SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Industrial-robot hand (end effector) and mating receptacle include congruent male and female conical and V-shaped surfaces for positive alignment. Surfaces of end effector and receptacle keyed to each other for automatic alignment. Lifting pins inserted in receptacle to lock end effector and receptacle together. Tool turns mounting screw, and end effector lifts object.
The electromagnetic (EM) scattering from a planar termination located inside relatively arbitrarily shaped open-ended waveguide cavities with smoothly curved interior walls is analyzed using a Gaussian Beam (GB) expansion of the incident plane wave fields in the open end. The cavities under consideration may contain perfectly-conducting interior walls with or without a thin layer of material coating, or the walls may be characterized by an impedance boundary condition. In the present approach, the GB's are tracked only to the termination of the waveguide cavity via beam reflections from interior waveguide cavity walls. The Gaussian beams are tracked approximately only along their beam axes; this approximation which remains valid for relatively well focussed beams assumes that an incident GB gives rise to a reflected GB with parameters related to the incident beam and the radius of curvature of the wall. It is found that this approximation breaks down for GB's which come close to grazing a convex surface and when the width of the incident beam is comparable to the radius of curvature of the surface. The expansion of the fields at the open end depend on the incidence angle only through the expansion coefficients, so the GB's need to be tracked through the waveguide cavity only once for a wide range of incidence angles. At the termination, the sum of all the GB's are integrated using a result developed from a generalized reciprocity principle, to give the fields scattered from the interior of the cavity. The rim edge at the open end of the cavity is assumed to be sharp and the external scattering from the rim is added separately using Geometrical Theory of Diffraction. The results based on the present approach are compared with solutions based on the hybrid asymptotic modal method. The agreement is found to be very good for cavities made up of planar surfaces, and also for cavities with curved surfaces which are not too long with respect to their width.
The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.
For mechanical manipulators, a logical sensor location is at the manipulator end-point where tasks are performed. Unfortunately, when bending flexibility exists between an end-point sensor and a joint actuator, stability and performance are achieved only through sophisticated control design. Some of the issues involved in utilizing end-point sensing for two-link flexible manipulators are addressed. A modeling technique that properly represents the foreshortening of a flexible link undergoing deflections is presented. In order to realize fully the advantages of the assumed-modes modeling method, mode shapes are selected that allow a low-order model to be used effectively for simulation and control purposes. A nonlinear controller, incorporating state feedback and a constant-gain extended Kalman filter driven by end-point measurements, is designed and compared to a conventional proportional-plus-derivative controller that uses collocated sensors. Results from implementing these controllers on the experimental Stanford multilink flexible manipulator are given.
The dynamic behavior of columns with partial end restraints and loads consisting of a dead load and a pulsating load are investigated. The differential equation is solved using a lumped impulse recurrence formula relative to time coupled with a finite difference discretization along the member length. A computer program is written from which the first critical frequencies are found as a function of end stiffness. The case of a pinned ended column compares very well with the exact solution. Also, the natural frequency and buckling load formulas are derived for equal and unequal end restraints.
The effects of secondary end-wall corner flows on near wall flow parameters in turbomachinary are studied. Important near wall flow parameters such as the wall shear stress vector, the mean wall pressure, the wall pressure fluctuations, and the correlation of the wall pressure fluctuation with the velocity fluctuation in three-dimensional turbulent flows are first experimentally investigated. The blade end-wall corner region is simulated by mounting airfoil section of symmetric blades on both sides of the flat plate with semicircular leading edge. Observed changes in the maximum values of the wall shear stress and its location from the corner line could be associated with the streching and attenuation of the horseshoe vortex. The values of wall pressure fluctuation intensity in the blade end-wall corner region are found to be influenced by the changes of the strength of the horseshoe vortex. The correlation of the wall pressure fluctuation with the velocity fluctuation indicated higher values of correlation coefficient in the inner region as compared to the outer region of the shear layer. The values of wall pressure-velocity correlation coefficient in the blade end-wall corner region also decrease in the streamwise direction while increasing in the presence of favorable and adverse pressure gradients.
