data related to the use of ceramic rolling element bearings and bearing components for aircraft gas turbine engines. Materials such as alumina, silicon carbide, titanium carbide, silicon nitride, and a crystallized glass ceramic have been investigated. Rolling-element endurance tests and analysis of full-complement bearings have been performed. Materials and bearing design methods have continuously improved over the years. This paper reviews a wide range of data and analyses with emphasis on how early NASA contributions as well as more recent data can enable the engineer or metallurgist to determine just where ceramic bearings are most applicable for gas turbines.
    Keywords: MECHANICAL ENGINEERING
    Type: ASME, Transactions, Journal of Engineering for Gas Turbines and Power (ISSN 0022-0825); 111; 146-154;
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  • 56
    facet.materialart.
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    In:  Other Sources
    Publication Date: 2011-08-19
    Keywords: MECHANICAL ENGINEERING
    Type: AIAA Journal (ISSN 0001-1452); 27; 603-609
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  • 57
    Publication Date: 2011-08-19
    Description: An experimental investigation of phenomena associated with the oblique hypervelocity impact of spherical projectile on multisheet aluminum structures is described. A model that can be employed in the design of meteoroid and space debris protection systems for space structures is developed. The model consists of equations that relate crater and perforation damage of a multisheet structure to parameters such as projectile size, impact velocity, and trajectory obliquity. The equations are obtained through a regression analysis of oblique hypervelocity impact test data. This data shows that the response of a multisheet structure to oblique impact is significantly different from its response to normal hypervelocity impact. It was found that obliquely incident projectiles produce ricochet debris that can severely damage panels or instrumentation located on the exterior of a space structure. Obliquity effects of high-speed impact must, therefore, be considered in the design of any structure exposed to the meteoroid and space debris environment.
    Keywords: MECHANICAL ENGINEERING
    Type: AIAA Journal (ISSN 0001-1452); 27; 639-646
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  • 58
    Publication Date: 2017-03-17
    Description: The development of a good transportation infrastructure is a major requirement for the establishment of a permanent lunar base. Transportation is characterized by the technology available in a specific time frame and the need to transport personnel and cargo between Earth and Moon, and between lunar bases. In our study, attention was first focused on developing a transportation system for the first generation lunar base. As a first step, a tracked-type multipurpose lunar transportation vehicle was considered as a possible mode of transportation and a detailed study was conducted on the various aspects of the vehicle. Since the vehicle is composed of many moving parts, exposing it to the environment of the Moon, where fine dust particles are prevalent, can cause problems associated with lubrication and friction. The vehicle also posed problems concerning weight and power. Hence, several modifications were made to the above design ideas conceptually, and a Lunar Articulated Remote Transportation System (Lunar ARTS) is proposed as a more effective alternative with the following objectives: (1) minimizing the transportation of construction material and fuel from Earth or maximizing the use of the lunar material; (2) use of novel materials and light-weight structures; (3) use of new manufacturing methods and technology such as magnetic levitation using superconducting materials; and (4) innovative concepts of effectively utilizing the exotic lunar conditions, i.e., high thermal gradients, lack of atmosphere, lower gravity, etc. To achieve the above objectives of designing transportation systems from concept to operation, the project was planned in three phases: (1) conceptual design; (2) detailed analysis and synthesis; and (3) construction, testing, evaluation, and operation. In this project, both phases 1 and 2 have been carried out and work on phase 3 is in progress. In this paper, the details of the Lunar ARTS are discussed and the future work on the vehicle are also outlined.
    Keywords: MECHANICAL ENGINEERING
    Type: USRA, NASA(USRA University Advanced Design Program Fifth Annual Summer Conference; p 59-65
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  • 59
    Publication Date: 2019-01-25
    Description: The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.
    Keywords: MECHANICAL ENGINEERING
    Type: Maryland Univ., The 1989 NASA-ASEE Summer Faculty Fellowship Program in Aeronautics and Research; p 28
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  • 60
    Publication Date: 2019-06-28
    Description: Detailed heat flux and surface pressure distribution on the first-stage vane and blade of the Space Shuttle Main Engine fuel side turbopump turbine are examined. The specific turbine being utilized for the study is a combination of actual engine hardware and reproduced hardware consistent with that being used at NASA-Marshall for the initial measurements in their newly constructed blow-down turbine test facility. The facility is of the short duration shock tunnel variety, which permits use of thin film thermometers which are used to measure the surface temperature histories at prescribed locations on the turbine component parts. Heat flux values are then inferred from the temperature histories using standard data reduction procedures. The measurement program is described in detail.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA. Lewis Research Center, Structural Integrity and Durability of Reusable Space Propulsion Systems; p 215-222
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  • 61
    facet.materialart.
