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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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At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Quantitative Tester And Reconditioner For Hand And Arm

Apparatus measures torques, forces, and motions of hand, wrist, forearm, elbow, and shoulder and aids in reconditioning muscles involved. Used to determine strengths and endurances of muscles, ranges of motion of joints, and reaction times. Provides quantitative data used to assess extent to which disuse, disease, or injury causes deterioration of muscles and of motor-coordination skills. Same apparatus serves as exercise machine to restore muscle performance by imposing electronically controlled, gradually increasing loads on muscles. Suitable for training and evaluating astronauts, field testing for workers' compensation claims, and physical therapy in hospitals. With aid of various attachments, system adapted to measure such special motions as pinching, rotation of wrist, and supination and pronation of the forearm. Attachments are gloves, wristlets, and sleeves.

Engle, Gary↗
NASA NTRS1992

EXOS research on master controllers for robotic devices

Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

Marcus, Beth A.↗
NASA NTRS1992

Venus: Preliminary geologic mapping of northern Atla Regio

A preliminary geologic map of C1 sheet 15N197 was compiled according to Magellan data. Northern Atla Regio is dominantly a volcanic plain with numerous volcanic features: radar-bright and -dark flows and spots, shield volcanos, volcanic domes and hills with varied morphology, and coronalike constructions. Tesserae are the oldest terrains semiflooded by plain materials. There are many lineated terrains on this territory. They are interpreted as old, partly buried ridge belts. Lineated terrains have intermediate age between young plains and old tesserae. Ozza Mons and Sapas Mons are the high shield volcanos. The prominent structure of northern Atla Regio is Ganis Chasma rift. The rift dissected the volcanic plain and evolved nearly contemporaneously with Ozza Mons shield volcano. Ganis Chasma rift valley is highly fractured and bounded by fault scarps. There are a few relatively young volcanic features in the rift valley. The rift originated due to 5-10 percent crustal extension and crustal subsidence according to analysis of fracturing and rift valley geometry. Ganis Chasma is characterized by rift shoulder uplifts. Geological structures of Alta Regio and Beta Regio are very similar as assumed earlier.

Nikishin, A. M.↗
NASA NTRS1992

Venus: Preliminary geologic mapping of southern Beta Regio-northern Phoebe Regio

New preliminary geologic maps of C1 sheets 15N283 and 00N283 were compiled according to Magellan data. The oldest terrains are tesserae that have fragmentlike shapes. Its margins are partly buried by younger plain materials. Volcanic plains are the dominant types of terrains. There are many different volcanic features on plains: radar-bright and -dark flows and spots, shield volcanos, volcanic domes and hills with varied morphology, and coronalike constructions. Devana Chasma rift crosses the surface between Beta Regio and Phoebe regio. The rift's normal faults dissect volcanic plains and shield volcanos. The rift valleys are relatively young structures. According to structural analysis of the rift valleys we conclude the rift originated due to 5-10 percent crustal extension and crustal subsidence. Devana Chasma rift is characterized by shoulder uplifts.

Nikishin, A. M.↗
NASA NTRS1992

Venus: Geology of Beta Regio rift system

Beta Regio is characterized by the existence of rift structures. We compiled new geologic maps of Beta Regio according to Magellan data. There are many large uplifted tesserae on beta upland. These tesserae are partly buried by younger volcanic cover. We can conclude, using these observations, that Beta upland formed mainly due to lithospheric tectonic uplifting and was only partly constructed by volcanism. Theia Mons is the center of the Beta rift system. Many rift belts are distributed radially to Theia Mons. Typical widths of rifts are 40-160 km. Rift valleys are structurally represented by crustal grabens or half-grabens. There are symmetrical and asymmetrical rifts. Many rifts have shoulder uplifts up to 0.5-1 km high and 40-60 km wide. Preliminary analysis for rift valley structural cross sections lead to the conclusion that rifts originated due to 5-10 percent crustal extension. Many rifts traverse Beta upland and spread to the surrounding lowlands. We can assume because of these data that Beta rift system has an active-passive origin. It formed due to regional tectonic lithospheric extension. Rifting was accelerated by upper-mantle hot spot origination under the center of passive extension (under the Beta Regio).