A new front-end controller (FEC) was installed on the 64-m antenna in Parkes, Australia, to support the 1989 Voyager 2 Neptune encounter. The FEC was added to automate operation of the front-end microwave hardware as part of the Deep Space Network's Parkes-Canberra Telemetry Array. Much of the front-end hardware was refurbished and reimplemented from a front-end system installed in 1985 by the European Space Agency for the Uranus encounter; however, the FEC and its associated noise-adding radiometer (NAR) were new Jet Propulsion Laboratory (JPL) designs. Project requirements and other factors led to the development of capabilities not found in standard Deep Space Network (DSN) controllers and radiometers. The Parkes FEC/NAR performed satisfactorily throughout the Neptune encounter and was removed in October 1989.
The Advanced Orbiting System (AOS) Front End System is being designed at NASA's Goddard Space Flight Center as a prototype front end to demonstrate the core front end functions required in the Customer Data Operations Systems (CDOS) in a realistic data processing requirement. The overall goal is to provide a low-cost environment for evaluating and verifying AOS and CDOS requirements before the actual operational systems are built. The architecture of the AOS Front End system, its core processing functions, and performance requirements are discussed, as are possible implementation architectures and solutions being developed to handle key AOS services.
This paper summarizes work by Rockwell International's Space Systems Division's Robotics Group at Downey, California. The work is part of a NASA-led team effort to automate Space Shuttle rewaterproofing in the Orbiter Processing Facility at the Kennedy Space Center and the ferry facility at the Ames-Dryden Flight Research Facility. Rockwell's effort focuses on the rewaterproofing end-effector, whose function is to inject hazardous dimethylethyloxysilane into thousands of ceramic tiles on the underside of the orbiter after each flight. The paper has five sections. First, it presents background on the present manual process. Second, end-effector requirements are presented, including safety and interface control. Third, a design is presented for the five end-effector systems: positioning, delivery, containment, data management, and command and control. Fourth, end-effector testing and integrating to the total system are described. Lastly, future applications for this technology are discussed.
Recent enhancements to the NLPAN computer code are presented. NLPAN is a finite strip method for the geometrically nonlinear static analysis of prismatic composite structures subjected to in-plane and pressure loading. Refinements to the original approach of NLPAN are noted, and the modifications necessary to model clamped ends, eccentrically loaded ends, and ends with rotationally elastic support are discussed. Analytical predictions for axially loaded stiffened panels with various types of end support are compared with experimental measurements. Overall there is good agreement between analytical results and test results. The method is successful in modelling key mechanisms which can cause elastic collapse.
Spectral mixture analysis was shown to be a powerful, multifaceted tool for analysis of multi- and hyper-spectral data. The essence of the first phase of the approach is to determine a set of image end-members that best account for the spectral variance in an image cube within a constrained, linear least squares mixing model. The selection of the image end-member is usually achieved using a priori knowledge and successive trial and error solutions to refine the total number and physical location of the end-members. However, in many situations a more objective method of determining these essential components is desired. The problem of image end-member determination was approached objectively by using the inherent variance of the data. Unlike purely statistical methods such as factor analysis, this approach derives solutions that conform to a physically realistic model.
The Dexterous End Effector Flight Experiment is a flight demonstration of newly developed equipment and methods which make for more dexterous manipulation of robotic arms. The following concepts are to be demonstrated: The Force Torque Sensor is a six axis load cell located at the end of the RMS which displays load data to the operator on the orbiter CCTV monitor. TRAC is a target system which provides six axis positional information to the operator. It has the characteristic of having high sensitivity to attitude misalignment while being flat. AUTO-TRAC is a variation of TRAC in which a computer analyzes a target, displays translational and attitude misalignment information, and provides cues to the operator for corrective inputs. The Magnetic End Effector is a fault tolerant end effector which grapples payloads using magnetic attraction. The Carrier Latch Assembly is a fault tolerant payload carrier, which uses mechanical latches and/or magnetic attraction to hold small payloads during launch/landing and to release payloads as desired. The flight experiment goals and objectives are explained. The experiment equipment is described, and the tasks to be performed during the demonstration are discussed.
