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At least 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” (IPEx) which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30kg-class robotic excavator. IPEx will be the next generation of robotic excavators to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center (KSC). Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops (see Figure 1). The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However, the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore, this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1” (358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of IPEx and can inform the design of future bucket drum excavators.

RASSOR↗
NASA NTRSDate not supplied

Handling Qualities of Multirotor RPM-Controlled Electric-Vertical Take-Off and Landing (eVTOL) Aircraft for Urban Air Mobility (UAM)

A paradigm shift in rotorcraft design is being led by the prospect of propulsive forces being distributed across multiple rotors, such that each rotor can be directly driven by a dedicated electric motor. Crucially, some designers attempt to utilize these direct-drive mechanisms as the sole form of primary flight control. The feasibility of this design choice remains to be proven at the scales required for passenger transport. The paper presents a preliminary handling qualities analysis, for a six-passenger (1,200 lb payload) electric Hexacopter conceptual design, which shows that Level 1 handling qualities for limited agility operations are possible, provided that electric powertrains can deliver transient peak torques twice as high as the rated continuous torque of the conceptual design. Preliminary predictions are then substantiated by the results from a piloted handling qualities evaluation conducted in the NASA-Ames Vertical Motion Simulator (VMS). Three eVTOL configurations (a quadrotor, a hexacopter and a lift+cruise) with flight control laws implementing different levels of stability augmentation (Attitude Command-Attitude Hold and Translational Rate Command response types) were evaluated in four low speed and hover tasks requiring various levels of agility and precision.

UAM↗
NASA NTRS2011

An Investigation of Large Tilt-Rotor Hover and Low Speed Handling Qualities

A piloted simulation experiment conducted on the NASA-Ames Vertical Motion Simulator evaluated the hover and low speed handling qualities of a large tilt-rotor concept, with particular emphasis on longitudinal and lateral position control. Ten experimental test pilots evaluated different combinations of Attitude Command-Attitude Hold (ACAH) and Translational Rate Command (TRC) response types, nacelle conversion actuator authority limits and inceptor choices. Pilots performed evaluations in revised versions of the ADS-33 Hover, Lateral Reposition and Depart/Abort MTEs and moderate turbulence conditions. Level 2 handling qualities ratings were primarily recorded using ACAH response type in all three of the evaluation maneuvers. The baseline TRC conferred Level 1 handling qualities in the Hover MTE, but there was a tendency to enter into a PIO associated with nacelle actuator rate limiting when employing large, aggressive control inputs. Interestingly, increasing rate limits also led to a reduction in the handling qualities ratings. This led to the identification of a nacelle rate to rotor longitudinal flapping coupling effect that induced undesired, pitching motions proportional to the allowable amount of nacelle rate. A modification that counteracted this effect significantly improved the handling qualities. Evaluation of the different response type variants showed that inclusion of TRC response could provide Level 1 handling qualities in the Lateral Reposition maneuver by reducing coupled pitch and heave off axis responses that otherwise manifest with ACAH. Finally, evaluations in the Depart/Abort maneuver showed that uncertainty about commanded nacelle position and ensuing aircraft response, when manually controlling the nacelle, demanded high levels of attention from the pilot. Additional requirements to maintain pitch attitude within 5 deg compounded the necessary workload.

Malpica, Carlos A.↗
NASA NTRS1995

Experimental study of the use of vortex generators to reduce fluctuating pressure loads in shock wave turbulent boundary layer interactions

Fluctuating wall pressure measurements have been made in a separated shock wave/turbulent boundary layer interaction produced by an unswept compression corner in a Mach 5 flow. Wheeler doublet vortex generators were placed 15.8 boundary layer thicknesses upstream of the corner to study their effect on the fluctuating pressure loads produced by the translating separation shock. The vortex generators produced significant three-dimensionality in an otherwise two-dimensional interaction. They reduced the upstream influence and the length of the region of shock motion by 60% and 64%, respectively, decreased the maximum wall pressure rms by 23%, and shifted the fluctuations to a higher frequency band. The maximum fraction of energy in the 100-500 Hz frequency band is decreased by 11%. These changes are due to a fuller boundary layer profile, a weaker separation shock, and increased boundary layer turbulence causing increased separation shock jitter.