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    In:  CASI
    Publication Date: 2019-06-28
    Description: A device is disclosed for sealing and clamping a cylindrical element which is to be attached to an object such as a wall, a pressurized vessel or another cylindrical element. The device includes a gland having an inner cylindrical wall, which is threaded at one end and is attached at a bendable end to a deformable portion, which in turn is attached to one end of a conical cantilever structure. The other end of the cantilever structure connects at a bendable area to one end of an outer cylindrical wall. The opposite end of cylindrical wall terminates in a thickened portion, the radially outer surface of which is adapted to accommodate a tool for rotating the gland. The terminal end of cylindrical wall also includes an abutment surface, which is adapted to engage a seal, which in turn engages a surface of a receiver. The receiver further includes a threaded portion for engagement with the threaded portion of gland whereby a tightening rotation of gland relative to receiver will cause relative movement between cylindrical walls and of gland. This movement causes a rotation of the conical structure and thus a bending action at bending area and at the bending end of the upper end of inner cylindrical wall. These rotational and bending actions result in a forcing of the deformable portion radially inwardly so as to contact and deform a pipe. This forcible contact creates a seal between gland and pipe, and simultaneously clamps the pipe in position.
    Keywords: MECHANICAL ENGINEERING
    Type: NAS 1.71:MFS-28328-1
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  • 62
    Publication Date: 2019-06-28
    Description: A review is made of the selection and tribological testing of materials for high-temperature bearings and seals. The goal is to achieve good tribological properties over a wide range of temperatures because bearings and seals must be functional from low temperature start-up conditions on up to the maximum temperatures encountered during engine operation. Plasma sprayed composite coatings with favorable tribological properties from 25 to 900 C are discussed. The performance of these coatings in simple tribological bench tests is described. Examples are also given of their performance in high-speed sliding contact seals and as Stirling cylinder liner materials, and as backup lubricants for compliant foil gas bearings.
    Keywords: MECHANICAL ENGINEERING
    Type: ASME PAPER 89-GT-144
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  • 63
    facet.materialart.
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    In:  Other Sources
    Publication Date: 2019-06-28
    Description: The feasibility of applying ceramics to the gas turbine was demonstrated during the AGT101 Program, when over 250 hours were accumulated on ceramic components in engine tests at temperatures up to 1204C (2200F). The follow-on program, designated the Advanced Turbine Technology Applications Project (ATTAP), began in late August 1987 to further develop ceramic technology. This program addresses ceramic component fabrication technology, design methods development and the supporting data base, and verification of ceramic component durability in an operating engine environment. These technologies must be demonstrated so that a commercialization development decision can be made at the end of ATTAP.
    Keywords: MECHANICAL ENGINEERING
    Type: ASME PAPER 89-GT-105
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  • 64
    Publication Date: 2019-06-28
    Description: To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-186809 , NAS 1.26:186809
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  • 65
    Publication Date: 2019-06-28
    Description: A micro-coring apparatus for lunar exploration applications, that is compatible with the other components of the Walking Mobile Platform, was designed. The primary purpose of core sampling is to gain an understanding of the geological composition and properties of the prescribed environment. This procedure has been used extensively for Earth studies and in limited applications during lunar explorations. The corer is described and analyzed for effectiveness.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183072 , NAS 1.26:183072 , ME-4182
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  • 66
    facet.materialart.
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    In:  CASI
    Publication Date: 2019-06-28
    Description: A self contained, mobile drilling and coring system was designed to operate on the Lunar surface and be controlled remotely from earth. The system uses SKITTER (Spatial Kinematic Inertial Translatory Tripod Extremity Robot) as its foundation and produces Lunar core samples two meters long and fifty millimeters in diameter. The drill bit used for this is composed of 30 per carat diamonds in a sintered tungsten carbide matrix. To drill up to 50 m depths, the bit assembly will be attached to a drill string made from 2 m rods which will be carried in racks on SKITTER. Rotary power for drilling will be supplied by a Curvo-Synchronous motor. SKITTER is to support this system through a hexagonal shaped structure which will contain the drill motor and the power supply. A micro-coring drill will be used to remove a preliminary sample 5 mm in diameter and 20 mm long from the side of the core. This whole system is to be controlled from earth. This is carried out by a continuously monitoring PLC onboard the drill rig. A touch screen control console allows the operator on earth to monitor the progress of the operation and intervene if necessary.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-182756 , NAS 1.26:182756 , ME-4182
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  • 67
    facet.materialart.