The Earth & Space Data Computing (ESDC) Division, at the Goddard Space Flight Center, is involved in development and demonstrating various high end computer networking capabilities. The ESDC has several high end super computers. These are used to run: (1) computer simulation of the climate systems; (2) to support the Earth and Space Sciences (ESS) project; (3) to support the Grand Challenge (GC) Science, which is aimed at understanding the turbulent convection and dynamos in stars. GC research occurs in many sites throughout the country, and this research is enabled by, in part, the multiple high performance network interconnections. The application drivers for High End Computer Networking use distributed supercomputing to support virtual reality applications, such as TerraVision, (i.e., three dimensional browser of remotely accessed data), and Cave Automatic Virtual Environments (CAVE). Workstations can access and display data from multiple CAVE's with video servers, which allows for group/project collaborations using a combination of video, data, voice and shared white boarding. The ESDC is also developing and demonstrating the high degree of interoperability between satellite and terrestrial-based networks. To this end, the ESDC is conducting research and evaluations of new computer networking protocols and related technologies which improve the interoperability of satellite and terrestrial networks. The ESDC is also involved in the Security Proof of Concept Keystone (SPOCK) program sponsored by National Security Agency (NSA). The SPOCK activity provides a forum for government users and security technology providers to share information on security requirements, emerging technologies and new product developments. Also, the ESDC is involved in the Trans-Pacific Digital Library Experiment, which aims to demonstrate and evaluate the use of high performance satellite communications and advanced data communications protocols to enable interactive digital library data access between the U. S. Library of Congress, the National Library of Japan and other digital library sites at 155 MegaBytes Per Second. The ESDC participation in this program is the Trans-Pacific access to GLOBE visualizations in real time. ESDC is participating in the Department of Defense's ATDNet with Multiwavelength Optical Network (MONET) a fully switched Wavelength Division Networking testbed. This presentation is in viewgraph format.
Two different unidirectional composite materials were provided by NASA Langley Research Center and tested by the Composite Materials Research Group within the Department of Mechanical Engineering at the University of Wyoming. Double cantilever beam and end notched flexure tests were performed to measure the mode I (crack opening) and mode II (sliding or shear) interlaminar fracture toughness of the two materials. The two composites consisted of IM7 carbon fiber combined with either RP46 resin toughened with special formulation of LaRC IA resin, known as JJS1356; or PES chain extended thermoplastic resin known as JJS1361. Double Cantilever Beam Specimen Configuration and Test Methods As received from NASA, the test specimens were nominally 0.5 inch wide, 6 inches long, and 0.2 inch thick. A 1 inch long Kapton insert at the midplane of one end of the specimen (placed during laminate fabrication) facilitated crack initiation and extension. It was noted that the specimens provided were smaller than the nominal 1.5 inch wide, 9.0 inch long configuration specified. Similarly, the Kapton inserts were of greater length than those in the present specimens. Hence, the data below should not be compared directly to those generated with the referenced methods. No preconditioning was performed on the specimens prior to testing. In general, the methodology was used for the present work. Crack opening loads were introduced to the specimens via piano hinges attached to the main specimen faces at a single end of each specimen. Hinges were bolted to the specimens using the technique presented. The cracks were extended a small distance from the end of the Kapton insert prior to testing. Just before precracking, the sides of the specimens were coated with water-soluble typewriter correction fluid to aid in crack visualization. Scribe marks were then made in the coating at half-inch intervals.
The ability to achieve low-mass low-cost micro/nanospacecraft for Deep Space exploration requires extensive miniaturization of all subsystems. The front end of the Telecommunication subsystem is an area in which major mass (factor of 10) and volume (factor of 100) reduction can be achieved via the development of new silicon based micromachined technology and devices. Major components that make up the front end include single-pole and double-throw switches, diplexer, and solid state power amplifier. JPL's Center For Space Microsystems - System On A Chip (SOAC) Program has addressed the challenges of front end miniaturization (switches and diplexers). Our objectives were to develop the main components that comprise a communication front end and enable integration in a single module that we refer to as a 'cube'. In this paper we will provide the latest status of our Microelectromechanical System (MEMS) switches and surface micromachined filter development. Based on the significant progress achieved we can begin to provide guidelines of the proper system insertion for these emerging technologies. Additional information is contained in the original extended abstract.