Barter, John W.↗
DOE OSTI2022

Planar mechanical actuation system for adjustable luminaires

A mechanical actuation system for a light fixture that allows for translation of an array of optics relative to an array of light sources in a defined plane. The system can prevent undesired movement such as rotation or out-of-plane motion. A simple and intuitive user interface enables a user to point a resulting light beam in a desired direction without requiring an understanding of the internal mechanical system. The user interface may include a manually manipulated touch point such as a joystick, knob, or other interface.

Gladden, Christopher↗
NASA NTRS1984

Conceptual design of a noncontacting power transfer device for the ASPS Vernier system

The conceptual of electrical power transfer across a magnetically controlled gap as discussed for several years. The design represents the culmination of the first serious attempt to design a very low force, noncontracting power transfer mechanism. The electromagnetic device advanced herein is an ironless, translatable secondary transformer in which one of the two coils is fixed to the entire magnetic core. The second coil is free to move within the core over the full range of motions required. The specific application considered for this design was the Vernier subsystem of the Annular Suspension and Pointing System (ASPS). The development of and rationale for the electromagnetics design is presented. Similar documentation is provided for the Electronics Design. The Appendices detail the results of small scale model tests, disturbance force calculations, the baseline transformer fabrication drawings, the AVS Converter Parts List, and model schematic diagrams.

Kroeger, J.↗
NASA NTRS1985

The application of potential flow theory to the rotational dynamics of spheroids, disks, and cylinders

An example for the considered phenomenon in the area of cloud microphysics is the rotational motion of ice particles as they fall through the air. Of fundamental importance for the general problem is a knowledge of the magnitude of the torque exerted by the fluid on the translating object as well as the frequency of the rotational oscillation which results from this torque. The present investigation has the objective to obtain estimates of these quantities, and to assess the accuracy of these estimates. Torques and oscillation frequencies for spheroidal objects immersed in flow are computed for potential flow and compared to measured values. The results form a consistent picture in which the ratios of measured to potential flow values are always less than 1 but generally greater than 0.1. The reason for this is described in terms of the well-known deviations of real flow from potential flow. The reported results are of academic interest in filling a gap in the knowledge regarding the applicability of potential flow.

Weinheimer, A. J.↗
NASA NTRS2011

Space Mirror Alignment System

An optical alignment mirror mechanism (AMM) has been developed with angular positioning accuracy of +/-0.2 arcsec. This requires the mirror s linear positioning actuators to have positioning resolutions of +/-112 nm to enable the mirror to meet the angular tip/tilt accuracy requirement. Demonstrated capabilities are 0.1 arc-sec angular mirror positioning accuracy, which translates into linear positioning resolutions at the actuator of 50 nm. The mechanism consists of a structure with sets of cross-directional flexures that enable the mirror s tip and tilt motion, a mirror with its kinematic mount, and two linear actuators. An actuator comprises a brushless DC motor, a linear ball screw, and a piezoelectric brake that holds the mirror s position while the unit is unpowered. An interferometric linear position sensor senses the actuator s position. The AMMs were developed for an Astrometric Beam Combiner (ABC) optical bench, which is part of an interferometer development. Custom electronics were also developed to accommodate the presence of multiple AMMs within the ABC and provide a compact, all-in-one solution to power and control the AMMs.

Jau, Bruno M.↗
NASA NTRS2005

Exposure to a Rotating Virtual Environment During Treadmill Locomotion Causes Adaptation in Heading Direction

