Search NASA⌕ Search

SEARCH · Search NASA

Results for “joint connections”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 199 records · Page 11

Design of a reconfigurable modular manipulator system

Using manipulators with a fixed configuration for specific tasks is appropriate when the task requirements are known beforehand. However, in less predictable situations, such as an outdoor construction site or aboard a space station, a manipulator system requires a wide range of capabilities, probably beyond the limitations of a single, fixed-configuration manipulator. To fulfill this need, researchers have been working on a Reconfigurable Modular Manipulator System (RMMS). Researchers have designed and are constructing a prototype RMMS. The prototype currently consists of two joint modules and four link modules. The joints utilize a conventional harmonic drive and torque motor actuator, with a small servo amplifier included in the assembly. A brushless resolver is used to sense the joint position and velocity. For coupling the modules together, a standard electrical connector and V-band clamps for mechanical connection are used, although more sophisticated designs are under way for future versions. The joint design yields an output torque to 50 ft-lbf at joint speeds up to 1 radian/second. The resolver and associated electronics have resolutions of 0.0001 radians, and absolute accuracies of plus or minus 0.001 radians. Manipulators configured from these prototype modules will have maximum reaches in the 0.5 to 2 meter range. The real-time RMMS controller consists of a Motorola 68020 single-board computer which will perform real time servo control and path planning of the manipulator. This single board computer communicates via shared memory with a SUN3 workstation, which serves as a software development system and robot programming environment. Researchers have designed a bus communication network to provide multiplexed communication between the joint modules and the computer controller. The bus supports identification of modules, sensing of joint states, and commands to the joint actuator. This network has sufficient bandwidth to allow servo sampling rates in excess of 500 Hz.

Schmitz, D.↗

Method and apparatus for calibrating multi-axis load cells in a dexterous robot

A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

Wampler, II, Charles W.↗

Simulating the Structural Response of a Preloaded Bolted Joint

The present paper describes the structural analyses performed on a preloaded bolted-joint configuration. The joint modeled was comprised of two L-shaped structures connected together using a single bolt. Each L-shaped structure involved a vertical flat segment (or shell wall) welded to a horizontal segment (or flange). Parametric studies were performed using elasto-plastic, large-deformation nonlinear finite element analyses to determine the influence of several factors on the bolted-joint response. The factors considered included bolt preload, washer-surface-bearing size, edge boundary conditions, joint segment length, and loading history. Joint response is reported in terms of displacements, gap opening, and surface strains. Most of the factors studied were determined to have minimal effect on the bolted-joint response; however, the washer-bearing-surface size affected the response significantly.

Knight, Norman F., Jr.↗

A global approach for the identification of structural connection properties

A general procedure is developed for identifying properties of structural joints. The procedure, which uses experimental response data, is considered general because it is applicable to any size or type of structural system. The present procedure, which identifies characteristics such as damping and stiffness, accommodates both linear and nonlinear joint properties and may process test data measured at arbitrary stations on the structural system. The method identifies joint characteristics by performing a global fit between predicted and measured data. It overcomes limitations of previous methods in that it can better deal with parameter-dependent constraints (e.g., gaps). The method is demonstrated with a simplified model of a bladed disk assembly having friction damping and mistuning.

Lawrence, Charles↗

Connecting Space to Village: Tethys Adoption Within SERVIR

The SERVIR program, a joint development initiative of National Aeronautics and Space Administration (NASA) and United States Agency for International Development (USAID), works in partnership with leading regional organizations world-wide to help developing countries use information provided by Earth observing satellites and geospatial technologies for managing climate risks and land use. SERVIR empowers decision-makers with tools, products, and services to act locally on critical issues related to four key areas: Food Security and Agriculture, Water and Water-related Disasters, Land Use/Land Cover and Ecosystems, Weather and Climate. SERVIR is improving awareness, increasing access to information, and supporting analysis to help people in West Africa, Eastern and Southern Africa, Hindu Kush-Himalaya (HKH), the Lower Mekong, South America and Mesoamerica. NASA funds an Applied Sciences Team (AST), composed of experts from universities and research institutions around the United States. Through AST, SERVIR adopted the Tethys platform introduced by Brigham Young University (BYU) for the implementation of tools to deliver scientific data to stakeholders in the Hindu Kush-Himalaya region. Several Tethys applications developed within SERVIR have raised interest amongst decision makers in the countries served by our regional hubs. They see these new apps as key vehicles to disseminate complex information related to weather models, hydrological models, and air quality monitoring, and as such the scope of our Tethys efforts continue to expand to other regions. As of July 2019, each one of the SERVIR hubs (with the exception of Amazonia, which has only recently started), have stood up Tethys portals and have at least one individual trained in the implementation and maintenance of a Tethys portal and in the creation of basic applications. HKH, with BYU's valuable support, has implemented very sophisticated applications that showcase the possibilities and the benefits that the Tethys platform brings.

