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At least 361 records · Page 20

A macro-micro robot for precise force applications

This paper describes an 8 degree-of-freedom macro-micro robot capable of performing tasks which require accurate force control. Applications such as polishing, finishing, grinding, deburring, and cleaning are a few examples of tasks which need this capability. Currently these tasks are either performed manually or with dedicated machinery because of the lack of a flexible and cost effective tool, such as a programmable force-controlled robot. The basic design and control of the macro-micro robot is described in this paper. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system.

Marzwell, Neville I.↗

Manned versus unmanned rendezvous and capture

Rendezvous and capture (docking) operations may be performed either automatically or under manual control. In cases where humans are far from the mission site, or high-bandwidth communications lines are not in place, automation is the only option. Such might be the case with unmanned missions to the moon or Mars that involve orbital docking or cargo transfer. In crewed situations where sensors, computation capabilities, and other necessary instrumentation are unavailable, manual control is the only alternative. Power, mass, cost, or other restrictions may limit the availability of the machinery required for an automated rendezvous and capture. The only occasions for which there is a choice about whether to use automated or manual control are those where the vehicle(s) have both the crew and instrumentation necessary to perform the mission either way. The following discussion will focus on the final approach or capture (docking) maneuver. The maneuvers required for long-range rendezvous operations are calculated by computers. It is almost irrelevant whether it is an astronaut, watching a count-down timer who pushes the button firing the thruster or whether the computer keeps track of the time and fires with the astronaut monitoring. The actual manual workload associated with a mission that may take as long as hours or days to perform is small. The workload per unit time increases tremendously during the final approach (docking) phase and this is where the issue of manual versus automatic is more important.

Brody, Adam R.↗

Magnetic bearing turbomachinery case histories and applications for space related equipment

The concept of magnetic levitation is not a new one and can be easily traced back to the 1800's. It is only recently, however, that the congruous technologies of electronic control systems, power electronics, and magnetic materials have begun to merge to make the magnetic suspension device a viable product. A brief overview of an active magnetic bearing technology is provided. Case histories of various turbomachinery in North America presently operating on magnetic bearings are reviewed. Finally, projections are made as to the space related machinery that may be benefited by incorporating magnetic bearings into the equipment design.

Weise, David A.↗

Design and test of a magnetic thrust bearing

A magnetic thrust bearing can be employed to take thrust loads in rotating machinery. The design and construction of a prototype magnetic thrust bearing for a high load per weight application is described. The theory for the bearing is developed. Fixtures were designed and the bearing was tested for load capacity using a universal testing machine. Various shims were employed to have known gap thicknesses. A comparison of the theory and measured results is presented.

Allaire, P. E.↗

A conventional point of view on active magnetic bearings

Active magnetic bearings used in rotating machinery should be designed as locally controlled, independent devices similar to other types of bearings. The functions of control electronics and power amplifiers can be simply and explicitly related to general bearing properties such as load capacity, stiffness, and damping. The dynamics of a rotor and its supporting active magnetic bearings are analyzed in a modified conventional method with an extended state vector containing the bearing state variables.

Chen, H. Ming↗

Performance of ceramic superconductors in magnetic bearings

Magnetic bearings are large-scale applications of magnet technology, quite similar in certain ways to synchronous machinery. They require substantial flux density over relatively large volumes of space. Large flux density is required to have satisfactory force density. Satisfactory dynamic response requires that magnetic circuit permeances not be too large, implying large air gaps. Superconductors, which offer large magnetomotive forces and high flux density in low permeance circuits, appear to be desirable in these situations. Flux densities substantially in excess of those possible with iron can be produced, and no ferromagnetic material is required. Thus the inductance of active coils can be made low, indicating good dynamic response of the bearing system. The principal difficulty in using superconductors is, of course, the deep cryogenic temperatures at which they must operate. Because of the difficulties in working with liquid helium, the possibility of superconductors which can be operated in liquid nitrogen is thought to extend the number and range of applications of superconductivity. Critical temperatures of about 98 degrees Kelvin were demonstrated in a class of materials which are, in fact, ceramics. Quite a bit of public attention was attracted to these new materials. There is a difficulty with the ceramic superconducting materials which were developed to date. Current densities sufficient for use in large-scale applications have not been demonstrated. In order to be useful, superconductors must be capable of carrying substantial currents in the presence of large magnetic fields. The possible use of ceramic superconductors in magnetic bearings is investigated and discussed and requirements that must be achieved by superconductors operating at liquid nitrogen temperatures to make their use comparable with niobium-titanium superconductors operating at liquid helium temperatures are identified.