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    In:  CASI
    Publication Date: 2019-06-28
    Description: A proof-of-principle model of a two wheeled lunar dump truck was designed to display at the 1989 Summer Conference. The dump truck consists of a cylindrical bucket suspended between two wheels with the center of gravity of the bucket lower than the axis of the wheels. This gives the truck great stability in rough terrain. One motor on each wheel controls the movement of the truck and limits the moving parts to only two. The design of the mechanical drive, the electrical system, and the control systems are examined. Conclusion and recommendations are given.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-182557 , NAS 1.26:182557 , ME-8501
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  • 68
    Publication Date: 2019-06-28
    Description: The Space Shuttle Redesigned Solid Rocket Motor (RSRM) static test of Qualification Motor-8 (QM-8) was conducted. The QM-8 test article was the fifth full-scale, full-duration test, and the third qualification motor to incorporate the redesigned case field joint and nozzle-to-case joint. This was the second static test conducted in the T-97 test facility, which is equipped with actuators for inducing external side loads to a 360 degree external tank (ET) attach ring during test motor operation, and permits heating/cooling of an entire motor. The QM-8 motor was cooled to a temperature which ensured that the maximum propellant mean bulk temperature (PMBT) of 40 F was achieved at firing. All test results are not included, but rather, the performance of the metal case, field joints, and nozzle-to-case joint is addressed. The involvement is studied of the Structural Applications and Structural Design Groups with the QM-8 test which includes: assembly procedures of the field and nozzle-to-case joints, joint leak check results, structural test results, and post-test inspection evaluations.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183958 , NAS 1.26:183958 , TWR-17591-VOL-4 , WBS-HQ302-10-10 , DR-5-3
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  • 69
    Publication Date: 2019-06-28
    Description: Degradation mechanisms and sensor identification/selection resulted in a list of degradation modes and a list of sensors that are utilized in the diagnosis of these degradation modes. The sensor list is divided into primary and secondary indicators of the corresponding degradation modes. The signal conditioning requirements are discussed, describing the methods of producing the Space Shuttle Main Engine (SSME) post-hot-fire test data to be utilized by the Health Monitoring System. Development of the diagnostic logic and algorithms is also presented. The knowledge engineering approach, as utilized, includes the knowledge acquisition effort, characterization of the expert's problem solving strategy, conceptually defining the form of the applicable knowledge base, and rule base, and identifying an appropriate inferencing mechanism for the problem domain. The resulting logic flow graphs detail the diagnosis/prognosis procedure as followed by the experts. The nature and content of required support data and databases is also presented. The distinction between deep and shallow types of knowledge is identified. Computer coding of the Health Monitoring System is shown to follow the logical inferencing of the logic flow graphs/algorithms.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-182294 , NAS 1.26:182294 , RI/RD89-171-PT-3
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  • 70
    Publication Date: 2019-06-28
    Description: The lifting machine will assist in lifting cargo off of landers sent to the Moon and in the construction of a lunar base. Three possible designs were considered for the overall configuration of the lifting machine: the variable angle crane, the tower crane, and the gantry crane. Alternate designs were developed for the major components of the lifting machine. A teleoperable, variable angle crane was chosen as its final design. The design consists of a telescoping boom mounted to a chassis that is supported by two conical wheels for towing and four outriggers for stability. Attached to the end of the boom is a seven degree of freedom robot arm for light, dexterous, lifting operations. A cable and hook suspends from the end of the boom for heavy, gross, lifting operations. Approximate structural sizes were determined for the lifter and its components. However, further analysis is needed to determine the optimum design dimensions. The design team also constructed a model of the design which demonstrates its features and operating principals.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-186688 , NAS 1.26:186688
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  • 71
    Publication Date: 2019-06-28
    Description: The suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-186808 , NAS 1.26:186808
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  • 72
    Publication Date: 2019-06-28
    Description: At the turn of the century NASA plans to begin construction of a lunar base. The base will likely consist of developed areas (i.e., habitation, laboratory, landing and launching sites, power plant) separated from each other due to safety considerations. The Self-Repositioning Track Vehicle (SRTV) was designed to transport cargo between these base facilities. The SRTV operates by using two robotic arms to raise and position segments of track upon which the vehicle travels. The SRTV utilizes the semiautonomous mobility (SAM) method of teleoperation; actuator-controlled interlocking track sections; two robotic arms each with five degrees of freedom; and these materials: titanium for structural members and aluminum for shell members, with the possible use of light-weight, high-strength composites.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-186686 , NAS 1.26:186686
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  • 73
    Publication Date: 2019-06-28
    Description: The problem of retrieving and storing core samples from a hole drilled on the lunar surface is addressed. The total depth of the hole in question is 50 meters with a maximum diameter of 100 millimeters. The core sample itself has a diameter of 60 millimeters and will be two meters in length. It is therefore necessary to retrieve and store 25 core samples per hole. The design utilizes a control system that will stop the mechanism at a certain depth, a cam-linkage system that will fracture the core, and a storage system that will save and catalogue the cores to be extracted. The Rod Changer and Storage Design Group will provide the necessary tooling to get into the hole as well as to the core. The mechanical design for the cam-linkage system as well as the conceptual design of the storage device are described.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-182864 , NAS 1.26:182864 , ME-4182