Tethys↗

A Sub-Hertz, Low-Frequency Vibration Isolation Platform

One of the major technical problems deep-space optical communication (DSOC) systems need to solve is the isolation of the optical terminal from vibrations produced by the spacecraft navigational control system and by the moving parts of onboard instruments. Even under these vibration perturbations, the DSOC transceivers (telescopes) need to be pointed l000 fs of times more accurately than an RF communication system (parabolic antennas). Mechanical resonators have been extensively used to provide vibration isolation for groundbased, airborne, and spaceborne payloads. The effectiveness of these isolation systems is determined mainly by the ability of designing a mechanical oscillator with the lowest possible resonant frequency. The Low-Frequency Vibration Isolation Platform (LFVIP), developed during this effort, aims to reduce the resonant frequency of the mechanical oscillators into the sub-Hertz region in order to maximize the passive isolation afforded by the 40 dB/decade roll-off response of the resonator. The LFVIP also provides tip/tilt functionality for acquisition and tracking of a beacon signal. An active control system is used for platform positioning and for dampening of the mechanical oscillator. The basic idea in the design of the isolation platform is to use a passive isolation strut with an approximately equal to 100-mHz resonance frequency. This will extend the isolation range to lower frequencies. The harmonic oscillator is a second-order lowpass filter for mechanical disturbances. The resonance quality depends on the dissipation mechanisms, which are mainly hysteretic because of the low resonant frequency and the absence of any viscous medium. The LFVIP system is configured using the well-established Stewart Platform, which consists of a top platform connected to a base with six extensible struts (see figure). The struts are attached to the base and to the platform via universal joints, which permit the extension and contraction of the struts. The struts ends are connected in pairs to the base and to the platform, forming an octahedron. The six struts provide the vibration isolation due to the properties of mechanical oscillators that behave as second-order lowpass filters for frequencies above the resonance. At high frequency, the ideal second-order low-pass filter response is spoiled by the distributed mass and the internal modes of membrane and of the platform with its payload.

Ortiz, Gerardo, G.↗

Cryopumping Field Joint Can Testing

For long installations, vacuum jacketed piping often comes in 40 foot sections that are butt welded together in the field. A short can is then welded over the bare pipe connection to allow for insulation to be protected from the environment. Traditionally, the field joint is insulated with multilayer insulation and a vacuum is pulled on the can to minimize heat leak through the bare section and prevent frost from forming on the pipe section. The vacuum jacketed lines for the Ares I mobile launch platform were to be a combined 2000 feet long, with 60+ pipe sections and field joint cans. Historically, Kennedy Space Center has drilled a hole in the long sections to create a common vacuum with the field joint can to minimize maintenance on the vacuum jacketed piping. However, this effort looked at ways to use a passive system that didn't require a vacuum, but may cryopump to create its own vacuum. Various forms of aerogel, multilayer insulations, and combinations thereof were tested to determine the best method of insulating the field joint while minimizing maintenance and thermal losses.

Johnson, Wesley L.↗

Development Requirements for Spacesuit Elbow Joint

Functional Requirements for spacesuit elbow joint:1) The system is a conformal, single-axis spacesuit pressurized joint that encloses the elbow joint of the suited user and uses a defined interface to connect to the suit systems on either side of the joint.2) The system shall be designed to bear the loads incurred from the internal pressure of the system, as well as the expected loads induced by the user while enabling the user move the joint through the required range of motion. The joint torque of the system experienced by the user shall remain at or below the required specification for the entire range of motion.3) The design shall be constructed, at a minimum, as a two-layer system. The internal, air-tight layer shall be referred to as the bladder, and the layer on the unpressurized side of the bladder shall be referred to as the restraint. The design of the system may include additional features or layers, such as axial webbing, to meet the overall requirements of the design.

