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Liquid-phase epitaxial (LPE) growth boat redesigned. Still fabricated from ultra-high-purity graphite, but modified to permit easy disassembly and cleaning, along with improved wiping action for more complete removal of melt to reduce carry-over of gallium. Larger substrates and more uniform composition obtained.
Quick-connect fastener actuated by simple motion of hexagonal wrench. Enables assembly of truss by heavily gloved technician or by robot. Originally designed for use by Astronaut or robot assembling a truss in outer space, fastener also adapts to various connection applications requiring quick assembly or disassembly.
Piezoelectric ultrasonic transducer, energized by frequency generator and power supply, vibrates shell of pipe bomb while hardly disturbing explosive inner material. Frequency-control circuitry senses resonance in shell and holds generator at that frequency to induce fatigue cracking in threads of end cap. In addition to disarming bombs, ultrasonically induced fatigue may have other applications. In manufacturing, replaces some machining and cutting operations. In repair of equipment, cleanly and quickly disassembles corroded parts. In demolition of buildings used to dismember steel framework safely and controllably.
A concept for using the spent external tank from a National Space Transportation System (NSTS) to derive a lunar habitat is described. The external tank is carried into low Earth orbit where the oxygen tank-intertank subassembly is separated from the hydrogen tank, berthed to Space Station Freedom and the subassembly outfitted as a 12-person lunar habitat using extravehicular activity (EVA) and intravehicular activity (IVA). A single launch of the NSTS orbiter can place the external tank in LEO, provide orbiter astronauts for disassembly of the external tank, and transport the required subsystem hardware for outfitting the lunar habitat. An estimate of the astronauts' EVA and IVA is provided. The liquid oxygen intertank modifications utilize existing structures and openings for man access without compromising the structural integrity of the tank. The modifications include installation of living quarters, instrumentation, and an airlock. Feasibility studies of the following additional systems include micrometeoroid and radiation protection, thermal control, environmental control and life support, and propulsion. The converted lunar habitat is designed for unmanned transport and autonomous soft landing on the lunar surface without need for site preparation. Lunar regolith is used to fill the micrometeoroid shield volume for radiation protection using a conveyer. The lunar habitat concept is considered to be feasible by the year 2000 with the concurrent development of a space transfer vehicle and a lunar lander for crew changeover and resupply.
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.
The first results of a program to expand the operational envelope of low-power arcjets to higher specific impulse and power levels are presented. The performance of a kW-class laboratory model arcjet thruster was characterized at three mass flow rates of a 2:1 mixture of hydrogen and nitrogen at power levels ranging from 1.0 to 2.0 kW. This same thruster was then operated for a total of 300 h at a specific impulse and power level of 550 s and 2.0 kW, respectively, in three continuous 100-h sessions. Thruster operation during the three test segments was stable, and no measurable performance degradation was observed during the test series. Substantial cathode erosion was observed during an inspection following the second 100-h test segment. Most notable was the migration of material from the center of the cathode tip to a ring around a large crater. The anode sustained no significant damage during the endurance test segments. Some difficulty was encountered during start-up after disassembly and inspection following the second 100-h test segment, which caused constrictor erosion. This resulted in a reduced flow restriction and arc chamber pressure, which in turn caused a reduction in the arc impedance.
A method is presented for the automatic determination of assembly partial orders from a liaison graph representation of an assembly through the extraction of preferred subassemblies. In particular, the authors show how to select a set of tentative subassemblies by decomposing a liaison graph into a set of subgraphs based on feasibility and difficulty of disassembly, how to evaluate each of the tentative subassemblies in terms of assembly cost using the subassembly selection indices, and how to construct a hierarchical partial order graph (HPOG) as an assembly plan. The method provides an approach to assembly planning by identifying spatial parallelism in assembly as a means of constructing temporal relationships among assembly operations and solves the problem of finding a cost-effective assembly plan in a flexible environment. A case study of the assembly planning of a mechanical assembly is presented.
The first results of a program to expand the operational envelope of low-power arcjets to higher specific impulse and power levels are presented. The performance of a kW-class laboratory model arcjet thruster was characterized at three mass flow rates of a 2:1 mixture of hydrogen and nitrogen at power levels ranging from 1.0 to 2.0 kW. This same thruster was then operated for a total of 300 h at a specific impulse and power level of 550 s and 2.0 kW, respectively, in three continuous 100-h sessions. Thruster operation during the three test segments was stable, and no measurable performance degradation was observed during the test series. Substantial cathode erosion was observed during an inspection following the second 100-h test segment. Most notable was the migration of material from the center of the cathode tip to a ring around a large crater. The anode sustained no significant damage during the endurance test segments. Some difficulty was encountered during start-up after disassembly and inspection following the second 100-h test segment, which caused constrictor erosion. This resulted in a reduced flow restriction and arc chanber pressure, which in turn caused a reduction in the arc impedance.