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  • 74
    Publication Date: 2019-06-28
    Description: A rod changer and storage design is presented for the lunar deep drill apparatus to be used in conjunction with the Skitter walking platform. The design must take into account all of the lunar environment and working conditions. Some of these are: (1) the moon has one sixth the gravity of earth; (2) temperature gradients can range from about -170 to 265 C; (3) because of the high transportation costs, the design must be as light as possible; and (4) the process must be remotely operated (from earth or satellite) and must be automated. Because of Skitter's multiple degree of freedom movement, the design will utilize Skitter's movement to locate an implement and transport it from the rack to the drill string. The implement will be gripped by a thumb and two finger device, identified through an electronic sensing device on the thumb, and transported from the rack to the footplate and back from the footplate to the rack. The major designs discussed in this report have been broken down into three major areas: (1) gripper design (linear transport mechanism); (2) indexing system; and (3) rack design.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183154 , NAS 1.26:183154 , ME-4182
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  • 75
    Publication Date: 2019-06-28
    Description: To prevent hole collapse during lunar drilling operations, a casing has been devised of a graphite reinforced polyimide composite which will be able to withstand the lunar environment. Additionally, this casing will be inserted into the ground in segments two meters long which will penetrate the regolith simultaneously with the auger. The vertical action of the mobile platform will provide a downward force to the casing string through a special adaptor, giving the casing the needed impetus to sink the anticipated depth of ten meters. Casing segments will be connected with a simple snap arrangement. Excess casing will be cut off by a cylindrical cutting tool which will also transport the excess casing away from the hole. A footplate will be incorporated to grasp the auger rod string during rod segment additions or removals. The footplate grasping mechanism will consist of a set of vice-like arms, one end of each bearing threaded to a common power screw. The power screw will be threaded such that one end's thread pitch opposes that of the other end. The weight of the auger and rod string will be transmitted through the arms to the power screw and absorbed by a set of three ball bearing assemblies. The power screw will be driven by a one-half horsepower brushless motor actuated by radio control. The footplate will rest on four short legs and be anchored with pins that are an integral part of each leg.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183153 , NAS 1.26:183153 , ME-4182
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  • 76
    Publication Date: 2019-06-28
    Description: A combined experimental and computational program was conducted to examine the heat transfer distribution in a turbine rotor passage geometrically similiar to the Space Shuttle Main Engine (SSME) High Pressure Fuel Turbopump (HPFTP). Heat transfer was measured and computed for both the full-span suction and pressure surfaces of the rotor airfoil as well as for the hub endwall surface. The primary objective of the program was to provide a benchmark-quality data base for the assessment of rotor passage heat transfer computational procedures. The experimental portion of the study was conducted in a large-scale, ambient temperature, rotating turbine model. Heat transfer data were obtained using thermocouple and liquid-crystal techniques to measure temperature distributions on the thin, electrically-heated skin of the rotor passage model. Test data were obtained for various combinations of Reynolds number, rotor incidence angle and model surface roughness. The data are reported in the form of contour maps of Stanton number. These heat distribution maps revealed numerous local effects produced by the three-dimensional flows within the rotor passage. Of particular importance were regions of local enhancement produced on the airfoil suction surface by the main-passage and tip-leakage vortices and on the hub endwall by the leading-edge horseshoe vortex system. The computational portion consisted of the application of a well-posed parabolized Navier-Stokes analysis to the calculation of the three-dimensional viscous flow through ducts simulating the a gas turbine passage. These cases include a 90 deg turning duct, a gas turbine cascade simulating a stator passage, and a gas turbine rotor passage including Coriolis forces. The calculated results were evaluated using experimental data of the three-dimensional velocity fields, wall static pressures, and wall heat transfer on the suction surface of the turbine airfoil and on the end wall. Particular attention was paid to an accurate modeling of the passage vortex and to the development of the wall boundary layers including crossflow.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183891 , NAS 1.26:183891 , UTRC-R89-957852-24
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  • 77
    Publication Date: 2019-06-28
    Description: A flexible structure was modeled and actively controlled by using a single space realizable linear proof mass actuator. The NASA/UVA/UB actuator was attached to a flexible planar truss structure at an optimal location and it was considered as both passive and active device. The placement of the actuator was specified by examining the eigenvalues of the modified model that included the actuator dynamics, and the frequency response functions of the modified system. The electronic stiffness of the actuator was specified, such that the proof mass actuator system was tuned to the fourth structural mode of the truss by using traditional vibration absorber design. The active control law was limited to velocity feedback by integrating of the signals of two accelerometers attached to the structure. The two lower modes of the closed-loop structure were placed further in the LHS of the complex plane. The theoretically predicted passive and active control law was experimentally verified.
