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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 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Multi-limbed locomotion systems for space construction and maintenance

A well developed technology of coordination of multi-limbed locomotory systems is now available. Results from a NASA sponsored study of several years ago are presented. This was a simulation study of a three-limbed locomotion/manipulation system. Each limb had six degrees of freedom and could be used either as a locomotory grasping hand-holds, or as a manipulator. The focus of the study was kinematic coordination algorithms. The presentation will also include very recent results from the Adaptive Suspension Vehicle Project. The Adaptive Suspension Vehicle (ASV) is a legged locomotion system designed for terrestrial use which is capable of operating in completely unstructured terrain in either a teleoperated or operator-on-board mode. Future development may include autonomous operation. The ASV features a very advanced coordination and control system which could readily be adapted to operation in space. An inertial package with a vertical gyro, and rate gyros and accelerometers on three orthogonal axes provides body position information at high bandwidth. This is compared to the operator's commands, injected via a joystick to provide a commanded force system on the vehicle's body. This system is, in turn, decomposed by a coordination algorithm into force commands to those legs which are in contact with the ground.

Waldron, K. J.↗
NASA NTRS1989

Asymptotic behavior of a flat plate wake

An experimental study has been conducted to investigate the far-field, self-similar properties of a flat plate wake. A plane turbulent wake was generated at the trailing edge of a smooth splitter plate separating two legs of a Mixing Layer Wind Tunnel, with both initial boundary layers tripped. For the present study, both legs were operated at a free-steam velocity in the test section of 15 m/s, giving a Reynolds number based on wake momentum thickness of about 1750. Single profile measurements were obtained at five streamwise locations using a Pitot probe for the mean velocity measurements and a single cross-wire probe for the turbulence data, which included statistics up to third order. The mean flow data indicated a self-similar behavior beyond a streamwise distance equivalent to about 350 wake momentum thicknesses. However, the turbulence data show better collapse beyond a distance equivalent to about 500 momentum thicknesses, with all the measured peak Reynolds stresses achieving constant, asymptotic levels. The asymptotic mean flow behavior and peak primary stress levels agree well with theoretical predictions based on a constant eddy viscosity model. The present data also agree reasonably well with previous measurements, of which only one set extends into the self-similar region. Detailed comparisons with previous data are presented and discussed in this report.

Weygandt, James H.↗
NASA NTRS1988

In-situ propellant advantages for fast transfer to Mars

The advantages of in situ propellant for a fast transfer to Mars were studied as compared to all earth-based propellants and other options for reduction of total masss in low earth orbit. For a 10-year, 10-mission model and a baseline vehicle taken from the literature, the total reduction in number of earth launches was calculated. The scenario in which the return propellants are transferred to Mars on a slow cargo vehicle provides a 29-percent reduction in ALS launches over the baseline scenario in which all propellants are brought directly from earth. The scenarios in which in situ propellants are used for a successively greater portion of the total mission continue to reduce the number of launches required. With Mars propellant used for the Mars ascent vehicle and the return leg of the mission, a 59-percent reduction in launches is obtained. Finally, if the oxygen, or oxygen and fuel, for the outbound leg of the mission is also obtained by in situ production, from the moon for example, then the total reduction in number of earth launches is more than 80 percent.

Galecki, Diane L.↗
NASA NTRS1989

Semi-autonomous design concepts for a Mars rover

Studies of rover mobility and surface rendezvous for a Mars Rover/Sample Return (MRSR) mission have been performed. The objective of these efforts has been to identify and address the most challenging issues and develop the most promising design options for the rover mobility and navigation subsystems. A series of trade studies culminated in three candidate design concepts: a large, but otherwise conventional four-wheel drive vehicle; a sophisticated and agile six-legged walking vehicle; and a greatly simplified legged vehicle. This paper summarizes the key design features for these three concepts. For each design, the approaches to vehicle locomotion, sensing and navigation are discussed first. Timelines are developed for the adopted concepts of operation which constrain the range of the remaining parameters. Estimates of rover mass, volume, and power are provided, and performance is projected for vehicle range, terrain traversibility and navigation accuracy.

