Search NASA⌕ Search

SEARCH · Search NASA

Results for “articulating”

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 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1977

Anthropomorphic master/slave manipulator system

An anthropomorphic master/slave manipulator system including master arm apparatus with a plurality of master tubular articulated portions is outlined. Objectives of this investion were to provide a system that accurately and smoothly simulates human limb movement at a remote location. The system has a high frequency response, a high structural stiffness and a design that protects the components of the slave mechanism. Simulation of human movements is possible in outer space, underwater, and in a hazardous environment such as in a high radiation area. The equivalent ability, dexterity, and strength of a human arm are simulated.

Vykukal, H. C.↗
NASA NTRS1976

Shuttle remote manipulator system workstation - Man-machine engineering

A major subsystem aboard the Shuttle Orbiter, the Remote Manipulator System (RMS) provides the capability to deploy and retrieve free-flying satellites, support attached payload operations, and aid in crewmember rescue from a disabled vehicle should the requirement arise. The Remote Manipulator System consists of 15.3-m (50 ft) articulated booms, end effectors, operator workstation, and closed circuit video, power and control subsystems. The manipulator booms (or arms) and end effectors are located in the Orbiter payload bay and operated from inside the cabin by one crewmember. This paper is primarily concerned with the design and development of the RMS operator's workstation, the man-machine engineering features and interfaces, and man-in-the-loop simulations and testing results obtained to date by the National Aeronautics and Space Administration (NASA).

Brown, J. W.↗
NASA NTRS1976

A critical examination of the flap-lag dynamics of helicopter rotor blades in hover and in forward flight

A critical examination of flap-lag stability of a centrally hinged, spring-restrained rigid blade in both hover and forward flight is presented. Several differences in the equations of motion for blade flap-lag stability in the existing literature are identified. A rigorous and systematic development of these equations for a rigid articulated blade in forward flight shows the existence of some linear aerodynamic coupling terms associated with blade steady-state flapping and lagging in the perturbation equations. The differences identified are shown to be associated with the order in which the flap and lag transformations are taken in developing the equations of motion. The implications of these differences on stability are examined, and it is shown that the pitch-lag coupling terms associated with a flap-lag hinge transformation sequence have a marked influence on flap-lag stability. Some qualitative considerations on the role of the assumed transformation sequence in the development of the flap-lag equations for a hingeless elastic blade are also given. On the basis of these considerations, it is shown that aerodynamic coupling terms associated with blade steady-state flapping and lagging similar to those found for the rigid blade will also appear in the equations for the elastic blade.

Kaza, K. R. V.↗
NASA NTRS1977

Skylab ultraviolet stellar astronomy experiment S019

An objective-prism stellar spectrograph of 15-cm aperture was flown on all three Skylab missions. The wavelength region from 1300 A to 5000 A was covered by a special optical system containing a combination of reflecting telescope optics, a CaF2 objective prism, and an achromatized field-corrector lens system of CaF2 and LiF. Observations of 188 star fields, each covering 4.0 x 5.0 deg of arc, were conducted at the Skylab antisolar airlock with the aid of an articulated mirror system which allowed acquisition within a 30 by 360 deg band of the sky.

Ocallaghan, F. G.↗
NASA NTRS1976

Space Shuttle Orbiter crash and rescue information - Basic characteristics of the Space Shuttle system

Major fire and rescue activity procedures developed for the Space Shuttle Orbiter are reproduced, together with diagrams of the Orbiter's ejection seat and of emergency egress-ingress hatches and blowout panels. Duties assigned to the Manager of the Fire, Crash and Rescue division of the Space Shuttle Program are discussed, including training of both ground and flight personnel in accordance with the Orbiter Crash Rescue Information manual. The special problem of providing a means of egress and rescue for the flight and ground crews of the Orbiter while it is in the piggyback configuration on top the Boeing 747 carrier was solved by use of a modified 85-foot articulated boom.

Gray, N. C.↗
NASA NTRS1976

Distributed microprocessors for spacecraft control and data handling

The Unified Data System (UDS) group at JPL is attempting to reduce total mission costs by designing a spacecraft data system which takes advantage of the natural and historical partitioning of a spacecraft into subsystems. Each subsystem is assigned a microprocessor which needs just enough capability to control the sensors and actuators of that subsystem, collect its data and maintain time synchronization with the rest of the spacecraft. The resulting distributed system avoids many of the overhead costs of a single centralized multi-processing system. To minimize complexity and therefore minimize total mission costs, a variety of standards and restrictions are imposed on the design of hardware, software, and communications. Articulation of these standards and restrictions is a major benefit deriving from the UDS program.

Lesh, F.↗
NASA NTRS1979

Self-propelling, self-locating colonoscope

Articulated instrument moves by air actuated bladder, while defining position by ultrasonic or RF signals. Device allows optical inspection of large bowel from cecum to rectum with minimal discomfort or risk to patient.

Fazer, R. E.↗
NASA NTRS1978

Phase 1: Definition of intercity transportation comparison framework. Volume 1: Summary

A unified framework for comparing intercity passenger and freight transportation systems is presented. Composite measures for cost, service/demand, energy, and environmental impact were determined. A set of 14 basic measures were articulated to form the foundation for computing the composite measures. A parameter dependency diagram, constructed to explicitly interrelate the composite and basic measures is discussed. Ground rules and methodology for developing the values of the basic measures are provided and the use of the framework with existing cost and service data is illustrated for various freight systems.

Source record↗
NASA NTRS1979

Foldable beam

Articulated beam folds into helix around cylindrical hub without segments becoming twisted. Twisting motion that normally occurs when a structure is folded into helix is undesirable in segmented beam because it complicates joints between segments.

