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NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗

NASA NTRS2010

Momentum Management Tool for Low-Thrust Missions

A momentum management tool was designed for the Dawn low-thrust interplanetary spacecraft en route to the asteroids Vesta and Ceres, in an effort to better understand the early creation of the solar system. Momentum must be managed to ensure the spacecraft has enough control authority to perform necessary turns and hold a fixed inertial attitude against external torques. Along with torques from solar pressure and gravity-gradients, ion-propulsion engines produce a torque about the thrust axis that must be countered by the four reaction wheel assemblies (RWA). MomProf is a ground operations tool built to address these concerns. The momentum management tool was developed during initial checkout and early cruise, and has been refined to accommodate a wide range of momentum-management issues. With every activity or sequence, wheel speeds and momentum state must be checked to avoid undesirable conditions and use of consumables. MomProf was developed to operate in the MATLAB environment. All data are loaded into MATLAB as a structure to provide consistent access to all inputs by individual functions within the tool. Used in its most basic application, the Dawn momentum tool uses the basic principle of angular momentum conservation, computing momentum in the body frame, and RWA wheel speeds, for all given orientations in the input file. MomProf was designed specifically to be able to handle the changing external torques and frequent de - saturations. Incorporating significant external torques adds complexity since there are various external torques that act under different operational modes.

Swenka, Edward R.↗

NASA NTRSDate not supplied

Advancements in Force and Angle Measurement by the NFMTC

The National Force Measurement Technology Capability (NFMTC) is a nationwide partnership established in 2008 and sponsored by NASA’s Aeronautics Evaluation and Test Capabilities (AETC) project to maintain and further develop force and angle measurement capabilities primarily for NASA’s ground test facilities. One of the NFMTC’s primary objectives is to develop new force and angle measurement capabilities to meet the needs of researchers testing in NASA’s ground test facilities. This work will highlight several new capabilities that are either at or near operational readiness. A new six-component flow-through balance was designed and fabricated to support an upcoming retropropulsion test campaign at the NASA Langley Unitary Plan Wind Tunnel. The balance employs membranes in place of bellows, which have historically been used, and passes the flow through load bearing parts of the balance. Flow through the balance is optimized via the addition of flow guides, which are manufactured as separate parts, and attached to the balance. Calibration of this new flow-through balance demonstrates that it can suitably characterize the load and pressure ranges it was designed for, which provides aero researchers a new tool to directly measure retropropulsion performance of powered descent vehicles. Balances used in NASA’s ground test facilities are typically either single-piece balances or floating-frame balances. Historically, these two types of balances have generally used different front-end (model) attachments. Single-piece balances generally have a cylindrical front end that is forward of any measuring sections and at a reduced diameter relative to the balance outer diameter. Floating-frame balances generally have front end fits that extend over one or more measuring sections and that engage at the balance outer diameter. Recently, the NFMTC fabricated a single-piece balance with a front end fit that is compatible with the hardware used to calibrate floating-frame balances. Calibration results evaluating this front end fit will be presented. From a recent survey of angle measurement needs, the development of smaller angle measurement packages was identified as one area of improvement. Micro-electromechanical systems (MEMS) are continually being refined to provide high performance accelerometers that are a fraction of the volume of the quartz flexure based accelerometers that are standard in wind tunnels. A survey of commercial off-the-shelf MEMS accelerometers was conducted, and it identified the Safran Colibrys MS lines to be of adequate performance. Single-axis test boards and tri-axis rigid-flex production boards were designed and fabricated with a volume of approximately .18 cubic inches. The boards were designed to provide all the necessary conditioning for the MEMS accelerometers at levels to meet or exceed all requirements for the MS line sensors. Preliminary testing of these assembled sensor packages has demonstrated acceptable performance for wind-tunnel angle measurement. Several new rotating balances are at various stages of completion for NASA Glenn Research Center’s fan drive rigs. These balances provide direct measurement of thrust and torque of a driven fan or fan section to provide an estimate of fan efficiency and net thrust. Three two-component balances have been recently completed, and one six-component balance is in active development. A custom rotating telemetry system has been developed to support testing with these balances, and the telemetry system is integrated into the forward end of each one. The telemetry system is designed to remove mechanical sliprings by using an optical ethernet-based slipring for data transmission.