The goal of the present study was to investigate the adaptive effects of variation in the direction of optic flow, experienced during linear treadmill walking, on modifying locomotor trajectory. Subjects (n = 30) walked on a motorized linear treadmill at 4.0 kilometers per hour for 24 minutes while viewing the interior of a 3D virtual scene projected onto a screen 1.5 in in front of them. The virtual scene depicted constant self-motion equivalent to either 1) walking around the perimeter of a room to one s left (Rotating Room group) 2) walking down the center of a hallway (Infinite Hallway group). The scene was static for the first 4 minutes, and then constant rate self-motion was simulated for the remaining 20 minutes. Before and after the treadmill locomotion adaptation period, subjects performed five stepping trials where in each trial they marched in place to the beat of a metronome at 90 steps/min while blindfolded in a quiet room. The subject's final heading direction (deg), final X (for-aft, cm) and final Y (medio-lateral, cm) positions were measured for each trial. During the treadmill locomotion adaptation period subject's 3D torso position was measured. We found that subjects in the Rotating Room group as compared to the Infinite Hallway group: 1) showed significantly greater deviation during post exposure testing in the heading direction and Y position opposite to the direction of optic flow experienced during treadmill walking 2) showed a significant monotonically increasing torso yaw angular rotation bias in the direction of optic flow during the treadmill adaptation exposure period. Subjects in both groups showed greater forward translation (in the +X direction) during the post treadmill stepping task that differed significantly from their pre exposure performance. Subjects in both groups reported no perceptual deviation in position during the stepping tasks. We infer that viewing simulated rotary self-motion during treadmill locomotion causes adaptive modification of sensory-motor integration in the control of position and trajectory during locomotion which functionally reflects adaptive changes in the integration of visual, vestibular, and proprioceptive cues. Such an adaptation in the control of position and heading direction during locomotion due to the congruence of sensory information demonstrates the potential for adaptive transfer between sensorimotor systems and suggests a common neural site for the processing and self-motion perception and concurrent adaptation in motor output. This will result in lack of subjects perception of deviation of position and trajectory during the post treadmill step test while blind folded.

Ruttley, T↗
NASA NTRS1984

Center of mass estimation in closed vortices - A verification in principle and practice

The problem of tracking closed mesoscale vortices using center of mass estimation techniques is studied. Three estimators are evaluated using data from a warm core Gulf Stream ring. The comparisons show that a method based on the intersection of perpendicular bisectors and one using a least-squares fit of a conic section perform comparably. The perpendicular bisector algorithm is used in conjunction with a Gaussian ring model and a star-shaped survey pattern to produce an expected error curve as a function of vortex translation, survey speed and vortex size. For typical ring parameters, center estimation is usually possible to within + or - 5 km. The feasibility of using differing data sets to construct a history of ring motion based on a coordinate system moving with the ring is also investigated. In this way, the validity of using satellite-derived data and drifter trajectories to estimate the center of mass of a mesoscale feature is assessed. The results of the analysis demonstrate that the location of the deeper structure of the ring and the surface expression are sufficiently well correlated to permit dynamically relevant calculations based on surface measurements. It is shown that satellite-derived data can be used to approximate the center of mass trajectory to within the error in the individual center estimates for the period analyzed. The Lagrangian-drifter-derived centers are offset from the center of mass trajectory in a manner consistent with kinematic arguments.

Hooker, S. B.↗
NASA NTRS2005

Exposure to a Rotating Virtual Environment During Treadmill Locomotion Causes Adaptation in Heading Direction

The goal of the present study was to investigate the adaptive effects of variation in the direction of optic flow, experienced during linear treadmill walking, on modifying locomotor trajectory. Subjects (n = 30) walked on a motorized linear treadmill at 4.0 km/h for 24 minutes while viewing the interior of a 3D virtual scene projected onto a screen 1.5 m in front of them. The virtual scene depicted constant self-motion equivalent to either 1) walking around the perimeter of a room to one s left (Rotating Room group) 2) walking down the center of a hallway (Infinite Hallway group). The scene was static for the first 4 minutes, and then constant rate self-motion was simulated for the remaining 20 minutes. Before and after the treadmill locomotion adaptation period, subjects performed five stepping trials where in each trial they marched in place to the beat of a metronome at 90 steps/min while blindfolded in a quiet room. The subject s final heading direction (deg), final X (for-aft, cm) and final Y (medio-lateral, cm) positions were measured for each trial. During the treadmill locomotion adaptation period subject s 3D torso position was measured. We found that subjects in the Rotating Room group as compared to the Infinite Hallway group: 1) showed significantly greater deviation during post exposure testing in the heading direction and Y position opposite to the direction of optic flow experienced during treadmill walking 2) showed a significant monotonically increasing torso yaw angular rotation bias in the direction of optic flow during the treadmill adaptation exposure period. Subjects in both groups showed greater forward translation (in the +X direction) during the post treadmill stepping task that differed significantly from their pre exposure performance. Subjects in both groups reported no perceptual deviation in position during the stepping tasks. We infer that 3 viewing simulated rotary self-motion during treadmill locomotion causes adaptive modification of sensory-motor integration in the control of position and trajectory during locomotion which functionally reflects adaptive changes in the integration of visual, vestibular, and proprioceptive cues. Such an adaptation in the control of position and heading direction during locomotion due to the congruence of sensory information demonstrates the potential for adaptive transfer between sensorimotor systems and suggests a common neural site for the processing and self-motion perception and concurrent adaptation in motor output. This will result in lack of subjects perception of deviation of position and trajectory during the post treadmill step test while blind folded.

