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At least 235 records · Page 13

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NASA NTRS1990

Agile Walking Robot

Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

Larimer, Stanley J.↗

NASA NTRS1990

University of Maryland walking robot: A design project for undergraduate students

The design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Olsen, Bob↗

NASA NTRS1990

A stratocumulus thermodynamic analysis: July 5 case study

On July 5 (NCAR Electra flight 4, Mission 186-G) the Electra flew a single aircraft mission which consisted of cross and along-wind legs at 6 different altitudes between 10:43 to 16:00 PDT (17:43 to 23:00 GMT). The leg length was kept short (8 to 10 minutes) to permit maximum vertical resolution, and there were 8 soundings. Observer notes report a thin, solid stratocumulus cloud deck which gradually became more broken in the afternoon. Winds were from the north at 10 to 13/ms throughout the night. Sea surface temperature measurements and conservative variable analyses for several of the July 5 legs are presented. These results are preliminary to a study of the thermodynamic budget on July 5; they indicate that: the sea surface temperature dropped more than 1 K (from 17.3 to 15.9 C) over the course of the flight (18:01 and at 21:51 GMT); mixing lines for each of the horizontal subcloud legs show the effect of a strong north-south gradient in SST; and there is a clear demarcation over a transition of 5 to 10 km between air to the south and cooler, moister air to the north. The FSSP measurements indicate there are small clouds/scud 250 m below cloud base on the cold northern side of this transition. The transition is seen in the saturation point diagrams at 984, 959, and 946 mb. There is no corresponding change in the horizontal wind across the transition regions.

Austin, Philip↗

NASA NTRS1989

Periodic gaits for the CMU ambler

The configuration of the Carnegie Mellon University Ambler, a six legged autonomous walking vehicle for exploring Mars, enables the recovery of a trailing leg past the leading leg to reduce the energy expenditure in terrain interactions. Gaits developed for this unprecedented configuration are described. A stability criterion was developed which ensures stability of the vehicle in the event of failure of any one of the supporting legs. Periodic gaits developed for the Ambler utilize the Ambler's unique abilities, and continuously satisfy the stability criterion.

Mahalingam, Swaminathan↗

NASA NTRS1990

Task decomposition for multilimbed robots to work in the reachable-but-unorientable space

Multilimbed industrial robots that have at least one arm and two or more legs are suggested for enlarging robot workspace in industrial automation. To plan the motion of a multilimbed robot, the arm-leg motion-coordination problem is raised and task decomposition is proposed to solve the problem; that is, a given task described by the destination position and orientation of the end-effector is decomposed into subtasks for arm manipulation and for leg locomotion, respectively. The former is defined as the end-effector position and orientation with respect to the legged main body, and the latter as the main-body position and orientation in the world coordinates. Three approaches are proposed for the task decomposition. The approaches are further evaluated in terms of energy consumption, from which an optimal approach can be selected.

Su, Chao↗

NASA NTRS1991

Influence of eccentric actions on the metabolic cost of resistance exercise

The contributions of concentric (con) and eccentric (ecc) muscle actions are evaluated with respect to increasing the metabolic cost of resistance exercise. Male subjects perform leg exercise with either con and ecc actions or only con actions while the net energy cost of the exercise is measured by oxygen consumption data. In both groups, the con actions require 290 J/kg body weight of total work, with an energy cost of 0.003 cal/J. The energy costs for the con/ecc actions of the second group is increased by 14 percent. The metabolic cost of leg exercise is concluded to be primarily generated by the con leg actions, and ecc leg actions increase the resistance with only a slight increase in required energy. The findings are significant for practical applications that emphasize the conservation of energy expenditure during exercise in spacecraft environments.

Dudley, Gary A.↗

NASA NTRS1994

Dual-cycle ergometry as an exercise modality during prebreathe with 100 percent oxygen

In an effort to reduce prebreathe time requirements prior to extravehicular activities and high-altitude flights, a combined arm and leg exercise task proposes to enhance denitrogenation by incorporation of both upper and lower body musculature at a moderately high work intensity during prebreathe with 100% oxygen. Preliminary findings indicated peak oxygen consumption (VO2peak) levels attained on the dual-cycle ergometer do not differ significantly from those levels attained on the treadmill. Eight male subjects were exercised to VO2peak using leg-only cycle ergometry and dual-cycle ergometry on separate days. Preliminary data during dual-cycle ergometry showed arm work equaling 30% of the leg workrate at each stage of the incremental test resulted in arm fatigue in several subjects and a reduced VO2peak compared to dual-cycle ergometry with arm work at 20%. Thus, the 20% workrate was used during the dual-cycle VO2peak trial. On a third experimental day, subjects performed a 10 minute exercise test at a workrate required to elicit 75% of VO2peak for each subject on the dual-cycle ergometer. Blood lactate response to the exercise was monitored as an objective measure of fatigue. Peak VO2 levels attained on the leg-only and the dual-cycle ergometry tasks were not significantly different. Blood lactate levels were significantly elevated following the dual-cycle ergometry at 75% VO2peak. However, lactate levels show the expected rate of decline during recovery and, as demonstrated in the literature, should return to baseline levels within 30 minutes following exercise cessation. Thus, dual-cycle ergometry at 75% VO2peak appears to be a valid exercise for use during prebreathe and should not contribute to fatigue during subsequent EVA's.