Force measurement↗

DOE OSTI2026

Analytic Expressions for Extracting Far Scrape-Off Layer Transport Coefficients from the Plasma-Wall Interaction of Divertor Tokamaks

Magnetic-confinement DT pilot plants and DEMO-class devices will employ thin breeding blanket first walls with substantially lower steady-state power-handling margins than ITER-like thick walls, making reliable prediction of main-chamber particle and heat loads increasingly critical. This report addresses that need by developing analytic tools to interpret far scrape-off layer (far-SOL) plasma–wall interaction measurements in divertor tokamaks, with the goal of extracting effective cross-field transport coefficients from “window-frame” experiments and related diagnostics.

Stangeby, P. C. [Univ. of Toronto, ON (Canada)]↗

NASA NTRS1972

Fatigue experience from tests carried out with forged beam and frame structures in the development of the Saab aircraft Viggen

A part of the lower side of the main wing at the joint of the main spar with the fuselage frame was investigated. This wing beam area was simulated by a test specimen consisting of a spar boom of AZ 74 forging (7075 aluminum alloy modified with 0.3 percent Ag) and a portion of a honeycomb sandwich panel attached to the boom flange with steel bolts. The cross section was reduced to half scale. However, the flange thickness, the panel height, and the bolt size were full scale. Further, left and right portions of the fuselage frame intended to carry over the bending moment of the main wing were tested. Each of these frame halves consisted of a forward and a rear forging (7079 aluminum alloy, overaged) connected by an outer and inner skin (Alclad 7075) creating a box beam. These test specimens were full scale and were constructed principally of ordinary aircraft components. The test load spectrum was common to both types of specimens with regard to percentage levels. It consisted of maneuver and gust loads, touchdown loads, and loads due to ground roughness. A load history of 200 hours of flight with 15,000 load cycles was punched on a tape. The loads were randomized in groups according to the flight-by-flight principle. The highest positive load level was 90 percent of limit load and the largest negative load was -27 percent. A total of 20 load levels were used. Both types of specimens were provided with strain gages and had a nominal stress of about 300 MN/sq m in some local areas. As a result of the tests, steps were taken to reduce the risk of fatigue damage in aircraft. Thus stress levels were lowered, radii were increased, and demands on surface finish were sharpened.

Larsson, S. E.↗

NASA NTRS1977

Thermal performance evaluation of Solar Energy Products Company (SEPCO) 'Soloron' collector tested outdoors

The test article, Model EF-212, Serial Nr. 002, is a single glazed collector with a nonselective absorber plate, using flowing air as the heat transfer medium. The absorber plate and box frame are aluminum and the insulation is one inch isocyanurate foam board with thermal conductivity of 0.11 (BTU/sq ft Hr0/ft.) The tests included the following. (1) time constant test, (2) collector efficiency test, (3) collector stagnation test, (4) incident angle modifier test, (5) load test, (6) weathering test, and (7) absorber plate optical properties test. The results of these tests are tabulated, graphed, or otherwise recorded.

Chiou, J., Sr.↗

NASA NTRS1984

Knowledge-based fault monitoring and diagnosis in Space Shuttle propellant loading

The LOX Expert System (LES), now being developed as a tool for the constraint-based monitoring and analysis of propellant loading at the Kennedy Space Center (KSC), is discussed. The loading of LOX at the KSC and its control and monitoring by the Launch Processing System are summarized, and the relevant problem for LES is presented. The LES database is briefly described, and the interaction of LES with KNOBS, a constraint- and frame-oriented knowledge-based system developed as a demonstration system in aid of tactical air mission planning, is the context of launch processing is discussed in detail. The design and fault isolation techniques of LES are also discussed.

