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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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Physical and digital simulations for IVA robotics

Space based materials processing experiments can be enhanced through the use of IVA robotic systems. A program to determine requirements for the implementation of robotic systems in a microgravity environment and to develop some preliminary concepts for acceleration control of small, lightweight arms has been initiated with the development of physical and digital simulation capabilities. The physical simulation facilities incorporate a robotic workcell containing a Zymark Zymate II robot instrumented for acceleration measurements, which is able to perform materials transfer functions while flying on NASA's KC-135 aircraft during parabolic manuevers to simulate reduced gravity. Measurements of accelerations occurring during the reduced gravity periods will be used to characterize impacts of robotic accelerations in a microgravity environment in space. Digital simulations are being performed with TREETOPS, a NASA developed software package which is used for the dynamic analysis of systems with a tree topology. Extensive use of both simulation tools will enable the design of robotic systems with enhanced acceleration control for use in the space manufacturing environment.

Hinman, Elaine↗
NASA NTRS1920

Tests of the Daimler D-IVa Engine at a High Altitude Test Bench

Reports of tests of a Daimler IVa engine at the test-bench at Friedrichshafen, show that the decrease of power of that engine, at high altitudes, was established, and that the manner of its working when air is supplied at a certain pressure was explained. These tests were preparatory to the installation of compressors in giant aircraft for the purpose of maintaining constant power at high altitudes.

Noack, W G↗
NASA NTRS1998

Conversion of IVA Human Computer Model to EVA Use and Evaluation and Comparison of the Result to Existing EVA Models

This paper describes the methods, rationale, and comparative results of the conversion of an intravehicular (IVA) 3D human computer model (HCM) to extravehicular (EVA) use and compares the converted model to an existing model on another computer platform. The task of accurately modeling a spacesuited human figure in software is daunting: the suit restricts the human's joint range of motion (ROM) and does not have joints collocated with human joints. The modeling of the variety of materials needed to construct a space suit (e. g. metal bearings, rigid fiberglass torso, flexible cloth limbs and rubber coated gloves) attached to a human figure is currently out of reach of desktop computer hardware and software. Therefore a simplified approach was taken. The HCM's body parts were enlarged and the joint ROM was restricted to match the existing spacesuit model. This basic approach could be used to model other restrictive environments in industry such as chemical or fire protective clothing. In summary, the approach provides a moderate fidelity, usable tool which will run on current notebook computers.

Hamilton, George S.↗
NASA NTRS1971

Hybrid water immersion simulation of manual IVA performance in weightlessness

A description is given of the development, tests, and analysis of a manual simulator. The simulator was developed to test mass handling and translation under weightlessness conditions by a test subject. The system is composed of a hybrid simulator with a combination of water immersion and mechanical, Peter Pan, simulation. The concept operates on the equivalence principle, with the subject and the cargo remaining quasi-stationary. Movement is effected through a moving device controlled through force by the subject. Motion response is determined through computations of the inertial movement under such conditions.

Loats, H. L., Jr.↗
NASA NTRS1982

Payload IVA training and simulation

The development of a training program for the intravehicular operation of space shuttle payloads is discussed. The priorities for the program are compliance with established training standards, and accommodating changes. Simulation devices are also reviewed.

Monsees, J. H.↗
NASA NTRS1984

Mark IVA DSN 26-meter Subnet

The Office of Space Tracking and Data Systems' Networks Consolidation Program (NCP), managed by the Jet Propulsion Laboratory (JPL), includes the implementation of a 26-meter Tracking and Communications Subnet as a part of the Mark IV A Deep Space Network (DSN). The incorporatin of this subnet into the DSN will contribute to the NCP goal of consolidating the two NASA ground tracking networks into one tracking network. The 26-meter Tracking and Communication Subnet was designed to provide the capability to support, at each Deep Space Communication Complex, the tracking and data communication requirements of the earth-orbital missions that cannot be supported by the Tracking and Data Relay Satellite System when it becomes operational. Implementation activities and planned capabilities of the subnet are discussed.