Threaded halves of metallic collar fit around tapered shank of body of fastener. Retaining ring holds collar on body. Ceramic coat gives fastener its resistance to oxidation. Assembled and disassembled quickly from outside.
Wear in ball bearings supporting shaft in housing quantified via measurement of lateral deflection of shaft with respect to housing as function of lateral force applied between shaft and housing. Method devised to estimate wear in bearings of high-pressure-liquid-oxygen turbopump of main engine of Space Shuttle, without having to disassemble pump or dismount it from engine. Applicable to other rotating machinery. Helps inspectors determine quickly, noninvasively, and in field whether bearings should be replaced. Force necessary to produce given lateral deflection measured over range large enough to characterize radial clearances and stiffness.
Report dicusses developmental algorithm used in systematic planning of sequences of operations in which large truss structures assembled in outer space. Assembly sequence represented by directed graph called "assembly graph", in which each arc represents joining of two parts or subassemblies. Algorithm generates assembly graph, working backward from state of complete assembly to initial state, in which all parts disassembled. Working backward more efficient than working forward because it avoids intermediate dead ends.
The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.
State-of-the-art Resistance Spot Welding (RSW) equipment has the potential to permit realtime monitoring of operations through advances in computerized process control. In order to realize adaptive feedback capabilities, it is necessary to establish correlations among process variables, welder outputs, and weldment properties. The initial step toward achieving this goal must involve assessment of the effect of specific process inputs and the interactions among these variables on spot weld characteristics. This investigation evaluated these effects through the application of a statistically designed experiment to the RSW process. A half-factorial, Taguchi L sub 16 design was used to understand and refine a RSW schedule developed for welding dissimilar aluminum-lithium alloys of different thickness. The baseline schedule had been established previously by traditional trial and error methods based on engineering judgment and one-factor-at-a-time studies. A hierarchy of inputs with respect to each other was established, and the significance of these inputs with respect to experimental noise was determined. Useful insight was gained into the effect of interactions among process variables, particularly with respect to weldment defects. The effects of equipment related changes associated with disassembly and recalibration were also identified. In spite of an apparent decrease in equipment performance, a significant improvement in the maximum strength for defect-free welds compared to the baseline schedule was achieved.
The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed.
Quartz Crystal Microbalances constructed by QCM Research were flown on the leading and trailing edges of the Long Duration Exposure Facility (LDEF) as one of the sub-experiments of M0003. Response of the crystals coated with 150 A of IN2O3ZnS was recorded during the first 424 days of the mission. A second QCM with crystals coated with 150 A was also flown but not monitored. The flight data and temperature profiles will be presented. After the flight, the QCM's were disassembled and analyzed. The samples included the crystals from the leading and trailing edge samples of both types of coatings along with the reference crystals which were inside the QCM housing. Analyses were performed by scanning electron microscopy, energy dispersive x ray analysis, x ray photoelectron spectroscopy, ion microprobe mass analysis, and reflectance spectroscopy in the infrared and ultraviolet/visible region. The crystals were contaminated predominantly with silicone compounds. The contamination is higher on the leading edge than on the trailing edge, and higher on the exposed crystal than on the reference crystals. No significant differences in composition of the In2O3 crystals were noted. Differences in the reflectance and surface analysis of the Zns crystals will be discussed.
An Adiabatic Demagnetization Refrigerator (ADR) for space use is under development at NASA's Goddard Space Flight Center (GSFC). The breadboard ADR operated at 100 mK for 400 minutes. Some significant changes to that ADR, designed to eliminate shortcomings revealed during tests, are reported. To increase thermal contact, the ferric ammonium sulfate crystals were grown directly on gold-plated copper wires which serve as the thermal bus. The thermal link to the X-ray sensors was also markedly improved. To speed up the testing required to determine the best design parameters for the gas gap heat switch, the new heat switch has a modular design and is easy to disassemble.
The main objective of the study described was to identify the causes responsible for the capacity losses observed during cycling of secondary Li-TiS2 cells. Experimental Li-TiS2 cells were fabricated and tested for their cycle life performance. The open circuit voltage of the cells was monitored during the rest period between the charging and discharging. The polarization at the Li and TiS2 electrodes was also monitored during cycling. Cycled cells were disassembled and the cathodes were analyzed by various analytical techniques. The results of the study indicate that the observed capacity loss is almost entirely due to the increased polarization of the TiS2 electrode with cycling. The electrolyte was found to degrade during cycling and the degradation products were found to deposit at the TiS2 electrode, which probably lead to the higher polarization.
Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.