Scarl, E. A.↗

NASA NTRS2012

Jason-1 and Jason-2 POD Using GPS

The Jason-2 satellite, launched in June 2008, is the latest follow-on to the successful Jason-1 altimetry satellite mission launched in December 7, 2001. Both, Jason-2 and Jason-1 are equipped with a GPS dual-frequency receiver, a laser retroreflector array, and a DORIS receiver for precise orbit determination (POD). A series of dynamic and reduced-dynamic Jason-2 orbits computed at NASA GSFC, based on GPS-only data and the std0905 standards, have been completed till cy74through cycle 74 using the IGS05 framework. These orbits, now publicly available, have been shown to agree radially at 1 cm RMS with the GSFC std0905 SLR/DORIS orbits and in comparison with orbits produced by JPL, ESA and CNES. In this paper, we describe the implementation of the IGS08 and repro1 framework for the Jason-2 and Jason-1 GPS POD processing with the NASA GSFC GEODYN software. . In our updated GPS POD, ambiguity fixing and updated time variable and static gravity fields. We also evaluate the implementation of non-tidal and degree-1 loading displacement as forward modeling to the tracking stations. Reduced-dynamic versus dynamic orbit differences are used to characterize the remaining force model errors and TRF instability. In particular, we assess their consistency radially and the stability of the altimeter satellite reference frame in the North/South direction as a proxy to assess the consistency of the reference frame.

Melachroinos, Stavros↗

NASA NTRS2017

Application of time-variable process noise in terrestrial reference frames determined from VLBI data

In recent years, Kalman ﬁltering has emerged as a suitable technique to determine terrestrial reference frames (TRFs), a prime example being JTRF2014. The time series approach allows variations of station coordinates that are neither reduced by observational corrections nor considered in the functional model to be taken into account. These variations are primarily due to non-tidal geophysical loading eﬀects that are not reduced according to the current IERS Conventions (2010). It is standard practice that the process noise models applied in Kalman ﬁlter TRF solutions are derived from time series of loading displacements and account for station dependent diﬀerences. So far, it has been assumed that the parameters of these process noise models are constant over time. However, due to the presence of seasonal and irregular variations, this assumption does not truly reﬂect reality. In this study, we derive a station coordinate process noise model allowing for such temporal variations. This process noise model and one that is a parameterized version of the former are applied in the computation of TRF solutions based on very long baseline interferometry data. In comparison with a solution based on a constant process noise model, we ﬁnd that the station coordinates are aﬀected at the millimeter level.

Schuh, Harald↗

NASA NTRS1976

Vibroacoustic testing of Space Shuttle thermal protection system panels

The modes and acoustic responses of two panels representing Space Shuttle thermal protection panels were investigated. The panels consisted of flat aluminum sheet stiffened longitudinally with hat-section stringers and corrugated supporting panels representing Shuttle ring frame bulkheads. In addition, one panel had 24 tiles of LI900 silica thermal insulation material and a strain isolator pad bonded to the face sheet. Both panels were found to have approximately eight modal frequencies in the 60 to 500 Hz range, where Shuttle acoustic loads are expected to be high. The strain response to a progressive acoustic wave representing a Shuttle spectrum was characterized by the occurrence of larger strains in the direction normal to the stringers than in the direction parallel to the stringers; three modes in the 100 to 400 Hz range contributed significantly to the strain response.

Rucker, C. E.↗

NASA NTRS1980

Solar heating system at Quitman County Bank, Marks, Mississippi

Information on the Solar Energy Heating System installed in a single story wood frame, cedar exterior, sloped roof building is presented. The system has on-site temperature and power measurements readouts. The 468 square feet of Solaron air flat plate collectors provide for 2,000 square feet of space heating, an estimated 60 percent of the heating load. Solar heated air is distributed to the 235 cubic foot rock storage box or to the load (space heating) by a 960 cubic feet per minute air handler unit. A 7.5 ton Carrier air-to-air heat pump with 15 kilowatts of electric booster strips serve as a back-up (auxiliary) to the solar system. Motorized dampers control the direction of airflow and back draft dampers prevent thermal siphoning of conditioned air.