Spiessbach, Andrew J.↗
NASA NTRS1989

Terrain mapping for a roving planetary explorer

A prototype legged vehicle is being developed for an exploratory mission on another planet, conceivably Mars, where it is to traverse uncharted areas and collect material samples. The rover can construct from range imagery a geometric terrain representation; i.e., elevation map that includes uncertainty, unknown areas, and local features. An algorithm for constructing an elevation map from a single range image is presented: by virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike algorithms that work in Cartesian space. Also presented is a two-stage matching technique (feature matching followed by iconic matching) that identifies the transformation T corresponding to the vehicle displacement between two viewing positions. To support legged locomotion over rough terrain, methods for evaluating regions of the constructed elevation maps as footholds are developed.

Hebert, M.↗
NASA NTRS1989

Siphon flows in isolated magnetic flux tubes. 3: The equilibrium path of the flux tube arch

The arched equilibrium path of a thin magnetic flux tube in a plane-stratified, nonmagnetic atmosphere is calculated for cases in which the flux tube contains a steady siphon flow. The large scale mechanical equilibrium of the flux tube involves a balance among the magnetic buoyancy force, the net magnetic tension force due to the curvature of the flux tube axis, and the inertial (centrifugal) force due to the siphon flow along curved streamlines. The ends of the flux tube are assumed to be pinned down by some other external force. Both isothermal and adiabatic siphon flows are considered for flux tubes in an isothermal external atmosphere. For the isothermal case, in the absence of a siphon flow the equilibrium path reduces to the static arch calculated by Parker (1975, 1979). The presence of a siphon flow causes the flux tube arch to bend more sharply, so that magnetic tension can overcome the additional straightening effect of the inertial force, and reduces the maximum width of the arch. The curvature of the arch increases as the siphon flow speed increases. For a critical siphon flow, with supercritical flow in the downstream leg, the arch is asymmetric, with greater curvature in the downstream leg of the arch. Adiabatic flow have qualitatively similar effects, except that adiabatic cooling reduces the buoyancy of the flux tube and thus leads to significantly wider arches. In some cases the cooling is strong enough to create negative buoyancy along sections of the flux tube, requiring upward curvature of the flux tube path along these sections and sometimes leading to unusual equilibrium paths of periodic, sinusoidal form.

Thomas, John H.↗
NASA NTRS1989

Lunar drill footplate and casing

To prevent hole collapse during lunar drilling operations, a casing has been devised of a graphite reinforced polyimide composite which will be able to withstand the lunar environment. Additionally, this casing will be inserted into the ground in segments two meters long which will penetrate the regolith simultaneously with the auger. The vertical action of the mobile platform will provide a downward force to the casing string through a special adaptor, giving the casing the needed impetus to sink the anticipated depth of ten meters. Casing segments will be connected with a simple snap arrangement. Excess casing will be cut off by a cylindrical cutting tool which will also transport the excess casing away from the hole. A footplate will be incorporated to grasp the auger rod string during rod segment additions or removals. The footplate grasping mechanism will consist of a set of vice-like arms, one end of each bearing threaded to a common power screw. The power screw will be threaded such that one end's thread pitch opposes that of the other end. The weight of the auger and rod string will be transmitted through the arms to the power screw and absorbed by a set of three ball bearing assemblies. The power screw will be driven by a one-half horsepower brushless motor actuated by radio control. The footplate will rest on four short legs and be anchored with pins that are an integral part of each leg.

Maassen, Erik C.↗
NASA NTRS1990

Structural analysis of stratocumulus convection

The 1 and 20 Hz data are examined from the Electra flights made on July 5, 1987. The flight legs consisted of seven horizontal turbulent legs at the inversion, midcloud, and below clouds, plus 4 soundings made within the same period. The Rosemont temperature sensor and the top and bottom dewpoint sensors were used to measure temperature and humidity at 1 Hz. Inversion structure and entrainment; local dynamics and large scale forcing; convective elements; and decoupling of cloud and subcloud are discussed in relationship to the results of the Electra flight.

