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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 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Method and apparatus for preloading a joint by remotely operable means

The invention is a method and apparatus for joining structures, an active structure and a passive structure, and imposing a tensile pre-load on the joint by a remotely operable mechanism comprising a heat contractible joining element. The method and apparatus include mounting on the structure, a probe shaft of material which is transformable from an expanded length to a contracted length when heated to a specific temperature range. The shaft is provided with a probe head which is receivable in a receptacle opening formed in the passive structure, when the active structure is moved into engagement therewith by an appropriate manipulator mechanism. A latching system mounted on the structure adjacent to the receptacle opening captures the probe head, when the probe head is inserted a predetermined amount. A heating coil on the shaft is energizable by remote control for heating the shaft to a temperature range which transforms the shaft to its contracted length, whereby a latching shoulder thereof engages latching elements of the latching system and imposes a tensile preload on the structural joint. Provision is also made for manually adjusting the probe head on the shaft to allow for manual detachment of the structures or manual preloading of the structural joint.

Shelton, Robert O.↗
NASA NTRS1991

Emission-line and continuum properties of 92 bright QSOs - Luminosity dependence and differences between radio-selected and optically selected samples

The emission line and continuum properties of new spectra of 92 QSOs are investigated. A detailed deconvolution of the semiforbidden C III 1909 A blend reveals that the secondary feature is almost certainly Al III 1859 A. A study of the Mg II 2800 A emission-line profiles suggests that the broad 'shoulders' often observed are probably intrinsic to the Mg II emission line. It is shown that the QSOs discovered by slitless spectroscopic methods do not differ significantly from those discovered by UV excess surveys. Significant correlations with luminosity are found for W(Mg II), W(semiforbidden C III), I(C III)/I(Mg II), and the continuum ratio fv(1909 A)/fv(2800 A). All of the significant correlations are substantially stronger for a radio-selected subsample compared to a radio-quiet subsample. The C IV and semiforbidden C III emission lines each have a mean blueshift relative to Mg II of 450 km/s while semiforbidden C IV has a mean blueshift relative to semiforbidden C III of 200 km/s.

Steidel, Charles C.↗
NASA NTRS1993

Chemicals Reduce Need To Mow Grass

Brief report discusses use of herbicides Roundup(R), Campaign(R), and Oust(R) to retard growth of Argentine bahia grass. Herbicide applied by use of spraying apparatus pulled by tractor. "Chemical mowing" keeps grass at "freshly mowed" height with less mechanical mowing. Applied to grass on shoulders of roads, reducing time spent on mowing.

Humphrys, Brooks↗
NASA NTRS1993

Quantitative Tester And Reconditioner For Hand And Arm

Apparatus measures torques, forces, and motions of hand, wrist, forearm, elbow, and shoulder and aids in reconditioning muscles involved. Used to determine strengths and endurances of muscles, ranges of motion of joints, and reaction times. Provides quantitative data used to assess extent to which disuse, disease, or injury causes deterioration of muscles and of motor-coordination skills. Same apparatus serves as exercise machine to restore muscle performance by imposing electronically controlled, gradually increasing loads on muscles. Suitable for training and evaluating astronauts, field testing for workers' compensation claims, and physical therapy in hospitals. With aid of various attachments, system adapted to measure such special motions as pinching, rotation of wrist, and supination and pronation of the forearm. Attachments are gloves, wristlets, and sleeves.

Engle, Gary↗
NASA NTRS1992

EXOS research on master controllers for robotic devices

Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

Marcus, Beth A.↗
NASA NTRS1992

Venus: Preliminary geologic mapping of northern Atla Regio

A preliminary geologic map of C1 sheet 15N197 was compiled according to Magellan data. Northern Atla Regio is dominantly a volcanic plain with numerous volcanic features: radar-bright and -dark flows and spots, shield volcanos, volcanic domes and hills with varied morphology, and coronalike constructions. Tesserae are the oldest terrains semiflooded by plain materials. There are many lineated terrains on this territory. They are interpreted as old, partly buried ridge belts. Lineated terrains have intermediate age between young plains and old tesserae. Ozza Mons and Sapas Mons are the high shield volcanos. The prominent structure of northern Atla Regio is Ganis Chasma rift. The rift dissected the volcanic plain and evolved nearly contemporaneously with Ozza Mons shield volcano. Ganis Chasma rift valley is highly fractured and bounded by fault scarps. There are a few relatively young volcanic features in the rift valley. The rift originated due to 5-10 percent crustal extension and crustal subsidence according to analysis of fracturing and rift valley geometry. Ganis Chasma is characterized by rift shoulder uplifts. Geological structures of Alta Regio and Beta Regio are very similar as assumed earlier.