Heaps, Cristine L.↗

NASA NTRS1992

Venous compliance and fluid shift measurements on Spacelab IML-1

During the first few hours of a human spaceflight mission, a headward fluid shift out of the abdomen, pelvis, and legs initiates a number of adaptive cardiovascular responses, including a loss of intravascular and extravascular fluid volume. On return to earth, these cardiovascular changes may lead to debilitating symptoms of orthostatic intolerance in an unprotected astronaut. To test the hypothesis that an inflight increase in compliance of the leg veins may contribute to this condition, measurements of lower leg fluid shift and bulk venous compliance were collected from crew members during the eight-day First International Microgravity Laboratory shuttle mission. An ultrasonic limb plethysmograph, in conjunction with two compression cuffs encircling the calf and thigh, was used to determine bulk compliance of the underlying veins over a range of negative and positive transmural pressures. The data from inflight experiment sessions were compared to preflight and postflight sessions. The preliminary results indicate that the volume of the lower leg decreased by over 10 percent by the sixth day of flight, but there was no apparent change in venous compliance.

Leiski, D.↗

NASA NTRS1992

Magnetic Resonance Imaging (MRI) of skeletal muscles in astronauts after 9 days of space flight

Skylab data indicated that prolonged exposure of human subjects to microgravity environment causes significant muscle atrophy accompanied by reduced muscle strength and fatigue resistance. The objective of this study was to determine decrements in muscle size, if any, in the soleus and gastrocnemius muscles of male and female astronauts after 9 days of space flight. Methods: Eight astronauts, one female and seven male, between the ages of 31 and 59 years 59-84 kg in body weight were examined by MRI 2-3 times preflight within 16 days before launch, and 2 days, (n=6) and seven days (n=3) after landing. The right leg muscles (gastroc-soleus) were imaged with a lower extremity coil in magnets operating at 1.0 or 1.5 Tsela. The imaging protocol consisted of spin echo with a Tr of 0.70 - 1.5 sec. Thirty to forty 3-5 mm thick slices were acquired in 256 x 128 or 256 x 256 matrices. Acquisition time lasted 20-40 minutes. Multiple slices were measured by computerized planimetry. Results: Compared to the preflight, the cross-sectoral areas (CSA) of the soleus, gastrocnemius, and the leg, at 2 days after landing were reduced (at least p less than 0.05) 8.9 percent, 13.2 percent, and 9.5 percent respectively. The soleus and the leg of three astronauts evaluated at 7 days postflight did not show full recovery compared to the preflight values. Conclusions: It is concluded that l9-days of space flight may cause significant decreases in CSA of the leg muscles. The factors responsible for this loss need further determination.

Jaweed, M.↗

NASA NTRS1995

Knee Brace Would Lock And Unlock Automatically

Proposed knee brace designed to aid rehabilitation of person who suffered some muscle damage in leg. Not limited to locking in straight-leg position and, instead, locks at any bend angle. Does not prevent knee from bearing weight. Instead, knee brace allows knee to bear weight and locks only when foot and lower leg bear weight. Thus, brace prevents flexion that wearer desired to prevent but could not prevent because of weakened muscles. Knee bends freely to exercise knee-related muscles. Knee brace strapped at upper end to leg above knee, and anchored at lower end by stirrup under foot. Joint mechanism (identical mechanisms used in left and right assemblies) allows knee joint to flex freely except when weight applied to heel.

Myers, Neill↗

NASA NTRS1998

ETP-0492, Measured Residual Stresses in CYL S/N 53 Fretted Area

This test report presents the results of a residual stress survey of the inner clevis leg of lightweight cylinder SIN 053 as described by ETP-0492. The intent of this testing was to evaluate the residual stresses that occur in and around the inner clevis leg at the capture feature contact zone during a normal flight cycle. Lightweight case cylinder segment IU50717, S/N L053 from Flight STS-27 exhibited fretting around the contact zone of the inner clevis leg and the capture feature of the field joint. Post flight inspection revealed several large fitting pits on the inside of the inner clevis leg. This cylinder was assigned for both residual stress and metallurgical evaluation. This report is concerned only with the residual so= evaluations. The effects of glass bead cleaning and fi=ing were evaluated using the x-ray diffraction method.