Kirtley, James L., Jr.↗

Intelligent robots for planetary exploration and construction

Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

Albus, James S.↗

Development of advanced seals for space propulsion turbomachinery

Current activities in seals for space propulsion turbomachinery that NASA sponsors are surveyed. The overall objective is to provide the designer and researcher with the concepts and data to control seal dynamics and leakage. Included in the program are low-leakage seals, such as the brush seal, the 'ceramic rope' seal, low-leakage seals for liquid oxygen turbopumps, face seals for two phase flow, and swirl brakes for stability. Two major efforts are summarized: a seal dynamics in rotating machinery, and an effort in seal code development.

Hendricks, Robert C.↗

Remote spectral identification of surface aggregates by thermal imaging techniques - Progress report

The NASA Thermal Infrared Multispectral Scanner (TIMS) has been successfully used for the remote identification of a variety of soil and aggregate deposits in vegetated areas of two states. Over three million cubic meters of gravel deposits were identified from the imagery during a two year period. Verification was accomplished by ground reconnaissance using drilling machinery and by ground instrumentation. The method has been used to differentiate between fine and coarse grained soils, and gravel deposits. The deposits were found to have been naturally sorted according to grain size by depositional processes, providing each deposit with distinct spectral qualities. It was found that the masking effects of relatively dense vegetation were largely overcome by using imagery acquired at higher altitudes above terrain than 9000 meters, due to loss of resolution of the finer detail. The mechanics of image resolution are discussed, a method of data analysis used is described, and sample spectral signatures are illustrated.

Scholen, Douglas E.↗

Navier-Stokes calculations for the unsteady flowfield of turbomachinery

The Multistage Unsteady Turbomachinery Code is presently used to numerically simulate the flowfield generated by rotating machinery. The code, which simplifies the Reynolds-averaged Navier-Stokes equations via the thin-layer approximation, is an implicit finite-volume scheme with flux Jacobians that are evaluated by flux-vector splitting, while residual fluxes are evaluated by flux-difference splitting. Attention is given to the computational results this obtained for three engineering problems, involving propfan, rotating blade, and both rotating and static blade flows.

Chen, Jen P.↗

Magnetic bearings for free-piston Stirling engines

The feasibility and efficiency of applying magnetic bearings to free-piston Stirling-cycle power conversion machinery currently being developed for long-term space missions are assessed. The study was performed for a 50-kWe Reference Stirling Space Power Converter (RSSPC) which currently uses hydrostatic gas bearings to support the reciprocating displacer and power piston assemblies. Active magnetic bearings of the attractive electromagnetic type are feasible for the RSSPC power piston. Magnetic support of the displacer assembly would require unacceptable changes to the design of the current RSSPC. However, magnetic suspension of both displacer and power piston is feasible for a relative-displacer version of the RSSPC. Magnetic suspension of the RSSPC power piston can potentially increase overall efficiency by 0.5 to 1 percent (0.1 to 0.3 efficieny points). Magnetic bearings will also overcome several operational concerns associated with hydrostatic gas bearing systems. These advantages, however, are accompanied by a 5 percent increase in specific mass of the RSSPC.