Nikishin, A. M.↗
NASA NTRS1992

Venus: Preliminary geologic mapping of southern Beta Regio-northern Phoebe Regio

New preliminary geologic maps of C1 sheets 15N283 and 00N283 were compiled according to Magellan data. The oldest terrains are tesserae that have fragmentlike shapes. Its margins are partly buried by younger plain materials. Volcanic plains are the dominant types of terrains. There are many different volcanic features on plains: radar-bright and -dark flows and spots, shield volcanos, volcanic domes and hills with varied morphology, and coronalike constructions. Devana Chasma rift crosses the surface between Beta Regio and Phoebe regio. The rift's normal faults dissect volcanic plains and shield volcanos. The rift valleys are relatively young structures. According to structural analysis of the rift valleys we conclude the rift originated due to 5-10 percent crustal extension and crustal subsidence. Devana Chasma rift is characterized by shoulder uplifts.

Nikishin, A. M.↗
NASA NTRS1992

Venus: Geology of Beta Regio rift system

Beta Regio is characterized by the existence of rift structures. We compiled new geologic maps of Beta Regio according to Magellan data. There are many large uplifted tesserae on beta upland. These tesserae are partly buried by younger volcanic cover. We can conclude, using these observations, that Beta upland formed mainly due to lithospheric tectonic uplifting and was only partly constructed by volcanism. Theia Mons is the center of the Beta rift system. Many rift belts are distributed radially to Theia Mons. Typical widths of rifts are 40-160 km. Rift valleys are structurally represented by crustal grabens or half-grabens. There are symmetrical and asymmetrical rifts. Many rifts have shoulder uplifts up to 0.5-1 km high and 40-60 km wide. Preliminary analysis for rift valley structural cross sections lead to the conclusion that rifts originated due to 5-10 percent crustal extension. Many rifts traverse Beta upland and spread to the surrounding lowlands. We can assume because of these data that Beta rift system has an active-passive origin. It formed due to regional tectonic lithospheric extension. Rifting was accelerated by upper-mantle hot spot origination under the center of passive extension (under the Beta Regio).

Nikishin, A. M.↗
NASA NTRS1993

Method and apparatus for preloading a joint by remotely operable means

The invention is a method and apparatus for joining structures, an active structure and a passive structure, and imposing a tensile pre-load on the joint by a remotely operable mechanism comprising a heat contractible joining element. The method and apparatus include mounting on the structure, a probe shaft of material which is transformable from an expanded length to a contracted length when heated to a specific temperature range. The shaft is provided with a probe head which is receivable in a receptacle opening formed in the passive structure, when the active structure is moved into engagement therewith by an appropriate manipulator mechanism. A latching system mounted on the structure adjacent to the receptacle opening captures the probe head, when the probe head is inserted a predetermined amount. A heating coil on the shaft is energizable by remote control for heating the shaft to a temperature range which transforms the shaft to its contracted length, whereby a latching shoulder thereof engages latching elements of the latching system and imposes a tensile preload on the structural joint. Provision is also made for manually adjusting the probe head on the shaft to allow for manual detachment of the structures or manual preloading of the structural joint.

Kahn, Jon B.↗
NASA NTRS1993

Flight investigation of the effect of tail boom strakes on helicopter directional control

A joint U.S. Army/NASA flight investigation was conducted utilizing a single-rotor helicopter to determine the effectiveness of horizontally mounted tail boom strakes on directional controllability and tail rotor power during low-speed, crosswind operating conditions. Three configurations were investigated: (1) baseline (strakes off), (2) single strake (strake at upper shoulder on port side of boom), and (3) double strake (upper strake plus a lower strake on same side of boom). The strakes were employed as a means to separate airflow over the tail boom and change fuselage yawing moments in a direction to improve the yaw control margin and reduce tail rotor power. Crosswind data were obtained in 5-knot increments of airspeed from 0 to 35 knots and in 30 deg increments of wind azimuth from 0 deg to 330 deg. At the most critical wind azimuth and airspeed in terms of tail rotor power, the strakes improved the pedal margin by 6 percent of total travel and reduced tail rotor power required by 17 percent. The increase in yaw control and reduction in tail rotor power offered by the strakes can expand the helicopter operating envelope in terms of gross weight and altitude capability. The strakes did not affect the flying qualities of the vehicle at airspeeds between 35 and 100 knots.

