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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 NTRS2014

Terrain Physical Properties Derived from Orbital Data and the First 360 Sols of Mars Science Laboratory Curiosity Rover Observations in Gale Crater

Physical properties of terrains encountered by the Curiosity rover during the rst 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane Landing System engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover-based slippage during drives. Results have been integrated with morphologic, mineralogic, and thermophysical properties derived from orbital data, and Curiosity-based measurements, to understand the nature and origin of physical properties of traversed terrains. The hummocky plains (HP) landing site and traverse locations consist ofmoderately to well-consolidated bedrock of alluvial origin variably covered by slightly cohesive, hard-packedbasaltic sand and dust, with both embedded and surface-strewn rock clasts. Rock clasts have been addedthrough local bedrock weathering and impact ejecta emplacement and form a pavement-like surface in whichonly small clasts (5 to 10 cm wide) have been pressed into the soil during wheel passages. The beddedfractured (BF) unit, site of Curiositys rst drilling activity, exposes several alluvial-lacustrine bedrock unitswith little to no soil cover and varying degrees of lithication. Small wheel sinkage values (1 cm) for both HPand BF surfaces demonstrate that compaction resistance countering driven-wheel thrust has been minimaland that rover slippage while traversing across horizontal surfaces or going uphill, and skid going downhill,have been dominated by terrain tilts and wheel-surface material shear modulus values.

Mars Science Laboratory Curiosity Gale Crater↗
NASA NTRS2004

Path following using visual odometry for Mars Rover in high-slip environments.

An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system). These technologies include: visual odometry, full vehicle kinematics, a Kalman filter, and a slop compensation/path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs using a maximum likelihood motion estimation algorithm. The full vehicle kinematics for a rocker-bogie suspension system estimates motion, with a no-slip assumption, by measuring wheel, rates, and rocker, bogie, and steering angles. The Kalman filter merges data from an Inertial Measurement Unit (IMU) and visual odometry. This merged estimate is then compared to the kinematic estimate to determining (tracking into account estimate uncertainties) if and how much slippage has occurred then a slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.

Roumeliotis, Stergios I.↗
NASA NTRS1994

Non-Geometric Hazard Detection for a Mars Microrover

Non-geometric hazards (i.e., those which cannot be characterized solely by their shape, but instead are related to mechanical properties such as strength and friction) may pose a significant risk to planetary rovers. This paper describes a means for an articulated vehicle to detect sinkage and slippage in such material so as to prevent entrapment and to correct for dead-reckoning errors.

hazards↗
NASA NTRS1970

Magnetic gear backup

Backup clutch for magnetic gear operates only in case of slippage. Contacting a pin arrangement in the driven gear, the clutch provides extra force for continuing output. It does not interfere with normal, noncontact action.

Shefke, R. A.↗
NASA NTRS1971

Anti-slipping system improves wire saw performance

System prevents wire saw slippage by providing sufficient friction to turn idler spools even when turns of wire on spools do not provide sufficient friction. Low cost system is easily applied to existing equipment.

Gallo, E. A.↗
NASA NTRS1972

Stem clutch for motor driven valve

Development of mechanical device to reduce possibility of damage to motor driven needle valve is discussed. Mechanical clutch is employed to allow slippage when needle valve reaches limit of travel. Operation of system for various conditions is described.

Blum, D. E.↗
NASA NTRS1972

Apollo couch energy absorbers

Load attenuators for the Apollo spacecraft crew couch and its potential applications are described. Energy absorption is achieved through friction and cyclic deformation of material. In one concept, energy absorption is accomplished by rolling a compressed ring of metal between two surfaces. In another concept, energy is absorbed by forcing a plastically deformed washer along a rod. Among the design problems that had to be solved were material selection, fatigue life, ring slippage, lubrication, and friction loading.

Wesselski, C. J.↗
NASA NTRS1973

An analytical investigation of acquisition techniques and system integration studies for a radar aircraft guidance research facility, phase 2

A review of user requirements and updated instrumentation plans are presented for the aircraft tracking and guidance facility at NASA Wallops Station. User demand has increased as a result of new flight research programs; however, basic requirements remain the same as originally reported. Instrumentation plans remain essentially the same but with plans for up- and down-link telemetry more firm. With slippages in the laser acquisition schedule, added importance is placed on the FPS-16 radar as the primary tracking device until the laser is available. Limited simulation studies of a particular Kalman-type filter are also presented. These studies simulated the use of the filter in a helicopter guidance loop in a real-time mode. Disadvantages and limitations of this mode of operation are pointed out. Laser eyesafety calculations show that laser tracking of aircraft is readily feasible from the eyesafety viewpoint.