Curwen, P. W.↗

A unified process for systems identification based on performance assessment

Many modern spacecraft are complex multi-body dynamic systems where the bodies are connected by several active control systems for pointing and isolation. Mission requirements indicate that many structural modes and possibly some nonlinear effects will require characterization. Thus, even characterization at the subsystem level will become more difficult than usual. System level characterization difficulties will be compounded by the fact that only limited ground testing will be possible on the full up system, and flight testing will be restricted by an extremely limited measurements set. The object of the present discussion is the application of matrix majorant theory to the problem of assessing dynamic system performance when knowledge of the system is uncertain. We show how majorants provide an effective tool to relate required performance output to system identification test quality in terms of residual uncertainty in input-output relations, parameter values, nonlinearities, and interactions. The underlying machinery consists of the block-norm matrix which is a nonnegative matrix each of whose elements is the norm of a block of a suitably partitioned matrix. A matrix which bounds the block-norm matrix in the sense of nonnegative matrices, i.e., element by element is known as a majorant.

Hyland, C.↗

Foaming volume and foam stability

A method of measuring foaming volume is described and investigated to establish the critical factors in its operation. Data on foaming volumes and foam stabilities are given for a series of hydrocarbons and for a range of concentrations of aqueous ethylene-glycol solutions. It is shown that the amount of foam formed depends on the machinery of its production as well as on properties of the liquid, whereas the stability of the foam produced, within specified mechanical limitations, is primarily a function of the liquid.

Ross, Sydney↗

The ferrosilicon process for the generation of hydrogen

Report describes the generation of hydrogen by the reaction between ferrosilicon, sodium hydroxide, and water. This method known as the ferrosilicon method is especially adapted for use in the military field because of the relatively small size and low cost of the generator required to produce hydrogen at a rapid rate, the small operating force required, and the fact that no power is used except the small amount required to operate the stirring and pumping machinery. These advantages make it possible to quickly generate sufficient hydrogen to fill a balloon with a generator which can be transported on a motor truck. This report gives a summary of the details of the ferrosilicon process and a critical examination of the means which are necessary in order to make the process successful.

Weaver, E R↗

Jet propulsion for airplanes

This report is a description of a method of propelling airplanes by the reaction of jet propulsion. Air is compressed and mixed with fuel in a combustion chamber, where the mixture burns at constant pressure. The combustion products issue through a nozzle, and the reaction of that of the motor-driven air screw. The computations are outlined and the results given by tables and curves. The relative fuel consumption and weight of machinery for the jet, decrease as the flying speed increases; but at 250 miles per hour the jet would still take about four times as much fuel per thrust horsepower-hour as the air screw, and the power plant would be heavier and much more complicated. Propulsion by the reaction of a simple jet can not compete with air screw propulsion at such flying speeds as are now in prospect.

Buckingham, Edgar↗

Advances In Magnetic Bearings

NASA technical memorandum reviews state of technology of magnetic bearings, focusing mainly on attractive bearings rather than repulsive, eddy-current, or Lorentz bearings. Attractive bearings offer greater load capacities and preferred for aerospace machinery.

Fleming, David P.↗

Cryogenic Hybrid Magnetic Bearing

Cryogenic hybrid magnetic bearing is example of class of magnetic bearings in which permanent magnets and electromagnets used to suspend shafts. Electromagnets provide active control of position of shaft. Bearing operates at temperatures from -320 degrees F (-196 degrees C) to 650 degrees F (343 degrees C); designed for possible use in rocket-engine turbopumps, where effects of cryogenic environment and fluid severely limit lubrication of conventional ball bearings. This and similar bearings also suitable for terrestrial rotating machinery; for example, gas-turbine engines, high-vacuum pumps, canned pumps, precise gimbals that suspend sensors, and pumps that handle corrosive or gritty fluids.

Meeks, Crawford R.↗

Thermotile Refrigerators

Thermoelectric tiles provide cooling exactly where needed. Thermotile is modular thermoelectric cooling unit that incorporates sensor and electronic circuitry in addition to thermoelectric device. Refrigerator/freezer is lined with thermotiles clipped into supporting lattices. Small fans used to circulate air in refrigerator and freezer compartments. Elimination of conventional mechanical refrigeration machinery reduces number of moving parts and completely eliminates noise and vibration. Data capabilities of thermotile refrigeration system used for diagnosis of defects or monitoring local temperatures. Thermotiles produced by automated manufacturing techniques. Custom shapes molded as needed.

Park, Brian V.↗