Nikishin, A. M.↗
NASA NTRS1993

Method and apparatus for preloading a joint by remotely operable means

The invention is a method and apparatus for joining structures, an active structure and a passive structure, and imposing a tensile pre-load on the joint by a remotely operable mechanism comprising a heat contractible joining element. The method and apparatus include mounting on the structure, a probe shaft of material which is transformable from an expanded length to a contracted length when heated to a specific temperature range. The shaft is provided with a probe head which is receivable in a receptacle opening formed in the passive structure, when the active structure is moved into engagement therewith by an appropriate manipulator mechanism. A latching system mounted on the structure adjacent to the receptacle opening captures the probe head, when the probe head is inserted a predetermined amount. A heating coil on the shaft is energizable by remote control for heating the shaft to a temperature range which transforms the shaft to its contracted length, whereby a latching shoulder thereof engages latching elements of the latching system and imposes a tensile preload on the structural joint. Provision is also made for manually adjusting the probe head on the shaft to allow for manual detachment of the structures or manual preloading of the structural joint.

Kahn, Jon B.↗
NASA NTRS1993

Flight investigation of the effect of tail boom strakes on helicopter directional control

A joint U.S. Army/NASA flight investigation was conducted utilizing a single-rotor helicopter to determine the effectiveness of horizontally mounted tail boom strakes on directional controllability and tail rotor power during low-speed, crosswind operating conditions. Three configurations were investigated: (1) baseline (strakes off), (2) single strake (strake at upper shoulder on port side of boom), and (3) double strake (upper strake plus a lower strake on same side of boom). The strakes were employed as a means to separate airflow over the tail boom and change fuselage yawing moments in a direction to improve the yaw control margin and reduce tail rotor power. Crosswind data were obtained in 5-knot increments of airspeed from 0 to 35 knots and in 30 deg increments of wind azimuth from 0 deg to 330 deg. At the most critical wind azimuth and airspeed in terms of tail rotor power, the strakes improved the pedal margin by 6 percent of total travel and reduced tail rotor power required by 17 percent. The increase in yaw control and reduction in tail rotor power offered by the strakes can expand the helicopter operating envelope in terms of gross weight and altitude capability. The strakes did not affect the flying qualities of the vehicle at airspeeds between 35 and 100 knots.

Kelly, Henry L.↗
NASA NTRS1992

8- to 13-micron spectroscopy of Comet Levy 1990 XX

The results are reported of IR spectroscopy of Comet Levy 1990 XX over a three-day period when the comet was about 1.54 AU from the sun roughly 70 days before perihelion. Comet Levy 1990 XX was bright, and for at least part of its inbound journey toward perihelion, active. At a distance of 1.54 AU from the sun it showed strong structured silicate emission with peaks or shoulders at 9.8 and 11.2 microns. These features resemble those of Comets P/Halley and Bradfield 1987 XXIX. The comet was variable in brightness. Specifically, the contrast of the silicate features changed by a factor of two relative to the continuum level and showed some evidence for a shape change as well.

Lynch, David K.↗
NASA NTRS1993

An evaluation of nozzle relaminarization using Low Reynolds Number k-epsilon turbulence models

Two nozzle flowfields are evaluated numerically using a Low Reynolds k-epsilon turbulence model to examine possible boundary layer relaminarization. Flow enters the scramjet-like nozzles at a Mach Number of approximately 4.5 and is expanded around smooth shoulders to an exit Mach number of about 6.5. The strong streamwise acceleration and large favorable pressure gradients act with the convex curvature to form small regions of laminar-like boundary layer behavior along the expansion surface. Two relaminarization criteria are evaluated and they both predict relaminarization to be occurring, with the trends accurately modeled by the Low-Reynolds Number turbulence model that is used. The Baldwin-Lomax turbulence model cannot model the near-wall changes that take place in the rapidly accelerating boundary layer, but it proves to be useful in providing the acceleration parameters used in predicting the potential for relaminarization.

Jentink, Thomas N.↗
NASA NTRS1992

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Sicard, Pierre↗
NASA NTRS1992

Nonlinear modeling of a long flexible manipulator and control by inertial devices

The authors consider the modeling and control of a planar, long flexible manipulator that is representative of current space-based robotic arms. The arm is equipped with three actuators: 1) a shoulder motor; 2) a torque wheel at the tip; and 3) a proof-mass actuator at the tip. The goal is to investigate the potential use of inertial devices as control inputs for maneuvering tasks and vibration suppression. The parameters used for the inertial devices at the tip are comparable to those specified for the Mini-Mast facility at the Langley Research Center. A nonlinear distributed parameter model is obtained by the extended Hamilton principle. The associated eigenvalue/eigenfunction problem is solved and a finite-dimensional state space model is assembled. A preliminary design of a linear quadratic regulator is used, and computer simulation results illustrate the benefits of using the proposed actuators.

