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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1992

Automation and Robotics for Space-Based Systems, 1991

A NASA Langley workshop on Automation and Robotics for Space-Based Systems was held on December 10, 1991. This conference proceedings document presents the overhead slides from each speaker at this event. The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from a LaRC perspective and to identify areas of opportunity for future research. The workshop was sponsored by the Guidance, Navigation, and Control Technical Committee, chaired by Mr. Raymond C. Montgomery. Nineteen talks were given, reflecting a high level of interest in the field of automation at NASA Langley. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, EVA and IVA robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered RMS active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Automation↗
NASA NTRS1992

Concrete structure construction on the Moon

This paper describes a precast prestressed concrete structure system on the Moon and erection methods for this system. The horizontal section of the structural module is hexagonal so that various layouts of the modules are possible by connecting the adjacent modules to each other. For erection of the modules, specially designed mobile cranes are used.

Matsumoto, Shinji↗
NASA NTRS1993

Validation test of 125 Ah advanced design IPV nickel-hydrogen flight cells

An update of validation test results confirming the advanced design nickel-hydrogen cell is presented. An advanced 125 Ah individual pressure vessel (IPV) nickel-hydrogen cell was designed. The primary function of the advanced cell is to store and deliver energy for long-term, Low-Earth-Orbit (LEO) spacecraft missions. The new features of this design, which are not incorporated in state-of-the-art design cells, are: (1) use of 26 percent rather than 31 percent potassium hydroxide (KOH) electrolyte; (2) use of a patented catalyzed wall wick; (3) use of serrated-edge separators to facilitate gaseous oxygen and hydrogen flow within the cell, while still maintaining physical contact with the wall wick for electrolyte management; and (4) use of a floating rather than a fixed stack (state-of-the-art) to accommodate nickel electrode expansion due to charge/discharge cycling. The significant improvements resulting from these innovations are extended cycle life; enhanced thermal, electrolyte, and oxygen management; and accommodation of nickel electrode expansion. Six 125 Ah flight cells based on this design were fabricated by Eagle-Picher. Three of the cells contain all of the advanced features (test cells) and three are the same as the test cells except they do not have catalyst on the wall wick (control cells). All six cells are in the process of being evaluated in a LEO cycle life test at the Naval Weapons Support Center, Crane, IN, under a NASA Lewis Research Center contract. The catalyzed wall wick cells have been cycled for over 19000 cycles with no cell failures in the continuing test. Two of the noncatalyzed wall wick cells failed (cycles 9588 and 13,900).

Smithrick, John J.↗
NASA NTRS1993

Cycle life status of SAFT VOS nickel-cadmium cells

The SAFT prismatic VOS Ni-Cd cells have been flown in geosynchronous orbit since 1977 and in low earth orbit since 1983. Parallel cycling tests are performed by several space agencies in order to determine the cycle life for a wide range of temperature and depth of discharge (DOD). In low Earth orbit (LEO), the ELAN program is conducted on 24 Ah cells by CNES and ESA at the European Battery Test Center at temperatures ranging from 0 to 27 C and DOD from 10 to 40 percent. Data are presented up to 37,000 cycles. One pack (X-80) has achieved 49,000 cycles at 10 C and 23 percent DOD. The geosynchronous orbit simulation of a high DOD test is conducted by ESA on 3 batteries at 10 C and 70, 90, and 100 percent DOD. Thirty-one eclipse seasons are completed, and no signs of degradation have been found. The Air Force test at CRANE on 24 Ah and 40 Ah cells at 20 C and 80 percent DOD has achieved 19 shadow periods. Life expectancy is discussed. The VOS cell technology could be used for the following: (1) in geosynchronous conditions--15 yrs at 10-15 C and 80 percent DOD; and (2) in low earth orbit--10 yrs at 5-15 C and 25-30 percent DOD.

Goualard, Jacques↗
NASA NTRS1993

Fuzzy logic controllers: A knowledge-based system perspective

Over the last few years we have seen an increasing number of applications of Fuzzy Logic Controllers. These applications range from the development of auto-focus cameras, to the control of subway trains, cranes, automobile subsystems (automatic transmissions), domestic appliances, and various consumer electronic products. In summary, we consider a Fuzzy Logic Controller to be a high level language with its local semantics, interpreter, and compiler, which enables us to quickly synthesize non-linear controllers for dynamic systems.

Bonissone, Piero P.↗
NASA NTRS1992

Rain rate and modeled fade distributions at 20 GHz and 30 GHz derived from five years of network rain gauge measurements

Five years of rain rate and modeled slant path attenuation distributions at 20 GHz and 30 GHz derived from a network of 10 tipping bucket rain gages was examined. The rain gage network is located within a grid 70 km north-south and 47 km east-west in the Mid-Atlantic coast of the United States in the vicinity of Wallops Island, Virginia. Distributions were derived from the variable integration time data and from one minute averages. It was demonstrated that for realistic fade margins, the variable integration time results are adequate to estimate slant path attenuations at frequencies above 20 GHz using models which require one minute averages. An accurate empirical formula was developed to convert the variable integration time rain rates to one minute averages. Fade distributions at 20 GHz and 30 GHz were derived employing Crane's Global model because it was demonstrated to exhibit excellent accuracy with measured COMSTAR fades at 28.56 GHz.

