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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 NTRS1989

Simple autonomous Mars walker

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.↗
NASA NTRS1992

Compliant Walker

Walker supports person with limited use of legs and back. Enables person to stand upright, move with minimum load, and rest at will taking weight off legs. Consists of wheeled frame with body harness connected compliantly to side structures. Harness supports wearer upright when wearer relaxes and takes weight off lower extremities. Assumes partial to full body weight at user's discretion.

Kerley, James J.↗
NASA NTRS1991

Airborne SAR determination of relative ages of Walker Valley moraines, eastern Sierra Nevada

A regional study of the distribution and elevations of Pleistocene moraines in the Andes requires a method of determining relative age from space. One of our primary objectives is to establish the relative chronology of major climatic events responsible for glaciation in the Andes and other regions that are difficult to access on the ground and where suitable material for absolute age determination is lacking. The sensitivity of radar to surface roughness makes it possible to develop a remotely-based relative dating technique for landforms for which surface age and roughness can be correlated. We are developing such a technique with Airborne Synthetic Aperture Radar (AIRSAR) imagery of the eastern Sierra Nevada where independent evidence is available for the ages and physical characteristics of moraines. The Sierra Nevada moraines are similar in form and environmental setting to Andean moraines that we have targeted for study during the pending Shuttle Imaging Radar-C (SIR-C) mission. SAR imagery is used to differentiate the ages of five moraine sequences of Walker Valley in the eastern Sierra Nevada. Other aspects of this investigation are briefly discussed.

Fox, A.↗
NASA NTRS1992

Compliant walker

A compliant walker is provided for humans having limited use of their legs and lower back. It includes an upright wheel frame which at least partially surrounds an upright user wearing a partial body harness. It is attached to the frame by means of cable compliant apparatus consisting of sets of cable segments and angle bracket members connected between opposite side members of the frame and adjacent side portions of the harness. Novelty is believed to exist in the combination of a wheeled frame including a side support structure, a body harness, and compliance means connecting the body harness to the side support structure for flexibility holding and supporting a person in a substantially upright position when the user sags in the frame when taking weight off the lower extremities.

Kerley, James J.↗
DOE OSTI2024

A finite difference informed random walker (FDiRW) solver for strongly inhomogeneous diffusion problems

In nature, many complex multi-physics coupling problems exhibit strong diffusivity inhomogeneity. For instance, in the context of radionuclide absorption by porous wasteform materials within a flowing waste stream, the difference of species’ diffusivity in solid and liquid phases spans by 3~8 orders of magnitude. To solve the diffusion equations with strongly inhomogeneous diffusivity, traditional discretization-based methods, such as the Finite Difference Method (FDM), require infinitesimally small time steps (<10 -10 ) as high spatial resolutions are employed in most microstructure evolution processes, leading to prohibitively high computational costs. Here, this work developed an integrated numerical approach (FDiRW: Finite Difference informed Random Walk) to tackle this challenge. The idea is that utilizing the Random Walk concept, the fast diffusion is modeled as a superposition of point source’s solution for a concentration distribution while FDM is used to obtain the point source’s solution at each node. A mesh-coarsening algorithm is developed to generate an exclusive coarse mesh for FDiRW approach to maximize its efficiency. The effectiveness of the coarse mesh-based FDiRW approach is validated by benchmarking Finite Difference solutions. Numerical results demonstrated that FDiRW achieves a remarkable 1000x computational efficiency improvement over FDM while preserving desired accuracy for a medium-sized model of 192 × 192 × 192 grids. Finally, as models scale up, a floating-point operations (PLOPs) analysis of the FDiRW algorithm reveals that its computational complexity grows quadratically in terms of the number of nodes employed in computation.

36 MATERIALS SCIENCE↗
DOE OSTI2026

X-ray Absorption Spectroscopy and Neutron Scattering Data, Mineral Incubation Experiment, Walker Branch Watershed, TN (2020 - 2021)

Iron (Fe) (oxyhydr)oxides are well-recognized contributors to soil carbon (C) storage, but the effects of manganese (Mn) oxides on carbon storage and transformation are relatively unexplored. Here, the relative capacities of Fe and Mn oxides to bind and stabilize soil organic C were directly compared using an in-situ incubation experiment. Quartz sands coated with either poorly crystalline Mn(III/IV) oxides or Fe(III) oxides, or left uncoated, were buried in a temperate forest soil for up to one year. This data package contains processed data outputs of carbon near edge x-ray absorption fine structure spectroscopy (C NEXAFS), iron and manganese x-ray absorption near edge structure spectroscopy (XANES), and small angle neutron scattering (SANS) data collected for initial oxide-coated and uncoated quartz sands and for those buried in the temperate forest soil for 365 days.

Energy (eV)↗
NASA NTRS1979

Model task for the dynamics of an underwater two-legged walker

A model task of two-legged underwater walking was examined. Characteristics of the walking were established. The underwater walking device is a substantial sphere, which moves on dual-member legs. The dynamics of the device were investigated with the calculation of the buoyancy of Archimedes, and the force of hydrodynamic resistance.