Barbieri, Enrique↗
NASA NTRS1993

Comparison of continuum and particle simulations of expanding rarefied flows

Comparisons of Navier-Stokes solutions and particle simulations for a simple two-dimensional model problem at a succession of altitudes are performed in order to assess the importance of rarefaction effects on the base flow region. In addition, an attempt is made to include 'Burnett-type' extensions to the Navier-Stokes constitutive relations. The model geometry consists of a simple blunted wedge with a 0.425 meter nose radius, a 70 deg cone half angle, a 1.7 meter base length, and a rounded shoulder. The working gas is monatomic with a molecular weight and viscosity similar to air and was chosen to focus the study on the continuum and particle methodologies rather than the implementation of thermo-chemical modeling. Three cases are investigated, all at Mach 29, with densities corresponding to altitudes of 92 km, 99 km, and 105 km. At the lowest altitude, Navier-Stokes solutions agree well with particle simulations. At the higher altitudes, the Navier-Stokes equations become less accurate. In particular, the Navier-Stokes equations and particle method predict substantially different flow turning angle in the wake near the after body. Attempts to achieve steady continuum solutions including 'Burnett-type' terms failed. Further research is required to determine whether the boundary conditions, the equations themselves, or other unknown causes led to this failure.

Lumpkin, Forrest E., III↗
NASA NTRS1992

Human-like agents with posture planning ability

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Jung, Moon R.↗
NASA NTRS1992

Radii effect on the translation spring constant of force transducer beams

Multi-component strain-gage force transducer design requires the designer to determine the spring constant of the numerous beams or flexures incorporated in the transducer. The classical beam deflection formulae that are used in calculating these spring constants typically assume that the beam has a uniform moment of inertia along the entire beam length. In practice all beams have a radius at the end where the beam interfaces with the shoulder of the transducer, and on short beams in particular this increases the beam spring constant considerably. A Basic computer program utilizing numerical integration is presented to determine this effect.

Scott, C. E.↗
NASA NTRS1994

Packaging Of Control Circuits In A Robot Arm

Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

Kast, William↗
NASA NTRS1994

Optimized Resolved-Rate Control Of Telerobotic Manipulator

Laboratory Telerobotic Manipulator (LTM) is seven-degree-of-freedom robot arm built for evaluation in ground-based research to assess role of redundant-degree-of-freedom arms in outerspace operations. Each arm has three pitch/yaw joints: one at shoulder, another at elbow, and third at wrist. Seventh degree of freedom provided by wrist-roll joint. Offers advantages of more efficient use of workspaces and ability to reach around obstacles, redundant manipulators used in mobile robots and teleoperators for hazardous environments, automotive assembly, welding, and spray painting.

Barker, L. Keith↗
NASA NTRS1990

New direction in CAD tools

Chip and software development communities are concerned with the runaway pace of chip development and the monumental problems which can quickly accumulate and overwhelm those charged with the task of IC development. This 'weight' must be transferred from the shoulders of the human developers to the software tools which assimilate and control the defining data of the development process. This paper details many of the problems which are being resolved by reviewing the obstacles and resultant advancements which the industry has made. Specifically, it will describe many of the things which are being done in one company to provide this much-needed relief.

Peterson, S.↗
NASA NTRS1993

Automatic locking orthotic knee device

An articulated tang in clevis joint for incorporation in newly manufactured conventional strap-on orthotic knee devices or for replacing such joints in conventional strap-on orthotic knee devices is discussed. The instant tang in clevis joint allows the user the freedom to extend and bend the knee normally when no load (weight) is applied to the knee and to automatically lock the knee when the user transfers weight to the knee, thus preventing a damaged knee from bending uncontrollably when weight is applied to the knee. The tang in clevis joint of the present invention includes first and second clevis plates, a tang assembly and a spacer plate secured between the clevis plates. Each clevis plate includes a bevelled serrated upper section. A bevelled shoe is secured to the tank in close proximity to the bevelled serrated upper section of the clevis plates. A coiled spring mounted within an oblong bore of the tang normally urges the shoes secured to the tang out of engagement with the serrated upper section of each clevic plate to allow rotation of the tang relative to the clevis plate. When weight is applied to the joint, the load compresses the coiled spring, the serrations on each clevis plate dig into the bevelled shoes secured to the tang to prevent relative movement between the tang and clevis plates. A shoulder is provided on the tang and the spacer plate to prevent overextension of the joint.

Weddendorf, Bruce C.↗