Siems, S. T.↗
NASA NTRS1989

A perception system for a planetary explorer

To perform planetary exploration without human supervision, a complete autonomous robot must be able to model its environment and to locate itself while exploring its surroundings. For that purpose, the authors propose a modular perception system for an autonomous explorer. The perception system maintains a consistent internal representation of the observed terrain from multiple sensor views. The representation can be accessed from other modules through queries. The perception system is intended to be used by the Ambler, a six-legged vehicle being built at CMU. A partial implementation of the system using a range scanner is presented as well as experimental results on a testbed that includes the sensor, one computer-controlled leg, and obstacles on a sandy surface.

Hebert, M.↗
NASA NTRS1990

Cirrus microphysics and radiative transfer: A case study

During the Cirrus Intensive Field Operations of FIRE, data collected by the NCAR King Air in the vicinity of Wausau, WI on October 28 were selected to study the influence of cirrus cloud microphysics on radiative transfer and the role of microphysical approximations in radiative transfer models. The instrumentation of the King Air provided, aside from temperature and wind data, up-and downwelling broadband solar and infrared fluxes as well as detailed microphysical data. The aircraft data, supplied every second, are averaged over the 7 legs to represent the properties for that altitude. The resulting vertical profiles, however, suffer from the fact that each leg represents a different cloud column path. Based on the measured microphysical data particle size distributions of equivalent spheres for each cloud level are developed. Accurate radiative transfer calculations are performed, incorporating atmospheric and radiative data from the ground and the stratosphere. Comparing calculated to the measured up- and downwelling fluxes at the seven cloud levels for both the averaged and the three crossover data will help to assess the validity of particle size and shape approximation as they are frequently used to model cirrus clouds. Once agreement is achieved the model results may be applied to determine, in comparison to a cloudfree case, the influence of this particular cirrus on the radiation budget of the earth atmosphere system.

Kinne, Stefan A.↗
NASA NTRS1990

Radiative properties of Cirrus clouds: FIRE IFO case October 28, 1986

A description of the radiative properties of two cirrus clouds sampled on 10/28/88 in the FIRE cirrus IFO is presented. The clouds are characterized in terms of the broadband infrared effective emittance, cloud fractional absorptance, shortwave heating rate, cloud albedo and vertical velocity. The broadband fluxes used in these calculations were obtained from measurements made by pyranometers and pyrgeometers. The shortwave irradiances were corrected to a horizontal plane and normalized to the same time by taking into account Sabreliner flight information (i.e., pitch, roll, heading and angle of attack), as well as sun-earth geometry considerations. Since only one aircraft was used, broadband fluxes at different levels in the cloud were not measured simultaneously. As a result, sampling errors may occur due to the nonsteady state of the cloud field or due to the possibility that the flight legs were not flown directly above or below each other. To minimize these errors and to simplify the analysis, the necessary variables were averaged and the averages used in the calculations. The downwelling shortwave and longwave irradiances were used as selection criteria to remove cloud free data encountered along the data sampling leg.

Hein, Paul F.↗
NASA NTRS1991

Flight set 360L007 (STS-33R) case and seals, volume 2

The performance of the 360L007, Seventh Flight, redesigned Solid Rocket Motors (RSRM) is assessed with respect to case hardware and joint sealing issues as seen from post-flight assessment of the case and seals. Potential anomalies are classified and summarized. The post-flight assessment of both motors showed the case segments to be in good condition. Field joint fretting indications on this flight set ranged from none on one joint through light (less than 0.003 inch deep) on most of the joints to locally medium (greater than 0.003, less than 0.005 inch deep) on two joints. No new fretting was found in old fretting locations. All fretting was mapped from the inner clevis leg. The capture feature fretting was not mapped due to the difficulty of measuring the fretting in the capture feature region, but it is assumed that the capture feature had similar damage as the inner clevis leg. Post-flight assessment of both motors showed the seal components to be in good condition.