    Keywords: MECHANICAL ENGINEERING
    Type: JPL, Proceedings of the 3rd Annual Conference on Aerospace Computational Control, Volume 1; p 434-445
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  • 78
    Publication Date: 2019-06-28
    Description: Rotor dynamical analyses are typically performed using rigid disk models. Studies of rotor models in which the effects of disk flexibility were included indicate that is may be an important effect for many systems. This issue is addressed with respect to the Space Shuttle Main Engine high pressure turbo-pumps. Finite element analyses have been performed for a simplified free-free flexible disk rotor model and the modes and frequencies compared to those of a rigid disk model. The simple model was then extended to a more sophisticated HPTOP rotor model and similar results were observed. Equations were developed that are suitable for modifying the current rotordynamical analysis program to account for disk flexibility. Some conclusions are drawn from the results of this work as to the importance of disk flexibility on the HPTOP rotordynamics and some recommendations are given for follow-up research in this area.
    Keywords: MECHANICAL ENGINEERING
    Type: Alabama Univ., Research Reports: 1989 NASA(ASEE Summer Faculty Fellowship Program; 28 p
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  • 79
    Publication Date: 2019-06-28
    Description: The Space Shuttle main engine (SSME) alternate turbopump development program (ATD) high pressure fuel turbopump (HPFTP) design utilizes an innovative lift-off seal (LOS) design that is located in close proximity to the turbine end bearing. Cooling flow exiting the bearing passes through the lift-off seal during steady state operation. The potential for fluid excitation of lift-off seal structural resonances is investigated. No fluid excitation of LOS resonances is predicted. However, if predicted LOS natural frequencies are significantly lowered by the presence of the coolant, pressure oscillations caused by synchronous whirl of the HPFTP rotor may excite a resonance.
    Keywords: MECHANICAL ENGINEERING
    Type: Alabama Univ., Research Reports: 1989 NASA(ASEE Summer Faculty Fellowship Program; 15 p
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  • 80
    Publication Date: 2019-06-28
    Description: A numerical modeling is to examine the effects of coolant convective heat transfer coefficient and frictional heating on the local temperature characteristics of a ball element in Space Shuttle Main Engine (SSME) High Pressure Oxidizer Turbopump (HPOTP) bearing. The present modeling uses a control-volume based, finite-difference method to solve the non-dimensionalized heat conduction equation in spherical coordinate system. The dimensionless temperature is found as a function of Biot number, heat flux ratio between the two race contacts, and location in the ball. The current results show that, for a given cooling capability, the ball temperature generally increases almost linearly with the heat input from the race-contacts. This increase is always very high at one of the two contacts. An increase in heat transfer coefficient generally reduces the ball temperature and alleviates the temperature gradient, except for the regions very close to the race contacts. For a 10-fold increase of heat transfer coefficient, temperature decrease is 35 percent for the average over entire ball, and 10 percent at the inner-race contact. The corresponding change of temperature gradient displays opposing trends between the regions immediately adjacent to the contacts and the remaining portion of the ball. The average temperature gradient in the vicinity of both contacts increases approximately 70 to 100 percent. A higher temperature gradient produces excessive thermal stress locally which may be detrimental to the material integrity. This, however, is the only unfavorable issue for an increase of heat transfer coefficient.