Peters, Benjamin↗

Joint pain and Doppler-detectable bubbles in altitude (Hypobaric) decompression

The observation that altitude decompression sickness (DCS) is associated with pain in the lower extremities is not new, although it is not a consistent finding. DCS in divers is generally in the upper body, an effect often attributed to non-loading of the body while immersed. In caisson workers, DCS is reported more in the lower extremities. Surprisingly, many researchers do not mention the location of DCS joint pain, apparently considering it to be random. This is not the case for the tissue ratios encountered in studying decompression associated with simulated EVA. In NASA/JSC tests, altitude DCS generally presented first in either the ankle, knee, or hip (83 percent = 73/88). There was a definite statistical relation between the maximum Spencer precordial Doppler Grade and the incidence of DCS in the extremity, although this is not meant to imply a casual relation between circulating gas bubbles and joint pain. The risk of DCS with Grade 4 was considerably higher than that of Grades 0 to 3. The DCS risk was independent of the 'tissue ratio.' There was a predominance of lower extremity DCS even when exercise was performed with the upper body. The reason for these locations we hypothesize to be attributed to the formation of tissue gas micronuclei from kinetic and tensile forces (stress-assisted nucleation) and are the result of the individuals ambulating in a 1g environment. Additionally, since these showers of Doppler bubbles can persist for hours, it is difficult to imagine that they are emanating solely from tendons and ligaments, the supposed site of joint pain. This follows from Henry's law linking the volume of joint tissue (the solvent) and the solubility coefficient of inert gas; there is volumetrically insufficient connective tissue to produce the prolonged release of gas bubbles. If gas bubbles are spawned and released from connective tissue, their volume is increased by those from muscle tissue. Therefore, the nexus between Doppler-detectable gas bubbles and joint-pain decompression sickness is essentially a statistical, rather than a direct, one.

Powell, Michael R.↗

Shoulder and hip joint for hard space suits

Shoulder and hip joints for hard space suits are disclosed which are comprised of three serially connected truncated spherical sections, the ends of which converge. Ball bearings between the sections permit relative rotation. The proximal end of the first section is connected to the torso covering by a ball bearing and the distal end of the outermost section is connected to the elbow or thigh covering by a ball bearing. The sections are equi-angular and this alleviates lockup, the condition where the distal end of the joint leaves the plane in which the user is attempting to flex. The axes of rotation of the bearings and the bearing mid planes are arranged to intersect in a particular manner that provides the joint with a minimum envelope. In one embodiment, the races of the bearing between the innermost section and the second section is partially within the inner race of the bearing between the torso and the innermost spherical section further to reduce bulk.

Vykukal, H. C.↗

Low Cost (CAPEX and variable): Tool design for cell and module fabrication with thin, free-standing silicon wafers