Gordon, D. D.↗
NASA NTRS1994

The Charlotte (TM) intra-vehicular robot

NASA has identified telerobotics and telescience as essential technologies to reduce the crew extra-vehicular activity (EVA) and intra-vehicular activity (IVA) workloads. Under this project, we are developing and flight testing a novel IVA robot to relieve the crew of tedious and routine tasks. Through ground telerobotic control of this robot, we will enable ground researchers to routinely interact with experiments in space. Our approach is to develop an IVA robot system incrementally by employing a series of flight tests with increasing complexity. This approach has the advantages of providing an early IVA capability that can assist the crew, demonstrate capabilities that ground researchers can be confident of in planning for future experiments, and allow incremental refinement of system capabilities and insertion of new technology. In parallel with this approach to flight testing, we seek to establish ground test beds, in which the requirements of payload experimenters can be further investigated. In 1993 we reviewed manifested SpaceHab experiments and defined IVA robot requirements to assist in their operation. We also examined previous IVA robot designs and assessed them against flight requirements. We rejected previous design concepts on the basis of threat to crew safety, operability, and maintainability. Based on this insight, we developed an entirely new concept for IVA robotics, the CHARLOTTE robot system. Ground based testing of a prototype version of the system has already proven its ability to perform most common tasks demanded of the crew, including operation of switches, buttons, knobs, dials, and performing video surveys of experiments and switch panels.

Swaim, Patrick L.↗
NASA NTRS2005

Heart Pump Design for Cleveland Clinic Foundation

Through a Lewis CommTech Program project with the Cleveland Clinic Foundation, the NASA Lewis Research Center is playing a key role in the design and development of a permanently implantable, artificial heart pump assist device. Known as the Innovative Ventricular Assist System (IVAS), this device will take on the pumping role of the damaged left ventricle of the heart. The key part of the IVAS is a nonpulsatile (continuous flow) artificial heart pump with centrifugal impeller blades, driven by an electric motor. Lewis is part of an industry and academia team, led by the Ohio Aerospace Institute (OAI), that is working with the Cleveland Clinic Foundation to make IVAS a reality. This device has the potential to save tens of thousands of lives each year, since 80 percent of heart attack victims suffer irreversible damage to the left ventricle, the part of the heart that does most of the pumping. Impeller blade design codes and flow-modeling analytical codes will be used in the project. These codes were developed at Lewis for the aerospace industry but will be applicable to the IVAS design project. The analytical codes, which currently simulate the flow through the compressor and pump systems, will be used to simulate the flow within the blood pump in the artificial heart assist device. The Interdisciplinary Technology Office heads up Lewis' efforts in the IVAS project. With the aid of numerical modeling, the blood pump will address many design issues, including some fluid-dynamic design considerations that are unique to the properties of blood. Some of the issues that will be addressed in the design process include hemolysis, deposition, recirculation, pump efficiency, rotor thrust balance, and bearing lubrication. Optimum pumping system performance will be achieved by modeling all the interactions between the pump components. The interactions can be multidisciplinary and, therefore, are influenced not only by the fluid dynamics of adjacent components but also by thermal and structural effects. Lewis-developed flow-modeling codes to be used in the pump simulations will include a one-dimensional code and an incompressible three-dimensional Navier-Stokes flow code. These codes will analyze the prototype pump designed by the Cleveland Clinic Foundation. With an improved understanding of the flow phenomena within the prototype pump, design changes to improve the performance of the pump system can be verified by computer prior to fabrication in order to reduce risks. The use of Lewis flow modeling codes during the design and development process will improve pump system performance and reduce the number of prototypes built in the development phase. The first phase of the IVAS project is to fully develop the prototype in a laboratory environment that uses a water/glycerin mixture as the surrogate fluid to simulate blood. A later phase of the project will include testing in animals for final validation. Lewis will be involved in the IVAS project for 3 to 5 years.