Mulavara, A. P.↗
NASA NTRS2004

Cerebral Hypoperfusion Precedes Nausea During Centrifugation

Nausea and motion sickness are important operational concerns for aviators and astronauts. Understanding underlying mechanisms associated with motion sickness may lead to new treatments. The goal of this work was to determine if cerebral blood flow changes precede the development of nausea in motion sick susceptible subjects. Cerebral flow velocity in the middle cerebral artery (transcranial Doppler), blood pressure (Finapres) and end-tidal CO2 were measured while subjects were rotated on a centrifuge (250 degrees/sec). Following 5 min of rotation, subjects were translated 0.504 m off-center, creating a +lGx centripetal acceleration in the nasal-occipital plane. Ten subjects completed the protocol without symptoms while 5 developed nausea (4 while 6ff-center and 1 while rotating on-center). Prior to nausea, subjects had significant increases in blood pressure (+13plus or minus 3 mmHg, P less than 0.05) and cerebrovascular resistance (+46 plus or minus 17%, P less than 0.05) and decreases in cerebral flow velocity both in the second (-13 plus or minus 4%) and last minute (-22 plus or minus 5%) before symptoms (P less than 0.05). In comparison, controls demonstrated no change in blood pressure or cerebrovascular resistance in the last minute of off-center rotation and only a 7 plus or minus 2% decrease in cerebral flow velocity. All subjects had significant hypocapnia (-3.8 plus or minus 0.4 mmHg, P less than 0.05), however this hypocapnia could not fully explain the cerebral hypoperfusion associated with the development of nausea. These data indicate that reductions in cerebral blood flow precede the development of nausea. Further work is necessary to determine what role cerebral hypoperfusion plays in motion sickness and whether cerebral hypoperfusion can be used to predict the development of nausea in susceptible individuals.

Serrador, Jorge M.↗
NASA NTRS1962

Periodic Motions in Banach Space and Applications to Functional-Differential Equations

In establishing the existence of periodic solutions for nonautonomous differential equations of the form x = g(x, t), where g is periodic in t of period ω for fixed x, it is often convenient to consider the translation operator T(x(t)) = x(t + ω). If corresponding to each initial vector chosen in an appropriate region there corresponds a unique solution of our equation, then periodicity may be established by proving the existence of a fixed point under T. This same technique is also useful for more general functional equations and can be extended in a number of interesting ways. In this paper we shall consider a variable type of translation operator which is useful in investigating periodicity for autonomous differential and functional equations where the period involved is less obvious.

Jones, G. Stephen↗
NASA NTRS1995

Eye movements and motion perception induced by off-vertical axis rotation (OVAR) at small angles of tilt after spaceflight

The nystagmus and motion perception of two astronauts were recorded during Earth-vertical axis rotation and during off-vertical axis rotation (OVAR) before and after 7 days of spaceflight. Postflight, the peak velocity and duration of per- and postrotatory nystagmus during velocity steps about the Earth-vertical axis were the same as preflight values. During OVAR at constant velocity (45/s, tilt angles successively 5, 10, and 15 degrees), the mean horizontal slow-phase eye velocity (bias), produced by the 'velocity storage mechanism' in the vestibular system, and the peak-to-peak amplitude (modulation) in horizontal eye velocity and position, generated from the output of otolith afferents, were also the same before as after flight. There were, however, changes in the vertical eve position and in the perceived body motion during OVAR. The angle of the perceived body path described as a cone was larger in both astronauts postflight. One astronaut experienced either a large cone angle with its axis upright, or a smaller cone angle with its axis tilted backwards, accompanied by an upward vertical eye drift. These results suggest an increase in the sensitivity of the otolithic system after spaceflight and a longer period of readaptation to Earth's gravity for otolith-induced responses than for canal-induced responses. Our data support the hypothesis that just after spaceflight the CNS generally interprets changes in the otolith signals to be due to translation rather than to tilt.