Source record↗

NASA NTRS1980

Structure and decay characteristics of turbulence in the near- and far-wake of a moderately loaded compressor rotor-blade

The wake of a turbomachinery rotor-blade is turbulent, highly three-dimensional, and nonisotropic with appreciable curvature in the trailing-edge and near-wake regions. The characteristics of the turbulence vary considerably with radius, blade loading, free-stream turbulence, Reynolds number, and the rotor-blade geometry. This paper is concerned with the turbulence properties of a moderately loaded compressor blade, particularly near the blade trailing-edge. The tangential variation of the axial, tangential and radial intensities and stresses across the wake, as well as their decay characteristics were measured with a tri-axial hot-wire probe in the rotor frame of reference. The decay of intensities and stresses were found to be very rapid in the trailing-edge and near-wake regions and slow in the far-wake region. The effects of inlet-guide-vane and the hub-wall boundary layers on the rotor wake turbulence spectra are also discussed. Similarity rules for the three components of intensity are also derived and presented in this paper.

Ravindranath, A.↗

NASA NTRS2010

X-Ray Backscatter Machine Support Frame

This summer at Kennedy Space Center, I spent 10 weeks as an intern working at the Prototype Development Lab. During this time I learned about the design and machining done here at NASA. I became familiar with the process from where a design begins in Pro/Engineer and finishes at the hands of the machinists. As an intern I was given various small jobs to do and then one project of my own. My personal project was a job for the Applied Physics Lab; in their work they use an X-Ray Backscatter machine. Previously it was resting atop a temporary frame that limited the use of the machine. My job was to design a frame for the machine to rest upon that would allow a full range of sample sizes. The frame was required to support the machine and provide a strain relief for the cords attached to the machine as it moved in the x and y directions. Calculations also had to be done to be sure the design would be able to withstand any loads or outside sources of stress. After the calculations proved the design to be ready to withstand the requirements, the parts were ordered or fabricated, as required. This helped me understand the full process of jobs sent to the Prototype Development Lab.

Cannon, Brooke↗

NASA NTRS2010

An Assessment of Gas Foil Bearing Scalability and the Potential Benefits to Civilian Turbofan Engines

Over the past several years the term oil-free turbomachinery has been used to describe a rotor support system for high speed turbomachinery that does not require oil for lubrication, damping, or cooling. The foundation technology for oil-free turbomachinery is the compliant foil bearing. This technology can replace the conventional rolling element bearings found in current engines. Two major benefits are realized with this technology. The primary benefit is the elimination of the oil lubrication system, accessory gearbox, tower shaft, and one turbine frame. These components account for 8 to 13 percent of the turbofan engine weight. The second benefit that compliant foil bearings offer to turbofan engines is the capability to operate at higher rotational speeds and shaft diameters. While traditional rolling element bearings have diminished life, reliability, and load capacity with increasing speeds, the foil bearing has a load capacity proportional to speed. The traditional applications for foil bearings have been in small, lightweight machines. However, recent advancements in the design and manufacturing of foil bearings have increased their potential size. An analysis, grounded in experimentally proven operation, is performed to assess the scalability of the modern foil bearing. This analysis was coupled to the requirements of civilian turbofan engines. The application of the foil bearing to larger, high bypass ratio engines nominally at the 120 kN (approx.25000 lb) thrust class has been examined. The application of this advanced technology to this system was found to reduce mission fuel burn by 3.05 percent.

