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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 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1975

Orion-arm magnetic monopoles and gamma rays

It is shown that galactic-disk monopoles could yield air showers which are stochastically aligned with the local Orion-arm magnetic field and which are above the energies of similarly aligned galactic heavy nuclei. In the absence of a cosmic-ray anisotropy, this method sets limits on the flux of galactic monopoles and their production cross sections. Limits based on the cosmic-ray anisotropy at 10 to the 19th power eV are presented. The possibility of stochastic alignment of inverse Compton photons from monopoles and 2.7 K black-body photons is considered. The resulting monopole-flux limits, based on the same data as those calculated by Osborne (1970), differ significantly from Osborne's limits, where the mechanisms of spiral-arm alignment and galactic containment are ignored.

Tompkins, D. R., Jr.↗
NASA NTRS1976

Predominance of two-armed spirals

A physical process accounts for the origin and widespread occurrence of two-armed spiral patterns with a high degree of symmetry extending from the nucleus to the outermost part of a galaxy. Self-gravitating systems, starting from a wide variety of initial conditions, settle down into twofold symmetries through a sequence of forms that were identified in numerical experiments. Twofold symmetries rarely develop directly. Instead, the systems pass through a sequence of more complicated shapes. The computer experiments and the sequence leading to twofold symmetries are described. At the end of this process, a two-armed spiral density wave with a 'grand design' has been set up in the galaxy, and the stage has been set for some mechanism, such as that of Lin and Shu (1971), to take over to assure a long lifetime for the pattern.

Miller, R. H.↗
NASA NTRS1977

RMS massless arm dynamics capability in the SVDS

The equations of motion for the remote manipulator system, assuming that the masses and inertias of the arm can be neglected, are developed for implementation into the space vehicle dynamics simulation (SVDS) program for the Orbiter payload system. The arm flexibility is incorporated into the equations by the computation of flexibility terms for use in the joint servo model. The approach developed in this report is based on using the Jacobian transformation matrix to transform force and velocity terms between the configuration space and the task space to simplify the form of the equations.

Flanders, H. A.↗
NASA NTRS1975

Application of a postulate based control theory for an artificial arm

The biocontroller, remnant of the natural arm, and feedback elements must be considered in designing a controller for an above elbow artificial arm for amputees. This fundamental postulate is used to derive equations for developing the controller, which is shown in block diagrams.

Jacobsen, S. C.↗
NASA NTRS1978

On the calculation of squaring loss in Costas loops with arbitrary arm filters

Specific numerical results for the squaring loss in Costas loop tracking are discussed for cases when the input data were biphase-L, and the Costas loop arm filters were of the n-pole Butterworth type. It is pointed out that a simple scientific calculator may be used for the computations, provided the transfer function of the arm filter has simple poles. The technique can also be used to compute the squaring loss in other modulation forms, such as unbalanced quadriphase-shift-keying (QPSK).

Simon, M. K.↗
NASA NTRS1978

Tracking performance of unbalanced QPSK demodulators. II - Biphase Costas loop with active arm filters

In a Costas loop study for biphase modulation conducted by Simon and Lindsey (1977), it was demonstrated that considerable improvement in tracking performance could be obtained by employing active arm filters of the integrate-and-dump type as opposed to passive arm filters. An investigation is conducted concerning the possibility to obtain a similar performance improvement for an unbalanced quadriphase-shift-keying (QPSK) modulation. It is found that the biphase Costas loop can be used as an efficient demodulator of QPSK in cases in which the ratio of data rates is of the same order of magnitude as the inverse of the power ratio. These cases involve approximately equal signal energies in the two channels.

Simon, M. K.↗
NASA NTRS1978

The proto-type wrist joint assembly TACPAW (Triple Axis Common Pivot Arm Wrist), phase 2

A wrist joint assembly is described for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis to produce a pitch motion, and a third axis to produce a roll motion. The performance of the wrist configuration is indicative of the capability to produce the 15 ft lb torque in either one of the three motions and the smoothness of operation is notable.

Kersten, L.↗
NASA NTRS1980

Triple-axis common-pivot arm wrist device for manipulative applications

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Kersten, L.↗
NASA NTRS1980

Control of a flexible robot arm

Exact equations of motion of an arm with known parameters were developed and analyzed preparatory to designing control systems for robotic manipulators. The design of an experimental one-link arm for testing control designs is presented.

Schmitz, E.↗
NASA NTRS1981

Surface photometry of spiral galaxies. I - Theoretical color variation and surface brightness across spiral arms

A method for the construction of color variations and surface brightness across a galactic spiral arm, using the concepts and results of the density-wave theory, is developed. The color variation measured by the index Q varies with the ratio of the light of young stars to that of the old stars, the initial mass function, and the pattern speed. The fact that the variation of brightness and color across a spiral arm is relatively smooth and symmetrical and not sharp as in the galactic shock picture is due to the smearing-out effects of star formation inside a cloud in the regions behind the galactic shock, and the tendency of new stars to fall back to small galactocentric distances after their formation because of their lower angular velocity at birth. Both effects arise naturally in the context of the density-wave theory.