Source record↗
NASA NTRS1985

Mark 4A project training evaluation

A participant evaluation of a Deep Space Network (DSN) is described. The Mark IVA project is an implementation to upgrade the tracking and data acquisition systems of the dSN. Approximately six hundred DSN operations and engineering maintenance personnel were surveyed. The survey obtained a convenience sample including trained people within the population in order to learn what training had taken place and to what effect. The survey questionnaire used modifications of standard rating scales to evaluate over one hundred items in four training dimensions. The scope of the evaluation included Mark IVA vendor training, a systems familiarization training seminar, engineering training classes, a on-the-job training. Measures of central tendency were made from participant rating responses. Chi square tests of statistical significance were performed on the data. The evaluation results indicated that the effects of different Mark INA training methods could be measured according to certain ratings of technical training effectiveness, and that the Mark IVA technical training has exhibited positive effects on the abilities of DSN personnel to operate and maintain new Mark IVA equipment systems.

Stephenson, S. N.↗
NASA NTRS1991

Ground controlled robotic assembly operations for Space Station Freedom

A number of dextrous robotic systems and associated positioning and transportation devices are available on Space Station Freedom (SSF) to perform assembly tasks that would otherwise need to be performed by extravehicular activity (EVA) crewmembers. The currently planned operating mode for these robotic systems during the assembly phase is teleoperation by intravehicular activity (IVA) crewmembers. While this operating mode is less hazardous and expensive than manned EVA operations, and has insignificant control loop time delays, the amount of IVA time available to support telerobotic operations is much less than the anticipated requirements. Some alternative is needed to allow the robotic systems to perform useful tasks without exhausting the available IVA resources; ground control is one such alternative. The issues associated with ground control of SSF robotic systems to alleviate onboard crew time availability constraints are investigated. Key technical issues include the effect of communication time delays, the need for safe, reliable execution of remote operations, and required modifications to the SSF ground and flight system architecture. Time delay compensation techniques such as predictive displays and world model-based force reflection are addressed and collision detection and avoidance strategies to ensure the safety of the on-orbit crew, Orbiter, and SSF are described. Although more time consuming and difficult than IVA controlled teleoperations or manned EVA, ground controlled telerobotic operations offer significant benefits during the SSF assembly phase, and should be considered in assembly planning activities.

Parrish, Joseph C.↗
NASA NTRS2011

Robonaut 2 - Initial Activities On-Board the ISS

Robonaut 2, or R2, arrived on the International Space Station in February 2011 and is currently undergoing testing in preparation for it to become, initially, an Intra-Vehicular Activity (IVA) tool and then evolve into a system that can perform Extra-Vehicular Activities (EVA). After the completion of a series of system level checks to ensure that the robot traveled well on-board the Space Shuttle Atlantis, ground control personnel will remotely control the robot to perform free space tasks that will help characterize the differences between earth and zero-g control. For approximately one year, the fixed base R2 will perform a variety of experiments using a reconfigurable task board that was launched with the robot. While working side-by-side with human astronauts, Robonaut 2 will actuate switches, use standard tools, and manipulate Space Station interfaces, soft goods and cables. The results of these experiments will demonstrate the wide range of tasks a dexterous humanoid can perform in space and they will help refine the methodologies used to control dexterous robots both in space and here on earth. After the trial period that will evaluate R2 while on a fixed stanchion in the US Laboratory module, NASA plans to launch climbing legs that when attached to the current on-orbit R2 upper body will give the robot the ability to traverse through the Space Station and start assisting crew with general IVA maintenance activities. Multiple control modes will be evaluated in this extra-ordinary ISS test environment to prepare the robot for use during EVAs. Ground Controllers will remotely supervise the robot as it executes semi-autonomous scripts for climbing through the Space Station and interacting with IVA interfaces. IVA crew will locally supervise the robot using the same scripts and also teleoperate the robot to simulate scenarios with the robot working alone or as an assistant during space walks.

Diftler, M. A.↗