This project aimed to develop technologies that can potentially enable free-standing thin (<80 μm) wafer in today’s manufacturing lines with high production yield, and thereby reduce capex barriers of silicon photovoltaics cells and modules. One of the major benefits is that thin wafer dramatically reduces the amount of polysilicon required. As a result, it can lead to reduction in the capital expenditures associated with polysilicon refining and wafer fabrication, which together are more than half of the total capital expenditure to manufacture Si PV module. We focused our efforts on developing the tools needed to enable high yield fabrication of wafer, cell, and module with thin silicon wafers. However, as the wafer thickness reduces, the major challenge is that wafer breakage increases significantly. Three technological areas were explored in this project to improve the production yield of the silicon wafer, namely detection of edge cracks via dark-field near-infrared (NIR) scattering; (2) wafer handling using controlled temperature profiles; (3) manufacturable low-stress cell interconnection for multiwire. First, the formation of wafer cracks in submillimeter length is one of the reasons that causes wafer breakages. Crack detection tools are needed to enable us to locate and track the wafer crack during manufacturing, so that we can improve the process to reduce initialization. The state-of-the-art crack detection technique cannot fulfill the need for measuring submillimeter edge cracks detrimental for thin wafers. The prototype developed in this project demonstrates the scanning of microcracks near wafer edges. With a semi-automatic laboratory setup, the submillimeter cracks were reliably detected near the edges in multi-Si wafers. The smallest detectable crack is 200 µm in length in slow scans; and submillimeter cracks are detected in high-throughput scans at the scan speed of >0.5 m/s, which is compatible with the inline detection of a manufacturing line at least 1 sec/wafer. This detection limit is a significant advancement in comparison to the benchmarked industrial tool. Second, wafer handling with the well-controlled temperature profile was thought to be the solution to reduce crack initiation and propagation during the manufacturing. However, without crack detection being widely adopted in production line, we did not find a strong industrial pull toward this technology. We did an initial literature survey and then diverted our efforts to the other tasks. Third, the innovation on low-stress multi-wire interconnection tackles a fundamental problem in the standard interconnection scheme. The standard over-under “zig-zag” interconnection induces a significant amount of stress into the soldering point on the cell whenever PV module is under stress, e.g., thermal cycling, transportation, and installation. Therefore, the interconnection process was re-designed in this project to allow for significant movement between adjacent solar cells, e.g., due to thermal expansion, without building up stresses on the solar cells or solder joints. The new interconnection method with the cross-connect wire also simplifies the tabbing and stringing process by replacing the standard over-under method with an off-cell interconnect from top to bottom. A manual tabbing and stringing tool for this new process was prototyped in the lab to demonstrate the fabrication of this new interconnection design. During the test with brass sheets as our “testing cells”, it was found that the mechanical cycling test only broke the interconnection after more than 50,000 cycles, which is equivalent to more than 130 years of the day-and-night thermal cycles. Lastly, throughout the project, we continuously analyzed the PV market with techno-economic analysis to identify the opportunity for thin Si adoption. Even though the drastic cost reduction has already happened in the past five years, our analysis results indicated that we can still save quite significantly in both manufacturing cost and factory capex, Particularly, in order to grow the PV manufacturing capacity to multi-terawatt level, reducing the thickness of silicon wafer is one of the most effective ways to quickly reduce factory capex, and sustain the high growth rate. The technologies developed in this project are readily available to provide some assistances in tackling the production yield problem.

14 SOLAR ENERGY↗

Shuttle relative navigation of a tethered satellite mission with current on board software

A Shuttle mission planned in 1991 will test the feasibility of tethers in space. This mission, a joint effort between Italy and the United States, will connect a satellite (built by the Italians) to the Shuttle with a 20 km long tether. This mission poses unique navigation problems. The flight software on the Shuttle was never designed to account for the low level acceleration that is generated by the gravity gradient. IMUs on the Shuttle was never designed to account for the low level acceleration that is generated by the gravity gradient. Inertial Maneuvering Units on the shuttle will sense the acceleration of the tether but it turns out that incorporating the continuous accelerometer noise also generates large error growth. Relative navigation is another important issue since the majority of the mission will be conducted while the satellite is out of the visual range of the crew. Some kind of feedback on the motion of the satellite will be desirable. Feedback of the satellite motion can be generated by using the rendezvous radar. To process the radar measurements, the flight software uses a 13 state Kalman Filter, but unfortunately with the filter currently tuned as it is, valid measurements tend to be ignored. This is due to the constraint of the tether on the satellite, which is an unmodeled force. Analysis shows that with proper tuning, relative navigation is possible.

Lee, Kevin A.↗

Instrumented Bolts Would Measure Shear Forces In Joints

Bolts instrumented with strain gauges used to measure shear forces. Bolts installed in multiple-bolt lap joints to obtain data on distribution of stresses and deformations in and around joints. Strain gauges indicate share of applied load borne by each individual bolt. In original application, bolted panels made of advanced refractory composite materials designed to withstand use at temperatures up to 4,000 degrees F. Also applicable to other joint materials and measurement of shear loads in other connections such as, shear loads on shafts in pulleys or gears.