In skeletal muscle, overall protein degradation involves the ubiquitin-proteasome system. One property of a protein that leads to rapid ubiquitin-dependent degradation is the presence of a basic, acidic, or bulky hydrophobic residue at its N terminus. However, in normal cells, substrates for this N-end rule pathway, which involves ubiquitin carrier protein (E2) E214k and ubiquitin-protein ligase (E3) E3alpha, have remained unclear. Surprisingly, in soluble extracts of rabbit muscle, we found that competitive inhibitors of E3alpha markedly inhibited the 125I-ubiquitin conjugation and ATP-dependent degradation of endogenous proteins. These inhibitors appear to selectively inhibit E3alpha, since they blocked degradation of 125I-lysozyme, a model N-end rule substrate, but did not affect the degradation of proteins whose ubiquitination involved other E3s. The addition of several E2s or E3alpha to the muscle extracts stimulated overall proteolysis and ubiquitination, but only the stimulation by E3alpha or E214k was sensitive to these inhibitors. A similar general inhibition of ubiquitin conjugation to endogenous proteins was observed with a dominant negative inhibitor of E214k. Certain substrates of the N-end rule pathway are degraded after their tRNA-dependent arginylation. We found that adding RNase A to muscle extracts reduced the ATP-dependent proteolysis of endogenous proteins, and supplying tRNA partially restored this process. Finally, although in muscle extracts the N-end rule pathway catalyzes most ubiquitin conjugation, it makes only a minor contribution to overall protein ubiquitination in HeLa cell extracts.
We present the UDF05 project, a HST Large Program of deep ACS (F606W, F775W, F850LP, and NICMOS (Fll0W, Fl60W) imaging of three fields, two of which coincide with the NICP1-4 NICMOS parallel observations of the Hubble Ultra Deep Field (HUDF). In this first paper we use the ACS data for the NICP12 field, as well as the original HUDF ACS data, to measure the UV Luminosity Function (LF) of z approximately 5 Lyman Break Galaxies (LBGs) down to very faint levels. Specifically, based on a V - i, i - z selection criterion, we identify a sample of 101 and 133 candidate z approximately 5 galaxies down to z(sub 850) = 28.5 and 29.25 magnitudes in the NICP12 field and in the HUDF, respectively. Using an extensive set of Monte Carlo simulations we derive corrections for observational biases and selection effects, and construct the rest-frame 1400 Angstroms LBG LF over the range M(sub 1400) = [-22.2, -17.1], i.e. down to approximately 0.04 L(sub *) at z = 5. We show that: (i) Different assumptions for the SED distribution of the LBG population, dust properties and intergalactic absorption result in a 25% variation in the number density of LBGs at z = 5 (ii) Under consistent assumptions for dust properties and intergalactic absorption, the HUDF is about 30% under-dense in z = 5 LBGs relative to the NICP12 field, a variation which is well explained by cosmic variance; (iii) The faint-end slope of the LF is independent of the specific assumptions for the input physical parameters, and has a value of alpha approximately -1.6, similar to the faint-end slope of the LF that has been measured for LBGs at z = 3 and z = 6. Our study therefore supports no variation in the faint-end of the LBG LF over the whole redshift range z = 3 to z = 6. The comparison with theoretical predictions suggests that (a,) the majority of the stars in the z = 5 LBG population are produced with a Top-Heavy IMF in merger-driven starbursts, and that (b) possibly, either the fraction of stellar mass produced in starburst, or the fraction of high mass stars in the bursts is increased towards the bright end of the LF.
Non-homologous end joining (NHEJ) is the dominant DNA double strand break (DSB) repair pathway and involves several NHEJ proteins such as Ku, DNA-PKcs, XRCC4, Ligase IV and so on. Once DSBs are generated, Ku is first recruited to the DNA end, followed by other NHEJ proteins for DNA end processing and ligation. Because of the direct ligation of break ends without the need for a homologous template, NHEJ turns out to be an error-prone but efficient repair pathway. Some mechanisms have been proposed of how the efficiency of NHEJ repair is affected. The type of DNA damage is an important factor of NHEJ repair. For instance, the length of DNA fragment may determine the recruitment efficiency of NHEJ protein such as Ku [1], or the complexity of the DNA breaks [2] is accounted for the choice of NHEJ proteins and subpathway of NHEJ repair. On the other hand, the chromatin structure also plays a role of the accessibility of NHEJ protein to the DNA damage site. In this talk, some mathematical models of NHEJ, that consist of series of biochemical reactions complying with the laws of chemical reaction (e.g. mass action, etc.), will be introduced. By mathematical and numerical analysis and parameter estimation, the models are able to capture the qualitative biological features and show good agreement with experimental data. As conclusions, from the viewpoint of modeling, how the NHEJ proteins are recruited will be first discussed for connection between the classical sequential model [4] and recently proposed two-phase model [5]. Then how the NHEJ repair pathway is affected, by the length of DNA fragment [6], the complexity of DNA damage [7] and the chromatin structure [8], will be addressed