Goldhirsh, Julius↗
NASA NTRS1993

Development of a large space robot - A multi-segment approach. I

A concept of multisegment robot (of a class of large space cranes) is developed for use in space-based construction operations. The robot consists of a collection of segments, which are pinned together to form a snakelike configuration, with a single degree of freedom representing rotation being retained at each pinned connection and with reaction flywheels suspended within each segment for the control necessary to position each body segment. Algorithms are developed for positioning this serpentine robot to a prescribed location and orientation. A multibody dynamics simulation is used to investigate the behavior and interactions of the robot, demonstrating its viability.

Spanos, P. D.↗
NASA NTRS1992

Rain rate statistics and fade distributions at 20 and 30 GHz derived from a network of rain gauges in the Mid-Atlantic coast over a five year period

A network of ten tipping bucket rain gauges located within a grid 70 km north-south and 47 km east-west in the Mid-Atlantic coast of the United States was used to analyze rain rate and modeled slant path attenuation distributions at 20 and 30 GHz. It was shown that, for realistic fade margins at 20 GHz and above, the variable integration times results are adequate to estimate slant path attenuations using models which require 1 min averages. Crane's Global Model was used to derive fade distributions at 20 and 30 GHz.

Goldhirsh, Julius↗
NASA NTRS1992

Structural characterization of an articulated-truss joint

A first generation space crane articulated-truss joint was statically and dynamically characterized in a configuration which approximated an operational environment. The articulated-truss joint was integrated into a test bed for structural characterization. Static characterization was performed by applying known loads and measuring the corresponding deflections to obtain load-deflection curves. Dynamic characterization was performed using modal testing to experimentally determine the first six mode shapes, frequencies, and modal damping values. The static and dynamic characteristics were also determined for a reference truss, which served as a characterization baseline. Load-deflection curves are presented for the reference truss, and the articulated-truss joint mounted in the test bed. The static and dynamic experimental results are compared to analytical predictions obtained from finite element analyses. The load-deflection response is also presented for one of the linear actuators used in the articulated-truss joint. Finally, an assessment is presented for the predictability of the truss hardware used in the reference truss and articulated-truss joint based upon hardware stiffness properties which were previously obtained during the Precision Segmented Reflector (PSR) Technology Development Program.

Sutter, Thomas R.↗
NASA NTRS1988

Three-legged mobile platform: SKITTER

Described herein is a system of equipment intended for site preparation and construction of a lunar base. The proximate era of lunar exploration and the initial phase of outpost habitation are addressed. Drilling, mining, and benefication of lunar soil prior to pilot-plant oxygen extraction and other soil processing techniques are included within the scope of this system's capabilities. The centerpiece of the design is the SKITTER mobile walking, site preparation, and construction planform. The SKITTER system is modular in nature and includes a series of interchangeable implements whose individual use tends to be seasonal or intermittent. The concept is analogous to the farmer's tractor and implement set. The proposed system is mechanically simple and weight efficient and the individual implements are designed to take advantage of the lunar environment while operating within the constraints imposed by that environment. The system's implement interfaces can also be used for transporting containerized cargo on the lunar surface. A proposed lunar orbit to lunar surface landing pod might also be used to deliver the walker and crane boom combination in a ready-to-work configuration.

Source record↗
NASA NTRS1993

Hand controller commonality evaluation process

Hand controller selection for NASA's Orbiter and Space Station Freedom is an important area of human-telerobot interface design and evaluation. These input devices will control remotely operated systems that include large crane-like manipulators (e.g., Remote Manipulator System or RMS), smaller, more dexterous manipulators (e.g., Flight Telerobotic Servicer or FTS), and free flyers (e.g., Orbital Maneuvering Vehicle or OMV). Candidate hand controller configurations for these systems vary in many ways: shape, size, number of degrees-of-freedom (DOF), operating modes, provision of force reflection, range of movement, and 'naturalness' of use. Unresolved design implementation issues remain, including such topics as how the current Orbiter RMS rotational and translational rate hand controllers compare with the proposed Space Station Freedom hand controllers, the advantages that position hand controllers offer for these applications, and whether separate hand controller configurations are required for each application. Since previous studies contain little empirical hand controller task performance data, a controlled study is needed that tests Space Station Freedom candidate hand controllers during representative tasks. This study also needs to include anthropometric and biomechanical considerations.

Stuart, Mark A.↗
NASA NTRS1994

Analysis for nickel (3 and 4) in positive plates from nickel-cadmium cells

The NASA-Goddard procedure for destructive physical analysis (DPA) of nickel-cadmium cells contains a method for analysis of residual charged nickel as NiOOH in the positive plates at complete cell discharge, also known as nickel precharge. In the method, the Ni(III) is treated with an excess of an Fe(II) reducing agent and then back titrated with permanganate. The Ni(III) content is the difference between Fe(II) equivalents and permanganate equivalents. Problems have arisen in analysis at NAVSURFWARCENDIV, Crane because for many types of cells, particularly AA-size and some 'space-qualified' cells, zero or negative Ni(III) contents are recorded for which the manufacturer claims 3-5 percent precharge. Our approach to this problem was to reexamine the procedure for the source of error, and correct it or develop an alternative method.