Carlisle, Alan R.↗
NASA NTRS1990

Cockpit napping

The results of a NASA-sponsored study examining the effectiveness of a brief, preplanned cockpit rest period to improve pilot alertness and performance in nonaugmented long-haul flight operations are discussed. Four regularly scheduled trans-Pacific flight legs were studied. The shortest flight legs were about 7 h and the longest about 9.5 h, with duty periods averaging about 11 h and layovers about 25 h. Three-person B747 crews were divided randomly into two volunteer pilot groups. These crews were nonaugmented, and therefore no relief pilots were available. The rest group, consisting of four crews, was allowed a 40 min opportunity to rest during the overwater cruise portion of the flight. On a preplanned, rotating basis, individual crew members were allowed to nap. It is concluded that a preplanned cockpit nap is associated with significantly better behavioral performance and higher levels of physiological alertness and that this can be accomplished without disrupting normal flight operations or compromising safety.

Graeber, R. Curtis↗
NASA NTRS1991

A microdynamic version of the tensile test machine

Very large space structures require structural reactions to control forces associated with nanometer-level displacements; JPL has accordingly built a tensile test machine capable of mN-level force measurements and nm-level displacement measurements, with a view to the study of structural linear joining technology at the lower limit of its resolution. The tester is composed of a moving table that is supported by six flexured legs and a test specimen cantilevered off the table to ground. Three vertical legs contain piezoactuators allowing changes in length up to 200 microns while generating axial load and bending moments. Displacements between ground and table are measured by means of three laser-interferometric channels.

Glaser, R. J.↗
NASA NTRS1991

Importance of eccentric actions in performance adaptations to resistance training

The importance of eccentric (ecc) muscle actions in resistance training for the maintenance of muscle strength and mass in hypogravity was investigated in experiments in which human subjects, divided into three groups, were asked to perform four-five sets of 6 to 12 repetitions (rep) per set of three leg press and leg extension exercises, 2 days each weeks for 19 weeks. One group, labeled 'con', performed each rep with only concentric (con) actions, while group con/ecc with performed each rep with only ecc actions; the third group, con/con, performed twice as many sets with only con actions. Control subjects did not train. It was found that resistance training wih both con and ecc actions induced greater increases in muscle strength than did training with only con actions.

Dudley, Gary A.↗
NASA NTRS1992

Compliant Walker

Walker supports person with limited use of legs and back. Enables person to stand upright, move with minimum load, and rest at will taking weight off legs. Consists of wheeled frame with body harness connected compliantly to side structures. Harness supports wearer upright when wearer relaxes and takes weight off lower extremities. Assumes partial to full body weight at user's discretion.

Kerley, James J.↗
NASA NTRS1992

Contraction-Only Exercise Machine

Standard knee-extension machine modified so subject experiences force only when lifting leg against stack of weights. Exerts little force on leg while being lowered. Hydraulic cylinder and reservoir mounted on frame of exercise machine. Fluid flows freely from cylinder to reservoir during contraction (lifting) but in constricted fashion from reservoir to cylinder during extension (lowering).

Doerr, Donald F.↗
NASA NTRS1991

Users manual for the IMA program

The Impulsive Mission Analysis (IMA) computer program provides a user-friendly means of designing a complete Earth-orbital mission profile using an 80386-based microcomputer. The IMA program produces a trajectory summary, an output file for use by the new Simplex Computation of Optimum Orbital Trajectories (SCOOT) program, and several graphics, including ground tracks on a world map, altitude profiles, relative motion plots, and sunlight/communication timelines. The user can design missions using any combination of three basic types of mission segments: double co-eliptic rendezvous, payload delivery, and payload de-orbit/spacecraft recovery. Each mission segment is divided into one or more transfers, and each transfer is divided into one or more legs, each leg consisting of a coast arc followed by a burn arc.

Williams, D. F.↗