Crawford, R. F.↗
NASA NTRS1978

A method for determining internal noise criteria based on practical speech communication applied to helicopters

The relationship between the internal noise environment of helicopters and the ability of personnel to understand commands and instructions was studied. A test program was conducted to relate speech intelligibility to a standard measurement called Articulation Index. An acoustical simulator was used to provide noise environments typical of Army helicopters. Speech material (command sentences and phonetically balanced word lists) were presented at several voice levels in each helicopter environment. Recommended helicopter internal noise criteria, based on speech communication, were derived and the effectiveness of hearing protection devices were evaluated.

Sternfeld, H., Jr.↗
NASA NTRS1978

Application of higher harmonic blade feathering for helicopter vibration reduction

Higher harmonic blade feathering for helicopter vibration reduction is considered. Recent wind tunnel tests confirmed the effectiveness of higher harmonic control in reducing articulated rotor vibratory hub loads. Several predictive analyses developed in support of the NASA program were shown to be capable of calculating single harmonic control inputs required to minimize a single 4P hub response. In addition, a multiple-input, multiple-output harmonic control predictive analysis was developed. All techniques developed thus far obtain a solution by extracting empirical transfer functions from sampled data. Algorithm data sampling and processing requirements are minimal to encourage adaptive control system application of such techniques in a flight environment.

Powers, R. W.↗
NASA NTRS1977

Multi-axis hand controller for the shuttle remote manipulator system

The Shuttle Remote Manipulator System, has a articulated arm of 50 ft. length with six motor-driven joints. The basic purpose is to establish physical contact with various space hardware items and maneuver these to the desired position and attitude with respect to the Orbiter, nulling out relative velocities and stabilizing the free-body system by managing residual energies. The normal operating mode is resolved-motion end-point rate control by man-in-loop command. The translational freedoms are defined so that the End Effector (EEFTR) of the arm will move in planes parallel to the principal translational planes of the Orbiter, at a rate commanded by the displacement of the Translation Hand Controller in the corresponding freedom and direction. The rotational freedoms are rate-controlled by the Rotation Hand Controller about pivot axes parallel to Orbiter roll, pitch and yaw, originating at the EEFTR reference point.

Lippay, A. L.↗
NASA NTRS1979

Inertial dynamics of a general purpose rotor

The inertial dynamics of a fully articulated stiff rotor blade are derived with emphasis on equations that facilitate an organized programming approach for simulation applications. The model for the derivation includes hinge offset and six degrees of freedom for the rotor shaft. Results are compared with the flapping and lead-lag equations currently used in the Rotor Systems Research Aircraft simulation model and differences are analyzed.

Duval, R. W.↗
NASA NTRS1979

A piloted simulator study on augmentation systems to improve helicopter flying qualities in terrain flight

Four basic single-rotor helicopters, one teetering, on articulated, and two hingeless, which were found to have a variety of major deficiencies in a previous fixed-based simulator study, were selected as baseline configurations. The stability and control augmentation systems (SCAS) include simple control augmentation systems to decouple pitch and yaw responses due to collective input and to quicken the pitch and roll control responses; SCAS of rate-command type designed to optimize the sensitivity and damping and to decouple the pitch-roll due to aircraft angular tate; and attitude-command type SCAS. Pilot ratings and commentary are presented as well as performance data related to the task. SCAS control usages and their gain levels associated with specific rotor types are also discussed.

Chen, R. T. N.↗
NASA NTRS1979

An experimental investigation of the effect of rotor tip shape on helicopter blade-slap noise

The effect of tip-shape modification on blade-vortex interaction-induced helicopter blade-slap noise was investigated. The general rotor model system (GRMS) with a 3.148 m (10.33 ft) diameter, four-bladed fully articulated rotor was installed in the Langley V/STOL wind tunnel. The tunnel was operated in the open-throat configuration with treatment to improve the semi-anechoic characteristics of the test chamber. Based on previous investigation, four promising tips (ogee, sub-wing, 60 deg swept-tapered, and end-plate) were used along with a standard square tip as a baseline configuration. Aerodynamic and acoustical data concerning the relative applicability of the various tip configurations for blade-slap noise reduction are presented without analysis or discussion.

Hoad, D. R.↗
NASA NTRS1978

The application of solar thermoelectric generators in near-sun missions

Future planetary near-sun missions, such as those studied for low-altitude Mercury Orbiters, introduce challenges in the selection of appropriate power sources. Study results have shown that conventional silicon solar array technology is not adequate to produce power because of expected temperatures which range from -90 C to +285 C in about 40 to 50 minutes for 16 sun eclipses/day. The solar thermoelectric generator (STG), which requires relatively high temperatures, is being considered as a replacement power source. The complete STG consists of a solar concentrator and multiple thermopiles, each containing numerous thermocouples and thermal insulation material. Articulation of the STG design configurations is required at 0.45 AU to acquire maximum incident radiation and at 0.3 AU to reduce the higher incident radiation. STG thermal input to the spacecraft as it orbits Mercury (including sun eclipses) is insignificant.

Raag, V.↗
NASA NTRS1978

Multibody system applications and simulations at the Jet Propulsion Laboratory

The historical development of the Jet Propulsion Laboratory (JPL) of generic computer programs for solving the H-M-H equations of motion of point-connected sets of rigid bodies in a topological tree is traced, as well as the application of these programs and the multibody modelling approach to the design of spacecraft control systems. These include thrust vector control and science instrument articulation on such vehicles as Mariner 9, Mariner 10, Viking Orbiter, and Voyager.

Fleischer, G. E.↗