Thompson, W. S.↗
NASA NTRS1973

Fore and aft elastic response characteristics of size 34x9.9, type 7, 14 ply-rated aircraft tires of bias ply, bias belted, and radial belted design

An investigation was conducted to determine the fore-and-aft elastic response characteristics of aircraft tires of bias ply, bias-belted, and radial-belted design. The investigation consisted of: (1)static and rolling tests, (2)a statistical analysis which related the measured tire elastic characteristics to variations in the vertical load, inflation pressure, braking force and/or tire vertical deflection, and (3) a semi-empirical analysis which related the tire elastic behavior to measured wheel slippage during a steady-state braking. The results of this investigation indicate that the bias-belted tire has the largest spring constant value for most loading conditions and the radial-belted tire has the smallest spring constant value.

Tanner, J. A.↗
NASA NTRS1972

A molecular theory of elastomer deformation and rupture.

The mechanical properties of elastomers, including rupture and its time dependence, can be semiquantitatively predicted from nine molecular parameters which are characteristic for a given species, from the initial molecular weight of a sample before cross-linking and from the effective chain concentration (which must still be determined for each vulcanizate). Only two empirical quantities are involved - the Plazek retardation function for entanglement slippage and a related constant which serves to locate this function on the time scale. The theory leads to a new method of estimating fatigue lifetimes from short-time data.

Landel, R. F.↗
NASA NTRS1974

Fore and aft elastic response characteristics of 34 x 9.9, type 7, 14 ply-rating aircraft tires of bias-ply, bias-belted, and radial-belted design

An investigation was conducted to determine the fore-and-aft elastic response characteristics of 34 x 9.9, type VII, 14 ply-rating aircraft tires of bias-ply, bias-belted, and radial-belted design. The investigation consisted of static and rolling tests on dry concrete pavements at the Langley aircraft landing loads and traction facility; statistical techniques which related the measured tire elastic characteristics to variations in the vertical load, inflation pressure, braking force and/or tire vertical deflection; and a semiempirical analysis which related the tire elastic behavior to measured wheel slippage during steady-state braking. The bias-belted tire developed the largest spring constant value for most loading conditions; the radial-belted tire, the smallest. The elastic response of the tire free periphery to static braking included both tread stretch and carcass torsional wind-up about the axle for the bias-ply and bias-belted tires and carcass wind-up alone for the radial-belted tire.

Tanner, J. A.↗
NASA NTRS1974

The magnetosphere of Jupiter as observed with Pioneer 10. II - Nonrigid rotation of the magnetodisc

The maximum count rates of energetic particles are observed earlier on the inbound pass and later on the outbound pass than one would expect if the Jovian magnetodisk moved rigidly with the planet. This lead and lag cannot be explained by the observed azimuthal distortion of the Jovian magnetic field alone. A possible explanation is that the foot of a magnetic field line in the ionosphere slips with respect to Jupiter's surface. The rate of slippage and the electric field necessary for this is estimated. The electric field may be as large as 2 V/m in the Jovian polar ionosphere.

Northrop, T. G.↗
NASA NTRS1972

Use of propagation corrections for VLF timing

The theory of VLF timing from phase measurements is briefly reviewed with attention to both frequency and epoch. Propagational aspects are noted without specific attention to predictional details. Cycle slippage is described. Application of propagation corrections to VLF timing is described, with particular attention to the use of available skywave corrections published for the OMEGA Navigation System.

Swanson, E. R.↗
NASA NTRS1975

Criterion for propagation of magnetohydrodynamic waves An equivalence

It is shown that the requirement that a magnetohydrodynamic wave propagate over a distance equal to a large number of wavelengths without substantial attenuation is equivalent to the requirement that the lateral velocity of displacement of the field lines far exceed a characteristic velocity. This latter velocity is the velocity of slippage of the field lines with respect to the medium.

De, B. R.↗
NASA NTRS1975

Performance of a finite phase state bit-synchronization loop with and without sequential filters

A discrete phase state bit-synchronization loop is proposed for synchronization and detection of a binary nonreturn-to-zero (NRZ) process. The general loop model is developed for 11 and 17 phase states with optional sequential loop filter. Loop performance is considered in terms of the phase error density function, rms phase error, and mean time to bit slippage. It is shown that satisfactory loop performance can be achieved at -3 dB SNR through use of sequential loop filters.

Ransom, J. J.↗