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A summary of the GSFC applied research effort in robotic berthing is provided. The summary includes several demonstrations and experimental highlights illustrated on video. Two GSFC developments are central to the research, the 'Capaciflector' sensor and the 'Spline-Locking Screw fastener.
A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).
Disclosed here is a system for testing bearings wherein a pair of spaced bearings provides support for a shaft on which is mounted a bearing to be tested, this bearing being mounted in a bearing holder spaced from and in alignment with the pair of bearings. The bearing holder is provided with an annular collar positioned in an opening in the bearing holder for holding the bearing to be tested. A screw threaded through the bearing holder into engagement with the annular collar can be turned to force the collar radially out of alignment with the pair of bearings to apply a radial load to the bearing.
An experimental optimization process for blown film extrusion is described and examined in terms of the effects of the technique on the toughness of balloon films. The optimization technique by Cantor (1990) is employed which involves the identification of key process variables including screw speed, nip speed, bubble diameter, and frost-line height for analysis to optimize the merit function. The procedure is employed in the extrusion of a low-density polyethylene polymer, and the resulting optimized materials are toughness- and puncture-tested. Balloon toughness is optimized in the analytical relationship, and the process parameters are modified to attain optimal toughness. The film produced is shown to have an average toughness of 24.5 MPa which is a good value for this key property of balloon materials for high-altitude flights.
A new method for analyzing the kinematics of joint motion using magnetic resonance imaging (MRI) is described. The reconstruction of the metacarpalphalangeal joint of the left index finger into a 3D graphic display is shown. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones are obtained and processed by analyzing the screw motion of the joint. Landmark positions are chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily 2D planar motion of this joint is then studied using a method of constructing coordinate systems using three or more points. A transformation matrix based on a world coordinate system describes the location and orientation of the local target coordinate system. The findings show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove design for EVA.
A novel approach to the concept of lunar mining and the use of in situ oxygen, metallics, and ceramics is presented. The EVA time required to set up, relocate, and maintain equipment, as well as the cost per pound of shipping the mining and processing equipment to the moon are considered. The proposed soil fracturing/loading mechanisms are all based loosely on using the Apollo Lunar Roving Vehicle (LRV) Frame. All use motor driven tracks for mobility in the forward/reverse and left/right direction. All mechanisms employ the concept of rototillers which are attached to a gantry which, through the use of motor-driven lead screws, provide the rototillers with an up/down capability. A self-reactant excavator, a local mass enhanced excavator, and a soil reactant excavator are illustrated.
Tools and tool handling techniques designed for demonstrating the use of the Advanced Teleoperation System at JPL in satellite repair operations are described in this paper. Our model for the repair demonstration is the Main Electronics Box (MEB) replacement on the Solar Maximum Satellite Repair (SMSR) procedure developed by NASA and successfully performed by the crew of Space Shuttle STS-13 in 1984. A summary of the repair procedure consists of uncovering thermal protection blankets on the satellite, removing screws from the MEB panel, opening the panel and clamping it in place, then removing electrical connectors from their sockets, cutting cords that hold electrical cables to the MEB panel, replacing the panel, and finally reversing the previous procedures. Methods for handling tools used in our SMSR procedure, along with details of the tool designs are discussed in this paper.
The report gives, rather briefly, in part one an introduction to hydrodynamics which is designed to give those who have not yet been actively concerned with this science such a grasp of the theoretical underlying principles that they can follow the subsequent developments. In part two there follows a separate discussion of the different questions to be considered, in which the theory of aerofoils claims the greatest portion of the space. The last part is devoted to the application of the aerofoil theory to screw propellers. A table giving the most important quantities is at the end of the report. A short reference list of the literature on the subject and also a table of contents are added.
The screw propeller on airplanes is usually placed near other objects, and hence its performance may be modified by them. Results of tests on propellers free from slip stream obstructions, both fore and aft, are therefore subject to correction, for the effect of such obstructions and the purpose of the investigation was to determine the effect upon the thrust and torque coefficients and efficiency, for previously tested air propellers, of obstructions placed in the slip stream, it being realized that such previous tests had been conducted under somewhat ideal conditions that are impracticable of realization in flight. Simple geometrical forms were used for the initial investigation. Such forms offered the advantage of easy, exact reproduction at another time or in other laboratories, and it was believed that the effects of obstructions usually encountered might be deduced or surmise from those chosen.
This report presents a calculation of the torsional frequencies of revolving bars with allowance for the air forces. Calculation of the flexural or bonding frequencies of revolving straight or tapered bars in terms of the angular velocity of revolution. Calculation on the basis of Rayleigh's principle of variation. There is also a discussion of error estimation and the accuracy of results. The author then provides an application of the theory to screw propellers for airplanes and the discusses the liability of propellers to damage through vibrations due to lack of uniform loading.