Beletskiy, V. V.↗
NASA NTRS1991

Absolute extinction and the influence of environment - Dark cloud sight lines toward VCT 10, 30, and Walker 67

The range of validity of the average absolute extinction law (AAEL) proposed by Cardelli et al. (1988 and 1989) is investigated, combining published visible and NIR data with IUE UV observations for three lines of sight through dense dark cloud environments with high values of total-to-selective extinction. The characteristics of the data sets and the reduction and parameterization methods applied are described in detail, and the results are presented in extensive tables and graphs. Good agreement with the AAEL is demonstrated for wavelengths from 3.4 microns to 250 nm, but significant deviations are found at shorter wavelengths (where previous studies of lines of sight through bright nebulosity found good agreement with the AAEL). These differences are attributed to the effects of coatings on small-bump and FUV grains.

Cardelli, Jason A.↗
NASA NTRS1992

A walking prescription for statically-stable walkers based on walker/terrain interaction

The walker/terrain interaction phenomena for the control of a statically stable walking machine are described. The algorithms, measures, and knowledge of walker/terrain interaction phenomena are then combined to form a prescription for how to walk on general terrain. This prescription consists of two parts: nominal control and reactive control. The function of nominal control is the evaluation and execution of planned motions, based on predicted foot force redistributions, to achieve reliable locomotion. The function of reactive control is the monitoring of walker/terrain interaction in real-time to detect anomalous conditions and then respond with the appropriate reflexive actions. Simulations and experiments have been used to test and verify various aspects of the walking prescription.

Nagy, Peter V.↗
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
NASA NTRS1988

Structural geology and regional tectonics of the Mineral County area, Nevada, using Shuttle Imaging Radar-B and digital aeromagnetic data

SIR-B and aeromagnetic lineaments show a correlation with known faults within the Walker Lane of the western Basin and Range Province. Walker Lane faults can be extended based on SIR-B data and unmapped Walker Lane features are identified. South of the Pancake Range lineament, Walker Lane faults are seldom recognized but SIR-B data have the potential for delineating structural features in this area. Earthquake hypocenter distribution in profiles across a SIR-B lineament is consistent with that expected from a vertical fault. Field examination indicates that the lineament is an unmapped neotectonic Walker Lane feature.

Borengasser, Marcus X.↗
NASA NTRS1988

A constitutive model for an overlay coating

Coatings are frequently applied to gas turbine blades and vanes to provide protection against oxidation and corrosion. The results of an experimental and analytical study to develop a constitutive model for an overlay coating is presented. Specimens were machined from a hot isostatically pressed billet of PWA 286. The tests consisted of isothermal stress relaxation cycles with monotonically increasing maximum strain and were conducted at various temperatures. The results were used to calculate the constants for various constitutive models, including the classical, the Walker isotropic, a simplified Walker, and Stowell models. A computerized regression analysis was used to calculate model constants from the data. The best fit was obtained for the Walker model, with the simplified Walker and classical models close behind.

Nissley, D. M.↗
NASA NTRS2000

Astrometry of the omega Centauri Hubble Space Telescope Calibration Field

Astrometry, on the International Celestial Reference Frame (epoch J2000.0), is presented for the Walker (1994, PASP, 106, 828) stars in the omega Centauri (=NGC 5139=C 1323-1472) Hubble Space Telescope Wide Field/Planetary Camera (WF/PC) calibration field of Harris et al. (1993, AJ, 105, 1196). Harris et al. stars were first identified on a WFPC2 observation of the omega Cen HST calibration field. Relative astrometry of the Walker stars in this field was then obtained using Walker's CCD positions and astrometry derived using the STSDAS METRIC task on the positions of the Harris et al. stars on the WFPC2 observation. Finally, the relative astrometry, which was based on the HST Guide Star Catalog, is placed on the International Celestial Reference Frame with astrometry from the USNO-A2.0 catalog. An ASCII text version of the astrometric data of the Walker stars in the omega Cen HST calibration field is available electronically in the online version of the article.

Mighell, Kenneth J.↗
NASA NTRS1985

Constitutive modeling for isotropic materials (HOST)

This report presents the results of the second year of work on a problem which is part of the NASA HOST Program. Its goals are: (1) to develop and validate unified constitutive models for isotropic materials, and (2) to demonstrate their usefulness for structural analyses of hot section components of gas turbine engines. The unified models selected for development and evaluation are that of Bodner-Partom and Walker. For model evaluation purposes, a large constitutive data base is generated for a B1900 + Hf alloy by performing uniaxial tensile, creep, cyclic, stress relation, and thermomechanical fatigue (TMF) tests as well as biaxial (tension/torsion) tests under proportional and nonproportional loading over a wide range of strain rates and temperatures. Systematic approaches for evaluating material constants from a small subset of the data base are developed. Correlations of the uniaxial and biaxial tests data with the theories of Bodner-Partom and Walker are performed to establish the accuracy, range of applicability, and integability of the models. Both models are implemented in the MARC finite element computer code and used for TMF analyses. Benchmark notch round experiments are conducted and the results compared with finite-element analyses using the MARC code and the Walker model.

Lindholm, U. S.↗