Bruckner, Robert J.↗

NASA NTRS2012

The Effect of Geocenter Motion on Jason-2 Orbits and the Mean Sea Level

We compute a series of Jason-2 GPS and SLR/DORIS-based orbits using ITRF2005 and the std0905 standards (Lemoine et al. 2010). Our GPS and SLR/DORIS orbit data sets span a period of 2 years from cycle 3 (July 2008) to cycle 74 (July 2010). We extract the Jason-2 orbit frame translational parameters per cycle by the means of a Helmert transformation between a set of reference orbits and a set of test orbits. We compare the annual terms of these time-series to the annual terms of two different geocenter motion models where biases and trends have been removed. Subsequently, we include the annual terms of the modeled geocenter motion as a degree-1 loading displacement correction to the GPS and SLR/DORIS tracking network of the POD process. Although the annual geocenter motion correction would reflect a stationary signal in time, under ideal conditions, the whole geocenter motion is a non-stationary process that includes secular trends. Our results suggest that our GSFC Jason-2 GPS-based orbits are closely tied to the center of mass (CM) of the Earth consistent with our current force modeling, whereas GSFC's SLR/DORIS-based orbits are tied to the origin of ITRF2005, which is the center of figure (CF) for sub-secular scales. We quantify the GPS and SLR/DORIS orbit centering and how this impacts the orbit radial error over the globe, which is assimilated into mean sea level (MSL) error, from the omission of the annual term of the geocenter correction. We find that for the SLR/DORIS std0905 orbits, currently used by the oceanographic community, only the negligence of the annual term of the geocenter motion correction results in a 4.67 plus or minus 3.40 mm error in the Z-component of the orbit frame which creates 1.06 plus or minus 2.66 mm of systematic error in the MSL estimates, mainly due to the uneven distribution of the oceans between the North and South hemisphere.

Melachroinos, S. A.↗

NASA NTRS1983

Development of a large scale bipolar NiH2 battery

The bipolar battery concept, developed in cooperation with NASA, is described in the context of the advantages afforded by near-term IPV and CVP cell technology. The projected performance, development requirements, and a possible approach to bipolar battery design are outlined. Consideration is given to packaging electrodes within a common hydrophobic plastic frame, electrode technology that involves a photochemically etched 0.1 mm thick nickel substrate coated with a 10 mg/sq cm mixture of platinum powder and TFE30, and an electrode design that eliminates the screen and doubles the electrode thickness (from the currently used 0.8 mm) while retaining the active material loading of 1.6-1.8 gm/cu cm. Also covered are thermal management, and electrolyte and oxygen management. It is concluded that a high voltage, high capacity, bipolar NiH2 cell can be configured with proper development for use in large power systems, and that it can provide considerable weight savings.

Adler, E.↗

NASA NTRS1987

An efficient quadrilateral element for plate bending analysis

A simple, shear flexible, quadrilateral plate element is developed based on the Hellinger/Reissner mixed variational principle with independently assumed displacement and stress fields. The crucial point of the selection of appropriate stress parameters is emphasized in the formulation. For this purpose, a set of guidelines is formulated based on the follwoing considerations: (1) suppression of all kinematic deformation modes, (2) the element has a favorable value for the constraint index in the thin plate limit, and (3) element properties are frame-invariant. For computer implementation the components of the element stiffness matrix are evaluated analytically using the symbolic manipulation package MACSYMA. The effectiveness and practical usefulness of the proposed element are demonstrated by the numerical results of a variety of problems involving thin and moderately thick plates under different loading and support conditions.

Saleeb, A. F.↗

NASA NTRS2017

Influence of Shear Stiffness Degradation on Crack Paths in Uni-Directional Composite Laminates

Influence of shear stiffness degradation in an element, due to damage, on crack paths in uni-directional laminates has been demonstrated. A new shear stiffness degradation approach to improve crack path prediction has been developed and implemented in an ABAQUS/Explicit frame work using VUMAT. Three progressive failure analysis models, built-in ABAQUS (TradeMark), original COmplete STress Reduction (COSTR) and the modified COSTR damage models have been utilized in this study to simulate crack paths in five unidirectional notched laminates, 15deg, 30deg, 45deg, 60deg and 75deg under uniaxial tension load. Results such as crack paths and load vs. edge displacement curves are documented in this report. Modified COSTR damage model shows better accuracy in predicting crack paths in all the uni-directional laminates compared to the ABAQUS (TradeMark) and the original COSTR damage models.

Satyanarayana, Arunkumar↗