Sawyer, James Wayne↗

Hydroclimatic Controls over Global Variations in Phenology and Carbon Flux

The connection between phenological and hydroclimatological variations are quantified through joint analyses of global NDVI, LAI, and precipitation datasets. The global distributions of both NDVI and LAI in the warm season are strongly controlled by three quantities: mean annual precipitation, the standard deviation of annual precipitation, and Budyko's index of dryness. Upon demonstrating that these same basic (if biased) relationships are produced by a dynamic vegetation model (the dynamic vegetation and carbon storage components of the NCAR Community Land Model version 4 combined with the water and energy balance framework of the Catchment Land Surface Model of the NASA Global Modeling and Assimilation Office), we use the model to perform a sensitivity study focusing on how phenology and carbon flux might respond to climatic change. The offline (decoupled from the atmosphere) simulations show us, for example, where on the globe a given small increment in precipitation mean or variability would have the greatest impact on carbon uptake. The analysis framework allows us in addition to quantify the degree to which climatic biases in a free-running GCM are manifested as biases in simulated phenology.

Koster, Randal↗

Joint For Erectable and Collapsible Frames

Joint mechanism allows truss structure to be folded and stowed in small space. Mechanism includes hinge attached to two truss elements connected by two links, tension bar, and compression bar. When folded elements are released, springs in joint mechanism rotate truss elements about hinge and lock mechanism to form single member. Developed for structures erected in space (antennas, solar panels, solar sails, and masts), joint mechanism adaptable to window-opening struts, folding furniture and television antennas.

Pelischek, T. E.↗

SERVIR - Connecting Space to Village in Africa, Asia and the Americas

SERVIR is a joint NASA and USAID program that partners with countries and organizations to support locally led efforts to strengthen climate resilience, food and water security, forest and carbon management, and air quality. This unique program integrates NASA’s world class scientists and data with USAID’s development expertise and network of partners and relationships around the world. SERVIR harnesses the power of satellite data and science collaboration to support healthy, sustainable communities, livelihoods and environments. SERVIR’s name is derived from Latin, meaning "to serve.” We serve and partner with leading local, national, and regional institutions in Africa, Asia, and Latin America and in partnership with scientists and subject matter experts to co-develop and implement activities called “services.” Each of SERVIR’s services provide a comprehensive suite of geospatial data, software, and training materials, all of which are tailored to the unique needs of SERVIR’s end users. Each service is collaboratively designed and implemented with the help of partners and users, such as local governments and NGOs, to better support decision-making. When SERVIR plans new services, it prioritizes long-term dialogue and engagement with communities to ensure that services are sustainable, socially inclusive, and suited to local needs. SERVIR strives to make the power of Earth science more accessible and inclusive. All web tools are made publicly available to help promote greater uptake and long-term use of SERVIR’s services.

SERVIR↗

Cosmological cross-correlations and nearest neighbour distributions

ABSTRACT Cross-correlations between data sets are used in many different contexts in cosmological analyses. Recently, k-nearest neighbour cumulative distribution functions (kNN-CDF) were shown to be sensitive probes of cosmological (auto) clustering. In this paper, we extend the framework of NN measurements to describe joint distributions of, and correlations between, two data sets. We describe the measurement of joint kNN-CDFs, and show that these measurements are sensitive to all possible connected N-point functions that can be defined in terms of the two data sets. We describe how the cross-correlations can be isolated by combining measurements of the joint kNN-CDFs and those measured from individual data sets. We demonstrate the application of these measurements in the context of Gaussian density fields, as well as for fully non-linear cosmological data sets. Using a Fisher analysis, we show that measurements of the halo-matter cross-correlations, as measured through NN measurements are more sensitive to the underlying cosmological parameters, compared to traditional two-point cross-correlation measurements over the same range of scales. Finally, we demonstrate how the NN cross-correlations can robustly detect cross-correlations between sparse samples – the same regime where the two-point cross-correlation measurements are dominated by noise.

79 ASTRONOMY AND ASTROPHYSICS↗

Flutter analysis of an airplane with multiple structural nonlinearities in the control system

Experience has shown that the flutter prediction process for airplanes can be greatly affected by strong concentrated nonlinearities which may be localized in the linking elements of the control mechanism, in the pivot joints of variable-sweep-wing systems, and in the connecting points between wing and pylon-mounted external stores. The principle of equivalent linearization offers an efficent possibility for solving the related nonlinear flutter equations in the frequency domain as a complement to the well-known time domain procedures. Taking as an example an airplane with nonlinear control characteristics, it is demonstrated how the equivalent linearization approach can be extended to rather complicated systems with multiple sets of strongly interacting, concentrated nonlinearities.

Breitbach, E. J.↗