Kelly, Henry L.↗
NASA NTRS1992

8- to 13-micron spectroscopy of Comet Levy 1990 XX

The results are reported of IR spectroscopy of Comet Levy 1990 XX over a three-day period when the comet was about 1.54 AU from the sun roughly 70 days before perihelion. Comet Levy 1990 XX was bright, and for at least part of its inbound journey toward perihelion, active. At a distance of 1.54 AU from the sun it showed strong structured silicate emission with peaks or shoulders at 9.8 and 11.2 microns. These features resemble those of Comets P/Halley and Bradfield 1987 XXIX. The comet was variable in brightness. Specifically, the contrast of the silicate features changed by a factor of two relative to the continuum level and showed some evidence for a shape change as well.

Lynch, David K.↗
NASA NTRS1993

An evaluation of nozzle relaminarization using Low Reynolds Number k-epsilon turbulence models

Two nozzle flowfields are evaluated numerically using a Low Reynolds k-epsilon turbulence model to examine possible boundary layer relaminarization. Flow enters the scramjet-like nozzles at a Mach Number of approximately 4.5 and is expanded around smooth shoulders to an exit Mach number of about 6.5. The strong streamwise acceleration and large favorable pressure gradients act with the convex curvature to form small regions of laminar-like boundary layer behavior along the expansion surface. Two relaminarization criteria are evaluated and they both predict relaminarization to be occurring, with the trends accurately modeled by the Low-Reynolds Number turbulence model that is used. The Baldwin-Lomax turbulence model cannot model the near-wall changes that take place in the rapidly accelerating boundary layer, but it proves to be useful in providing the acceleration parameters used in predicting the potential for relaminarization.

Jentink, Thomas N.↗
NASA NTRS1992

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Sicard, Pierre↗
NASA NTRS1992

Nonlinear modeling of a long flexible manipulator and control by inertial devices

The authors consider the modeling and control of a planar, long flexible manipulator that is representative of current space-based robotic arms. The arm is equipped with three actuators: 1) a shoulder motor; 2) a torque wheel at the tip; and 3) a proof-mass actuator at the tip. The goal is to investigate the potential use of inertial devices as control inputs for maneuvering tasks and vibration suppression. The parameters used for the inertial devices at the tip are comparable to those specified for the Mini-Mast facility at the Langley Research Center. A nonlinear distributed parameter model is obtained by the extended Hamilton principle. The associated eigenvalue/eigenfunction problem is solved and a finite-dimensional state space model is assembled. A preliminary design of a linear quadratic regulator is used, and computer simulation results illustrate the benefits of using the proposed actuators.

Barbieri, Enrique↗
NASA NTRS1993

Comparison of continuum and particle simulations of expanding rarefied flows

Comparisons of Navier-Stokes solutions and particle simulations for a simple two-dimensional model problem at a succession of altitudes are performed in order to assess the importance of rarefaction effects on the base flow region. In addition, an attempt is made to include 'Burnett-type' extensions to the Navier-Stokes constitutive relations. The model geometry consists of a simple blunted wedge with a 0.425 meter nose radius, a 70 deg cone half angle, a 1.7 meter base length, and a rounded shoulder. The working gas is monatomic with a molecular weight and viscosity similar to air and was chosen to focus the study on the continuum and particle methodologies rather than the implementation of thermo-chemical modeling. Three cases are investigated, all at Mach 29, with densities corresponding to altitudes of 92 km, 99 km, and 105 km. At the lowest altitude, Navier-Stokes solutions agree well with particle simulations. At the higher altitudes, the Navier-Stokes equations become less accurate. In particular, the Navier-Stokes equations and particle method predict substantially different flow turning angle in the wake near the after body. Attempts to achieve steady continuum solutions including 'Burnett-type' terms failed. Further research is required to determine whether the boundary conditions, the equations themselves, or other unknown causes led to this failure.

Lumpkin, Forrest E., III↗
NASA NTRS1992

Human-like agents with posture planning ability

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Jung, Moon R.↗
NASA NTRS1992

Radii effect on the translation spring constant of force transducer beams

Multi-component strain-gage force transducer design requires the designer to determine the spring constant of the numerous beams or flexures incorporated in the transducer. The classical beam deflection formulae that are used in calculating these spring constants typically assume that the beam has a uniform moment of inertia along the entire beam length. In practice all beams have a radius at the end where the beam interfaces with the shoulder of the transducer, and on short beams in particular this increases the beam spring constant considerably. A Basic computer program utilizing numerical integration is presented to determine this effect.

Scott, C. E.↗