Webster, Ronald L.↗

NASA NTRS2000

A Pilot Study for Applying an Extravehicular Activity Exercise Prebreathe Protocol to the International Space Station

Decompression sickness (DCS) is a serious risk to astronauts performing extravehicular activity (EVA). To reduce this risk, the addition of ten minutes of moderate exercise (75% VO2pk) during prebreathe has been shown to decrease the total prebreathe time from 4 to 2 hours and to decrease the incidence of DCS. The overall purpose of this pilot study was to develop an exercise protocol using flight hardware and an in-flight physical fitness cycle test to perform prebreathe exercise before an EVA. Eleven subjects volunteered to participate in this study. The first objective of this study was to compare the steady-state heart rate (HR) and oxygen consumption (VO2) from a submaximal arm and leg exercise (ALE) session with those predicted from a maximal ALE test. The second objective was to compare the steady-state HR and V02 from a submaximal elastic tube and leg exercise (TLE) session with those predicted from the maximal ALE test. The third objective involved a comparison of the maximal ALE test with a maximal leg-only (LE) test to conform to the in- flight fitness assessment test. The 75% VO2pk target HR from the LE test was significantly less than the target HR from the ALE test. Prescribing exercise using data from the maximal ALE test resulted in the measured submaximal values being higher than predicted VO2 and HR. The results of this pilot study suggest that elastic tubing is valid during EVA prebreathe as a method of arm exercise with the flight leg ergometer and it is recommended that prebreathe countermeasure exercise protocol incorporate this method.

Woodruff, Kristin K.↗

NASA NTRS2000

Development of Thick-Film Thermoelectric Microcoolers Using Electrochemical Deposition

Advanced thermoelectric microdevices integrated into thermal management packages and low power, electrical source systems are of interest for a variety of space and terrestrial applications. By shrinking the size of the thermoelements, or legs, of these devices, it becomes possible to handle much higher heat fluxes, as well as operate at much lower currents and higher voltages that are more compatible with electronic components. The miniaturization of state-of-the-art thermoelectric module technology based on Bi2Te3 alloys is limited due to mechanical and manufacturing constraints for both leg dimensions (100-200 gm thick minimum) and the number of legs (100-200 legs maximum). We are investigating the development of novel microdevices combining high thermal conductivity substrate materials such as diamond, thin film metallization and patterning technology, and electrochemical deposition of thick thermoelectric films. It is anticipated that thermoelectric microcoolers with thousands of thermocouples and capable of pumping more than 200 W/sq cm over a 30 to 60 K temperature difference can be fabricated. In this paper, we report on our progress in developing an electrochemical deposition process for obtaining 10-50 microns thick films of Bi2Te3 and its solid solutions. Results presented here indicate that good quality n-type Bi2Te3, n-type Bi2Te(2.95)Se(0.05) and p-type Bi(0.5)Sb(1.5)Te3 thick films can be deposited by this technique. Some details about the fabrication of the miniature thermoelements are also described.

Fleurial, J.-P.↗

NASA NTRS2000

The neuropathic postural tachycardia syndrome

BACKGROUND: The postural tachycardia syndrome is a common disorder that is characterized by chronic orthostatic symptoms and a dramatic increase in heart rate on standing, but that does not involve orthostatic hypotension. Several lines of evidence indicate that this disorder may result from sympathetic denervation of the legs. METHODS: We measured norepinephrine spillover (the rate of entry of norepinephrine into the venous circulation) in the arms and legs both before and in response to exposure to three stimuli (the cold pressor test, sodium nitroprusside infusion, and tyramine infusion) in 10 patients with the postural tachycardia syndrome and in 8 age- and sex-matched normal subjects. RESULTS: At base line, the mean (+/-SD) plasma norepinephrine concentration in the femoral vein was lower in the patients with the postural tachycardia syndrome than in the normal subjects (135+/-30 vs. 215+/-55 pg per milliliter [0.80+/-0.18 vs. 1.27+/-0.32 nmol per liter], P=0.001). Norepinephrine spillover in the arms increased to a similar extent in the two groups in response to each of the three stimuli, but the increases in the legs were smaller in the patients with the postural tachycardia syndrome than in the normal subjects (0.001+/-0.09 vs. 0.12+/-0.12 ng per minute per deciliter of tissue [0.006+/-0.53 vs. 0.71+/-0.71 nmol per minute per deciliter] with the cold pressor test, P=0.02; 0.02+/-0.07 vs. 0.23+/-0.17 ng per minute per deciliter [0.12+/-0.41 vs. 1.36+/-1.00 nmol per minute per deciliter] with nitroprusside infusion, P=0.01; and 0.008+/-0.09 vs. 0.19+/-0.25 ng per minute per deciliter [0.05+/-0.53 vs. 1.12+/-1.47 nmol per minute per deciliter] with tyramine infusion, P=0.04). CONCLUSIONS: The neuropathic postural tachycardia syndrome results from partial sympathetic denervation, especially in the legs.