Yuan, C.↗
NASA NTRS1981

Cloud fluid compression and softening in spiral arms and the formation of giant molecular cloud complexes

With regard to the galactodynamics of the cloudy interstellar medium, the paper considers the response of such a gas to a forcing potential in the tight-winding density wave theory. The cloud fluid is treated in the hydrodynamic limit with an equation of state which softens at high densities. It is shown that in the inner regions of the galaxy, cooling of the cloud fluid in the arms can result in gravitational instability and the formation of large bound complexes of clouds which are identified with the giant molecular clouds (GMCs). Masses, dimensions, distributions, and scale heights of the GMCs are predicted by the theory. It is suggested that the interstellar gas density in the disk is regulated by the gravitational instability mechanism in the arms which siphons material into star formation. Implications for the evolution of individual GMCs and for galactic morphology are discussed.

Cowie, L. L.↗
NASA NTRS1981

Vertical extensions of galactic spiral arms

The vertical structure of the large scale galactic shock along spiral arms is studied in order to understand the extended features or the wings of spiral arms observed by Kepner (1970) and recently checked by Soukup (1979). Numerical calculations of two-dimensional gas flow were performed for two models of the gas. The results show that the shock front, standing perfectly perpendicular to the galactic plane, extends impressively above the scale height of the interstellar gas. In the extreme case of isothermal gas, the shock solution exists at any distance from the plane. In a realistic model in which the kinetic temperature of the gas is stratified, increasing with height, the shock can extend up to 700 pc. For both models, although the velocity component perpendicular to the galactic plane is small, the solutions corresponding to layered one-dimensional flow contain no shocks at such heights. In order to study the geometry of the shock front and the flow pattern near it, a simplified model is adopted, in which the Coriolis force is neglected. However, estimates show that including it will enhance the shock strength. The compression at the shock front makes the gas observable at high latitudes.

Soukup, J. E.↗
NASA NTRS1982

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Klein, C. A.↗
NASA NTRS1982

Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

Book, W. J.↗
NASA NTRS1985

Force Sensor for Large Robot Arms

Modified Maltese-cross force sensor larger and more sensitive than earlier designs. Measures inertial forces and torques exerted on large robot arms during free movement as well as those exerted by claw on manipulated objects. Large central hole of sensor allows claw drive mounted inside arm instead of perpendicular to its axis, eliminating potentially hazardous projection. Originally developed for Space Shuttle, sensor finds applications in large industrial robots.

Bejczy, A. K.↗
NASA NTRS1986

Computational Simplification of Robot-Arm Dynamics

Report presents two general methods for reducing mathematical complexities of state equations of robot-arm dynamics. Robot arms contain both rotary and linear joints. Both methods start with homogenous coordinates and Lagrangian formulation of mechanics briefly summarized in report. First method uses matrix-analysis techniques; second, vector-analysis techniques. Vector-analysis method includes new differential-vector representation of centripetal and Coriolis forces.

Bejczy, A. K.↗
NASA NTRS1985

External Tank GH2 Vent Arm

Because the venting of free hydrogen gas to the atmosphere presents an extremely hazardous situation, it was necessary to devise a means for safe, controlled venting of the shuttle external tank gaseous hydrogen during and after liquid hydrogen tank loading. Several design concepts that were considered initially were discarded as unfeasible because of vehicle weight restrictions, high cost, and because the proposed structure was itself deemed a hazard due to the vehicle's nonvertical launch trajectory. These design concepts are discussed. A design employing a support structure/access arm attached to the fixed service structure was finally selected. The various design problems resolved included vent arm disconnect/drop interference, minimizing refurbishment due to launch damage, disconnect reliability, vehicle movement tracking, minimizing vent line pressure drop, and the presence of other vehicle services at the same centralized supply area. Six launches have proven the system to be reliable, efficient, and of nearly zero refurbishment cost.

Reichle, G. E.↗
NASA NTRS1984

Generalized bilateral control of robot arms

This paper summarizes the theory of a new form of bilateral or force-reflecting manual control of remote robot (slave) arms. The mathematics of workspace representation, command structure, kinematic and dynamic control coordination required for implementing the new form of generalized bilateral control through computer programs is presented. The paper concludes with a brief description of implementation organization of the new system using a six-degree-of-freedom backdrivable hand controller, a PUMA 560 robot arm and a distributed net of microcomputers organized in two groups: one at the remote work site and one at the control station.

Bejczy, A. K.↗