manned↗
DOE OSTI2021

Rocking response of liquid-filled cylindrical tanks

The hydrodynamic response of liquid-filled storage tanks subjected to translational earthquake shaking has been the focus of studies for more than 75 years. In service, tanks experience six components of seismic input, with rocking due to support flexibility and/or rotational components of ground motion. Published theory for predicting hydrodynamic responses in rigid cylindrical tanks due to rotational seismic input is examined. Analytical solutions for pressure in the fluid and on the tank wall, and base moment are modified to account for the effects of angular displacements at the base. A finite element model of a water-filled cylindrical tank using the Arbitrary Lagrangian and Eulerian (ALE) solver in LS-DYNA is used to demonstrate the efficacy of the proposed expressions for three base rocking motions. Results from the modified analytical solutions and the finite element model are in excellent agreement.

58 GEOSCIENCES↗
NASA NTRS1977

Flight-Effects on Predicted Fan Fly-By Noise

The impact on PNLT (Perceived Noise Level, Tone corrected) and Fly-by EPNL (Effective Perceived Noise Level) when forward motion reduces the noise generated by the bypass fan of an aircraft engine was studied. Calculated noise spectra for a typical subsonic tip speed fan designed for blade passage frequency (BPF) tone cutoff were translated in frequency by systematically varying the BPF from 0.5 to 8 kHz. Two cases of predicted flight-effects on fan source noises were considered: reduced BPF tone level of 8 db and reduced broadband noise level of about 2 db in addition to reduced tone level. The maximum reduction in PNLT of the noise as emitted from the fan occurred when the BPF was at 4 kHz where the reductions were 7.4 and 10.0 db. The maximum reduction in EPNL of the noise as received during a 500-foot altitude fly-by occurred when the BPF was at 2.5 kHz where the reductions were 5.0 and 7.8 db.

Heidmann, M. F.↗
NASA NTRS1978

Flight experience with manually controlled unconventional aircraft motions

A modified YF-16 aircraft was used to flight demonstrate decoupled modes under the USAF Fighter Control Configured Vehicle (CCV) Program. The direct force capabilities were used to implement seven manually controlled unconventional modes on the aircraft, allowing flat turns, decoupled normal acceleration control, independent longitudinal and lateral translations, uncoupled elevation and azimuth aiming, and blended direct lift. This paper describes the design, development, and flight testing of these control modes. The need for task-tailored mode authorities, gain-scheduling and selected closed-loop design is discussed.

Barfield, A. F.↗
NASA NTRS2010

Dynamic Visual Acuity: a Functionally Relevant Research Tool

Coordinated movements between the eyes and head are required to maintain a stable retinal image during head and body motion. The vestibulo-ocular reflex (VOR) plays a significant role in this gaze control system that functions well for most daily activities. However, certain environmental conditions or interruptions in normal VOR function can lead to inadequate ocular compensation, resulting in oscillopsia, or blurred vision. It is therefore possible to use acuity to determine when the environmental conditions, VOR function, or the combination of the two is not conductive for maintaining clear vision. Over several years we have designed and tested several tests of dynamic visual acuity (DVA). Early tests used the difference between standing and walking acuity to assess decrements in the gaze stabilization system after spaceflight. Supporting ground-based studies measured the responses from patients with bilateral vestibular dysfunction and explored the effects of visual target viewing distance and gait cycle events on walking acuity. Results from these studies show that DVA is affected by spaceflight, is degraded in patients with vestibular dysfunction, changes with target distance, and is not consistent across the gait cycle. We have recently expanded our research to include studies in which seated subjects are translated or rotated passively. Preliminary results from this work indicate that gaze stabilization ability may differ between similar active and passive conditions, may change with age, and can be affected by the location of the visual target with respect to the axis of motion. Use of DVA as a diagnostic tool is becoming more popular but the functional nature of the acuity outcome measure also makes it ideal for identifying conditions that could lead to degraded vision. By doing so, steps can be taken to alter the problematic environments to improve the man-machine interface and optimize performance.

Peters, Brian T.↗