Two screw propellers, a normal airplane propeller with a pitch/diameter ratio H/D = 0.5 and a helicopter propeller H/D = 0.2 were tested in the large wind tunnel of the Gottigen Aerodynamic Institute. With both propellers the angle between the propeller axis and the direction of the wind was varied from 0 to 90 degrees. In addition to the three force and the three moment components in a wind-fast coordinate system, the corresponding components in a propeller-fast coordinate system, a total of six force and six moment components, together with the propulsive efficiency, were measured or calculated from measurements. The results are given in the form of diagrams and briefly discussed. The propeller models and method of experimentation are described and the symbols are defined.
Continuous fiber web receives powder coat first on one side, then on other. Vibrating helical screw mechanism in powder feeder provides even flow of powder to form powder curtain that descends onto moving web. Small amount of powder that falls to side or through web recovered easily. Powder-curtain feeder part of apparatus similar to one described in "System Applies Polymer Powder to Filament Tow" (LAR-14231).
Compact motor drive positions guide for welding filler wire. Drive part of automated wire feeder in partly or fully automated welding system. Drive unit contains three parallel subunits. Rotations of lead screws in three subunits coordinated to obtain desired motions in three degrees of freedom. Suitable for both variable-polarity plasma arc welding and gas/tungsten arc welding.
Proposed linear actuator includes ball-screw mechanism made to engage or disengage piston as needed. Requires low power to maintain release and no power to maintain engagement. Pins sliding radially in solenoids in yoke engage or disengage slot in piston. With help of optoelectronic feedback, yoke made to follow free piston during disengagement so always in position to "grab" piston.
A method and apparatus for controlling the crystallization of protein by solvent evaporation including placing a drop of protein solution between and in contact with a pair of parallel plates and driving one of the plates toward and away from the other plate in a controlled manner to adjust the spacing between the plates is presented. The drop of solution forms a liquid cylinder having a height dependent upon the plate spacing thereby effecting the surface area available for solvent evaporation. When the spacing is close, evaporation is slow. Evaporation is increased by increasing the spacing between the plates until the breaking point of the liquid cylinder. One plate is mounted upon a fixed post while the other plate is carried by a receptacle movable relative to the post and driven by a belt driven screw drive. The temperature and humidity of the drop of protein solution are controlled by sealing the drop within the receptacle and mounting a heater and dessicant within the receptacle.
A rigid patch body for placing over a damaged portion (hole) of an external wall of a pressurized vessel, such as a space vehicle or a habitat, is discussed. The rigid patch body allows an astronaut to make temporary repairs to the pressurized vessel from the exterior of the vessel, which enables more permanent repairs to be made from the interior of the vessel. The pressure wall patch of the present invention includes a floor surrounded by four side members. Each side member includes a threaded screw for anchoring the patch body to the external wall of the pressurized vessel and a recess in its lower surface for supporting an inflatable bladder for surrounding the damaged portion (hole) of the external wall to seal the area surrounding the damaged portion. This allows the vessel to be repressurized. The floor of the rigid patch body supports a source of gas that is connected to the gas supply valve and a gas supply gauge in communication with the gas supply valve and the inflatable bladder.
A quick connect fastener and method of use is presented wherein the quick connect fastener is suitable for replacing available bolts and screws, the quick connect fastener being capable of installation by simply pushing a threaded portion of the connector into a member receptacle hole, the inventive apparatus being comprised of an externally threaded fastener having a threaded portion slidably mounted upon a stud or bolt shaft, wherein the externally threaded fastener portion is expandable by a preloaded spring member. The fastener, upon contact with the member receptacle hole, has the capacity of presenting cylindrical threads of a reduced diameter for insertion purposes and once inserted into the receiving threads of the receptacle member hole, are expandable for engagement of the receptacle hole threads forming a quick connect of the fastener and the member to be fastened, the quick connect fastener can be further secured by rotation after insertion, even to the point of locking engagement, the quick connect fastener being disengagable only by reverse rotation of the mated thread engagement.
New control mechanisms technologies are currently being explored to provide alternatives to hydraulic thrust vector control (TVC) actuation systems. For many years engineers have been encouraging the investigation of electromechanical actuators (EMA) to take the place of hydraulics for spacecraft control/gimballing systems. The rationale is to deliver a lighter, cleaner, safer, more easily maintained, as well as energy efficient space vehicle. In light of this continued concern to improve the TVC system, the Propulsion Laboratory at the NASA George C. Marshall Space Flight Center (MSFC) is involved in a program to develop electromechanical actuators for the purpose of testing and TVC system implementation. Through this effort, an electromechanical thrust vector control actuator has been designed and assembled. The design consists of the following major components: Two three-phase brushless dc motors, a two pass gear reduction system, and a roller screw, which converts rotational input into linear output. System control is provided by a solid-state electronic controller and power supply. A pair of resolvers and associated electronics deliver position feedback to the controller such that precise positioning is achieved. Testing and evaluation is currently in progress. Goals focus on performance comparisons between EMA's and similar hydraulic systems.