Lewis, Harlan L.↗
NASA NTRS1994

Space Station Freedom NiH2 cell testing program

Testing for the Space Station Freedom Nickel Hydrogen Cell Test Program began in 1990 at Crave Division, Naval Surface Warfare Center. The program has included receipt inspection, random vibration, acceptance, characterization, and life cycle testing of Ni-H2 cells in accordance with the NASA LeRC Interagency Order C-31001-J. A total of 400 Ni-H2 cells have been received at NAVSURFWARCENDIV Crane from three separate manufacturers; Yardney Technical Products (Yardney), Eagle Picher Industries (Eagle Picher), and Gates Energy Products (Gates). Of those, 308 cells distributed among 39 packs have undergone life cycle testing under a test regime simulating low earth orbit conditions. As of 30 September 1993, there are 252 cells assembled into 32 packs still on life cycle test. Since the beginning of the program, failed cells have been detected in all phases of testing. The failures include the following; seven 65 AmpHr and 81 AmpHr Yardney cells were found to be leaking KOH on receipt, one 65 AmpHr Eagle Picher cell failed the acceptance test, one 65 AmpHr Gates cell failed during the characterization test, and six 65 AmpHr Gates cells failed the random vibration test. Of the 39 life cycle packs, testing on seven packs, 56 cells, has been suspended because of low end of discharge voltages. All of the failed life cycle packs were cycled at 60% depth of discharge.

Moore, Bruce↗
NASA NTRS1994

AF Ni-Cd cell qualification program

The present status of the USAF NiCd cell qualification program, which is underway at the Naval Surface Warfare Center-Crane Division, is summarized. The following topics are discussed: overview; background; purpose; stress tests; results for super Ni-Cd; results for SAFT cells; GPS stress test; GPS simulated orbit; and results for gates cells. The discussion is presented in viewgraph format.

Hall, Steve↗
NASA NTRS1994

Optimum satellite relay positions with application to a TDRS-1 Indian Ocean relay

An Indian Ocean satellite relay is examined. The relay satellite position is optimized by minimizing the sum of downlink and satellite to satellite link losses. Osculating orbital elements are used for fast intensive orbital computation. Integrated Van Vleck gaseous attenuation and a Crane rain model are used for downlink attenuation. Circular polarization losses on the satellite to satellite link are found dynamically. Space to ground link antenna pointing losses are included as a function of yaw ans spacecraft limits. Relay satellite positions between 90 to 100 degrees East are found attractive for further study.

Jackson, A. H.↗
NASA NTRS1995

Space Power Facility Readiness for Space Station Power System Testing

This document provides information which shows that the NASA Lewis Research Center's Space Power Facility (SPF) will be ready to execute the Space Station electric power system thermal vacuum chamber testing. The SPF is located at LeRC West (formerly the Plum Brook Station), Sandusky, Ohio. The SPF is the largest space environmental chamber in the world, having an inside horizontal diameter of 100 ft. and an inside height at the top of the hemisphere of 122 ft. The vacuum system can achieve a pressure lower than 1 x 10(exp -5) Torr. The cryoshroud, cooled by gaseous nitrogen, can reach a temperature of -250 F, and is 80 ft. long x 40 ft. wide x 22 ft. high. There is access to the chamber through two 50 ft. x 50 ft. doors. Each door opens into an assembly area about 150 ft. long x 70 ft. wide x 80 ft. high. Other available facilities are offices, shop area, data acquisition system with 930 pairs of hard lines, 7 megawatts of power to chamber, 245K gal. liquid nitrogen storage, cooling tower, natural gas, service air, and cranes up to 25 tons.

Smith, Roger L.↗
NASA NTRS1995

A microcontroller-based three degree-of-freedom manipulator testbed

A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

Brown, Robert Michael, Jr.↗
NASA NTRS1993

The effects of a dynamic graphical model during simulation-based training of console operation skill

LOADER is a Windows-based simulation of a complex procedural task. The task requires subjects to execute long sequences of console-operation actions (e.g., button presses, switch actuations, dial rotations) to accomplish specific goals. The LOADER interface is a graphical computer-simulated console which controls railroad cars, tracks, and cranes in a fictitious railroad yard. We hypothesized that acquisition of LOADER performance skill would be supported by the representation of a dynamic graphical model linking console actions to goal and goal states in the 'railroad yard'. Twenty-nine subjects were randomly assigned to one of two treatments (i.e., dynamic model or no model). During training, both groups received identical text-based instruction in an instructional-window above the LOADER interface. One group, however, additionally saw a dynamic version of the bird's-eye view of the railroad yard. After training, both groups were tested under identical conditions. They were asked to perform the complete procedure without guidance and without access to either type of railroad yard representation. Results indicate that rather than becoming dependent on the animated rail yard model, subjects in the dynamic model condition apparently internalized the model, as evidenced by their performance after the model was removed.

Farquhar, John D.↗