    Keywords: MECHANICAL ENGINEERING
    Type: Alabama Univ., Research Reports: 1989 NASA(ASEE Summer Faculty Fellowship Program; 24 p
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  • 81
    Publication Date: 2019-06-28
    Description: A study was performed in which several gear failure prediction methods were investigated and applied to experimental data from a gear fatigue test apparatus. The primary objective was to provide a baseline understanding of the prediction methods and to evaluate their diagnostic capabilities. The methods investigated use the signal average in both the time and frequency domain to detect gear failure. Data from eleven gear fatigue tests were recorded at periodic time intervals as the gears were run from initiation to failure. Four major failure modes, consisting of heavy wear, tooth breakage, single pits, and distributed pitting were observed among the failed gears. Results show that the prediction methods were able to detect only those gear failures which involved heavy wear or distributed pitting. None of the methods could predict fatigue cracks, which resulted in tooth breakage, or single pits. It is suspected that the fatigue cracks were not detected because of limitations in data acquisition rather than in methodology. Additionally, the frequency response between the gear shaft and the transducer was found to significantly affect the vibration signal. The specific frequencies affected were filtered out of the signal average prior to application of the methods.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-TM-102340 , E-5049 , NAS 1.15:102340 , AVSCOM-TM-89-C-005 , AD-A217844
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  • 82
    facet.materialart.
    Unknown
    In:  CASI
    Publication Date: 2019-06-28
    Description: An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-185868 , NAS 1.26:185868
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  • 83
    Publication Date: 2019-06-28
    Description: Planning of assembly sequences is essential to the manufacturing system design process. Several methodologies have been proposed to represent all the feasible assembly sequences. In this thesis, three algorithms are presented to generate three sets of precedence relations based on all the infeasible assembly tasks, all the infeasible assembly states, and all the feasible assembly sequences, respectively. The equivalence of the resulting sets of precedence relations to the AND/OR graph is established. A new property, the real time property, of a representation of assembly sequences is defined and discussed. A representation of assembly sequences is said to have the real time property, if it is possible to generate the next assembly task by testing locally in the representation, and it will guarantee that the generated assembly task will not lead the assembly sequence to a dead end situation, in which no feasible assembly task can be performed any more. It is shown that the correctness and completeness of one representation can not guarantee the real time property of the representation. It is proven that the directed graph representation and the set of precedence relations based on all the infeasible assembly states have the real time property, while the AND/OR graph representation and the set of precedence relations based on all the infeasible assembly tasks do not have the real time property. Finally in the thesis, the PLEIDEAS system, a PLanning Environment for Integrated DEsign of Assembly Systems, is described and illustrated by an example.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-191847 , NAS 1.26:191847 , RPI-CIRSSE-34
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  • 84
    Publication Date: 2019-06-28
    Description: Analytical and experimental studies of the combustion process in a stratified charge rotary engine (SCRE) continue to be the subject of active research in recent years. Specifically to meet the demand for more sophisticated products, a detailed understanding of the engine system of interest is warranted. With this in mind the objective of this work is to develop an understanding of the controlling factors that affect the SCRE combustion process so that an efficient power dense rotary engine can be designed. The influence of the induction-exhaust systems and the rotor geometry are believed to have a significant effect on combustion chamber flow characteristics. In this report, emphasis is centered on Laser Doppler Velocimetry (LDV) measurements and on qualitative flow visualizations in the combustion chamber of the motored rotary engine assembly. This will provide a basic understanding of the flow process in the RCE and serve as a data base for verification of numerical simulations. Understanding fuel injection provisions is also important to the successful operation of the stratified charge rotary engine. Toward this end, flow visualizations depicting the development of high speed, high pressure fuel jets are described. Friction is an important consideration in an engine from the standpoint of lost work, durability and reliability. MSU Engine Research Laboratory efforts in accessing the frictional losses associated with the rotary engine are described. This includes work which describes losses in bearing, seal and auxillary components. Finally, a computer controlled mapping system under development is described. This system can be used to map shapes such as combustion chamber, intake manifolds or turbine blades accurately.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-197985 , NAS 1.26:197985
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  • 85
    facet.materialart.
    Unknown
    In:  Other Sources
    Publication Date: 2019-06-28
    Description: Shot on location at the Goddard Robotics Laboratory, this video uses state of the art Wavefront animation to take the viewer on a tour of the robotics that may, someday, be a part of Space Station Freedom.
    Keywords: MECHANICAL ENGINEERING
    Type: GSFC-T-16 , NASA-TM-109588 , NONP-NASA-VT-93-190386
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  • 86
    facet.materialart.
    Unknown
    In:  Other Sources
    Publication Date: 2019-06-28
    Description: This video shows robotics for the Space Station.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-TM-109578 , NONP-NASA-VT-93-190376
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  • 87
    Publication Date: 2019-06-28
    Description: Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies were merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal componet that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nomical feedforward signal.