NASA Discipline Regulatory Physiology↗

NASA NTRS2005

Electric field measurements of DC and long wavelength structures associated with sporadic-E layers and QP radar echoes

Electric field and plasma density data gathered on a sounding rocket launched from Uchinoura Space Center, Japan, reveal a complex electrodynamics associated with sporadic-E layers and simultaneous observations of quasiperiodic radar echoes. The electrodynamics are characterized by spatial and temporal variations that differed considerably between the rocket's up-leg and down-leg traversals of the lower ionosphere. Within the main sporadic-E layer (95- 110 km) on the up-leg, the electric fields were variable, with amplitudes of 2 4 mV1m that changed considerably within altitude intervals of 1-3 km. The identification of polarization electric fields coinciding with plasma density enhancements and/or depletions is not readily apparent. Within this region on the down-leg, however, the direction of the electric field revealed a marked change that coincided precisely with the peak of a single, narrow sporadic-E plasma density layer near 102.5 km. This shear was presumably associated with the neutral wind shear responsible for the layer formation. The electric field data above the sporadic-E layer on the upleg, from 110 km to the rocket apogee of 152 km, revealed a continuous train of distinct, large scale, quasi-periodic structures with wavelengths of 10-15 km and wavevectors oriented between the NE-SW quadrants. The electric field structures had typical amplitudes of 3-5 mV/m with one excursion to 9mV/m, and in a very general sense, were associated with perturbations in the plasma density. The electric field waveforms showed evidence for steepening and/or convergence effects and presumably had mapped upwards along the magnetic field from the sporadic-E region below.

Pfaff, R.↗

NASA NTRS2006

Modification of a Limbed Robot to Favor Climbing

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.

Okon, Avi↗

NASA NTRS2011

Walk and roll robot

A mobile robotic unit features a main body, a plurality of legs for supporting the main body on and moving the main body in forward and reverse directions about a base surface, and a drive assembly. According to an exemplary embodiment each leg includes a respective pivotal hip joint, a pivotal knee joint, and a wheeled foot adapted to roll along the base surface. Also according to an exemplary embodiments the drive assembly includes a motor operatively associated with the hip and knee joints and the wheeled foot for independently driving pivotal movement of the hip joint and the knee joint and rolling motion of the wheeled foot. The hip joint may include a ball-and-socket-type joint interconnecting top portion of the leg to the main body, such that the hip joint is adapted to pivot said leg in a direction transverse to a forward-and-reverse direction.

Wilson, Andrew↗

NASA NTRS2003

Effects of 14 days of head-down tilt bed rest on cutaneous vasoconstrictor responses in humans

This study tested the hypothesis that head-down tilt bed rest (HDBR) reduces adrenergic and nonadrenergic cutaneous vasoconstrictor responsiveness. Additionally, an exercise countermeasure group was included to identify whether exercise during bed rest might counteract any vasoconstrictor deficits that arose during HDBR. Twenty-two subjects underwent 14 days of strict 6 degrees HDBR. Eight of these 22 subjects did not exercise during HDBR, while 14 of these subjects exercised on a supine cycle ergometer for 90 min a day at 75% of pre-bed rest heart rate maximum. To assess alpha-adrenergic vasoconstrictor responsiveness, intradermal microdialysis was used to locally administer norepinephrine (NE), while forearm skin blood flow (SkBF; laser-Doppler flowmetry) was monitored over microdialysis membranes. Nonlinear regression modeling was used to identify the effective drug concentration that caused 50% of the cutaneous vasoconstrictor response (EC(50)) and minimum values from the SkBF-NE dose-response curves. In addition, the effects of HDBR on nonadrenergic cutaneous vasoconstriction were assessed via the venoarteriolar response of the forearm and leg. HDBR did not alter EC(50) or the magnitude of cutaneous vasoconstriction to exogenous NE administration regardless of whether the subjects exercised during HDBR. Moreover, HDBR did not alter the forearm venoarteriolar response in either the control or exercise groups during HDBR. However, HDBR significantly reduced the magnitude of cutaneous vasoconstriction due to the venoarteriolar response in the leg, and this response was similarly reduced in the exercise group. These data suggest that HDBR does not alter cutaneous vasoconstrictor responses to exogenous NE administration, whereas cutaneous vasoconstriction of the leg due to the venoarteriolar response is reduced after HDBR. It remains unclear whether attenuated venoarteriolar responses in the lower limbs contribute to reduced orthostatic tolerance after bed rest and spaceflight.

NASA Discipline Cardiopulmonary↗