    Keywords: MECHANICAL ENGINEERING
    Type: NAS 1.71:NPO-17785-1-CU
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  • 88
    Publication Date: 2019-06-28
    Description: The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-185861 , NAS 1.26:185861
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  • 89
    Publication Date: 2019-06-28
    Description: The contents of this report covers: (1) development of optimal geometries for crowned helical gears; (2) a method for their generation; (3) tooth contact analysis (TCA) computer programs for the analysis of meshing and bearing contact of the crowned helical gears; and (4) modelling and simulation of gear shaft deflection. The developed method for synthesis was used to determine the optimal geometry for a crowned helical pinion surface and was directed to localize the bearing contact and guarantee favorable shape and a low level of transmission errors. Two new methods for generation of the crowned helical pinion surface are proposed. One is based on the application of a tool with a surface of revolution that slightly deviates from a regular cone surface. The tool can be used as a grinding wheel or as a shaver. The other is based on a crowning pinion tooth surface with predesigned transmission errors. The pinion tooth surface can be generated by a computer-controlled automatic grinding machine. The TCA program simulates the meshing and bearing contact of the misaligned gears. The transmission errors are also determined. The gear shaft deformation was modelled and investigated. It was found that the deflection of gear shafts has the same effect as gear misalignment.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-4224 , E-4626 , NAS 1.26:4224 , AVSCOM-TR-89-C-002 , AD-A213170
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  • 90
    Publication Date: 2019-06-28
    Description: Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-184837 , NAS 1.26:184837
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  • 91
    Publication Date: 2019-06-28
    Description: The design of a joint-space adaptive control scheme is presented for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Lyapunov direct method, an adatation algorithm is derived which adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly-varying. The implementation of the derived control scheme does not need the computation of the manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramp or sinusoids with negligible position errors.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-185863 , NAS 1.26:185863
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  • 92
    Publication Date: 2019-06-28
    Description: Solar absorptance, emittance, and coating thickness were measured for a range of coating thicknesses from about 400 A to 2500 A. The coatings were sputtered from an aluminum target onto 1-inch-diameter substrates of T300/5209 graphite/epoxy composite material with two different surface textures. Solar absorptance and emittance values for the specimens with the smooth surface finish were lower than those for the specimens with the rough surface finish. The ratio of solar absorptance to emittance was higher for the smooth specimens, increasing from 2 to 4 over the coating thickness range, than for the rough ones, which had a constant ratio of about 1. The solar absorptance and emittance values were dependent on the thickness of the sputtered coating.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-TM-101620 , NAS 1.15:101620
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  • 93
    Publication Date: 2019-06-28
    Description: Rotor dynamic behavior depends considerably on how much the specific physical phenomena accompanying rotor rubbing against the stator is involved. The experimental results of rotor-to-stator rubbing contact are analyzed. The computer code is described for obtaining numerical calculations of rotor-to-stator rubbing system dynamic responses. Computer generated results are provided. The reduced dynamic data from High Pressure Fuel Turbo Pump (HPFTP) hot fire test are given. The results provide some significant conclusions. Information is provided on the electronic instrumentation used in the experimental testing.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183649-PT-2 , NAS 1.26:183649-PT-2
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  • 94
    Publication Date: 2019-06-28
    Description: The results of analytical and experimental research on rotor-to-stationary element rubbing in rotating machines are presented. A characterization of physical phenomena associated with rubbing, as well as a literature survey on the subject of rub is given. The experimental results were obtained from two rubbing rotor rigs: one, which dynamically simulates the space shuttle main engine high pressure fuel turbopump (HPFTP), and the second one, much simpler, a two-mode rotor rig, designed for more generic studies on rotor-to-stator rubbing. Two areas were studied: generic rotor-to-stator rub-related dynamic phenomena affecting rotating machine behavior and applications to the space shuttle HPFTP. An outline of application of dynamic stiffness methodology for identification of rotor/bearing system modal parameters is given. The mathematical model of rotor/bearing/seal system under rub condition is given. The computer program was developed to calculate rotor responses. Compared with experimental results the computed results prove an adequacy of the model.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183648-PT-1 , NAS 1.26:183648-PT-1
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  • 95
    Publication Date: 2019-06-28
    Description: Control laws (in some optimal sense) are being developed for the gripper/nut runner end effector. Control laws for the gripper and nut runner portions of the end effector may be developed independently since these two systems are decoupled. A hybrid force/position controller will be used for both the gripper and nut runner. The development of the gripper controller is explained. Sensory data available to the controller is obtained from an array of strain gages as well as a linear potentiometer. Applying well known optimal control theoretic principles, the control which minimizes the transition time between positions is obtained. In addition, a robust force control scheme is developed to contend with the strain gage drift caused by extreme temperature variations encountered in space.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-184978 , NAS 1.26:184978
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  • 96
    Publication Date: 2019-06-28
    Description: The 2109-kW (2828-hp) UH-60A Black Hawk helicopter transmission was one of the transmissions used to obtain an experimental data base. Component improvements or new transmission concepts can thus be evaluated by comparison with the established data. Results of efficiency and vibration tests of the UH-60A have been reported previously. In this investigation the transmission was instrumented internally and tested over a range of operating conditions. The speed was varied from 50 to 100 percent of the full rated value, and the torque was varied from 10 to 100 percent of the full rated value. Temperatures of internal bearings and gears were measured. The computer program Planetsys was used to simulate the thermal performance of this transmission. The calculated temperatures were then compared with the corresponding measured values. The highest measured temperature was 405 K (270 F) on the outer race of the high-speed input shaft roller bearing, at the 100-percent power condition. In general, the predicted temperatures compared very well with the measured values, most of them being within 5 kelvin (9 F). Specifically, the temperatures predicted for the single-row spherical roller planetary bearing averaged only about 4 kelvin (8 F) lower than the highest measured value.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-TP-2911 , NAS 1.60:2911 , E-4588 , AVSCOM-TR-89-C-010 , AD-A219173
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  • 97
    Publication Date: 2019-06-28
    Description: A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of approximately three feet (0.9 m). The fingers are to be designed to accommodate proximity, tactile, or force/torque sensors imbedded in their structure. In order to provide for the simultaneous control of the operator wears a specially instrumented glove which produces control signals corresponding to the finger configuration and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development.
    Keywords: MECHANICAL ENGINEERING
    Type: Alabama A & M Univ., NASA-HBCU Space Science and Engineering Research Forum Proceedings; p 349-35
    Format: application/pdf
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  • 98
    facet.materialart.
    Unknown
    In:  CASI
    Publication Date: 2019-06-28
    Description: Solidification type welding process experiments in conditions of microgravity were performed. The role of convection in such phenomena was examined and convective effects in the small volumes obtained in the laser weld zone were observed. Heat transfer within the weld was affected by acceleration level as indicated by the resulting microstructure changes in low gravity. All experiments were performed such that both high and low gravity welds occurred along the same weld beam, allowing the effects of gravity alone to be examined. Results indicate that laser welding in a space environment is feasible and can be safely performed IVA or EVA. Development of the hardware to perform the experiment in a Hitchhiker-g platform is recomended as the next step. This experiment provides NASA with a capable technology for welding needs in space. The resources required to perform this experiment aboard a Shuttle Hitchhiker-pallet are assessed. Over the four year period 1991 to 1994, it is recommended that the task will require 13.6 manyears and $914,900. In addition to demonstrating the technology and ferreting out the problems encountered, it is suggested that NASA will also have a useful laser materials processing facility for working with both the scientific and the engineering aspects of materials processing in space. Several concepts are also included for long-term optimization of available solar power through solar pumping solid state lasers directly for welding power.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-185638 , NAS 1.26:185638
    Format: application/pdf
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  • 99
    Publication Date: 2019-06-28
    Description: Advanced acoustic emission (AE) monitoring methods are being designed to provide a diagnostic capability for ball and roller bearings as part of a program to develop AE sensors, data acquisition hardware, and analysis techniques that can be used to assess the health of a bearing during the operation of the SSME high pressure fuel turbopump and high pressure oxygen turbopump. Preliminary results are presented from six tests of different roller bearing designs in a rig which simulated the speed, load, and temperature environment encountered in the turbopumps. Correlations were found between the bearing clearances, applied loads, rotation speeds, and roller element stability with the AE signal structure.
    Keywords: MECHANICAL ENGINEERING
    Type: AIAA PAPER 89-2849
    Format: text
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  • 100
    Publication Date: 2019-06-28
    Description: Two all-metal demountable cryogenic seals with an outside diameter of 36.6 mm, inside diameter of 27.2 mm, and thickness of 0.51 mm were leak-tested at room temperature (300 K), liquid nitrogen temperature (21 cycles at 77 K), liquid helium temperature (9 cycles at 4.2 K), and superfluid helium temperature (4 cycles at 1.6 K). Each seal was mounted and demounted for 13 cycles. Thickness measurements at 90 deg intervals along the circumference showed a maximum seal compression of 0.038 mm. Leak-rate measurements at all temperatures showed no detectable leak above the helium background level, typically 0.1 x 10(-9) std-cc/sec, during testing.
    Keywords: MECHANICAL ENGINEERING
    Type: AIAA PAPER 89-1728
    Format: text
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