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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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NASA NTRS1990

Compliant Joints For Robots

Compliant joints devised to accommodate misalignments of tools and/or workpieces with respect to robotic manipulators. Has characteristics and appearance of both universal-joint and cable-spring-type flexible shaft coupling. Compliance derived from elastic properties of short pieces of cable. Compliance of joint determined by lengths, distances between, relative orientations, thickness of strands, number of strands, material, amount of pretwist, and number of short pieces of cable. Worm-drive mechanism used to adjust lengths to vary compliance as needed during operation.

Kerley, James J., Jr.↗

NASA NTRS1980

A versatile tunnel acts as a flexible duct

Tunnel activated by cable assembly can be expanded, contracted, and bent similar to flexible duct without uncoupling at either end. Tunnel was developed to join reusable space vehicle with cargo module and could be modified to be used as hydraulic or pneumatic hose or duct connecting complex moveable joints in remote manipulators and earth moving machinery.

Brown, N. D.↗

NASA NTRS1983

A polytetrafluorethylene insulated cable for high temperature oxygen aerospace applications

For electrical cables to function and survive in the severe high temperature oxygen environment that will be experienced in the external tanks of the space shuttle, extreme cleanliness and material purity is required. A flexible light weight cable has been developed for use in pure oxygen at worst case temperatures of -190 to +260 degrees Centigrade and pressures as high as 44 pounds per square inch absolute. A comprehensive series of tests were performed on cables manufactured to the best commercial practices in order to establish the basic guidelines for control of build configuration as well as each material used in construction of the cable.

Sheppard, A. T.↗

NASA NTRS2002

Heat Transfer Study for HTS Power Transfer Cables

Thermal losses are a key factor in the successful application of high temperature superconducting (HTS) power cables. Existing concepts and prototypes rely on the use of multilayer insulation (MLI) systems that are subject to large variations in actual performance. The small space available for the thermal insulation materials makes the application even more difficult because of bending considerations, mechanical loading, and the arrangement between the inner and outer piping. Each of these mechanical variables affects the heat leak rate. These factors of bending and spacing are examined in this study. Furthermore, a maintenance-free insulation system (high vacuum level for 20 years or longer) is a practical requirement. A thermal insulation system simulating a section of a flexible FITS power cable was constructed for test and evaluation on a research cryostat. This paper gives experimental data for the comparison of ideal MLI, MLI on rigid piping, and MLI between flexible piping. A section of insulated flexible piping was tested under cryogenic vacuum conditions including simulated bending and spacers.

Augustynowicz, S.↗

NASA NTRS1973

Multilayer flat electrical cable

Flat electrical cable is lightweight, flexible over wide temperature range, withstands continuous exposure to high levels of nuclear radiation, and can carry high currents with minimum of temperature rise. Its magnetic cleanliness is equal to or better than twisted pair of wires, and it can be terminated in conventional electrical connector.

Silverman, P. G.↗

NASA NTRS1972

CJ concept for advanced aircraft wiring

The techniques and hardware are described which were developed for facilitating the use of flexible flat conductor cable (FFCC) in commercial air transports. The system was designed as an evolutionary transition from the current round wire harnessing to the use of FFCC harnesses. The equipment discussed includes the pressure crimp barrel designed for terminating FFCC, reel-fed applicator, cable connectors and adaptors, and equipment racks.

Redslob, J.↗

NASA NTRS1995

Low volume packaging for a microinstrumentation system

A folding, multi-platform assembly has been developed for the packaging of a multi-chip microinstrumentation system. The assembly includes three solid platforms connected by flexible micromachined ribbon cables and it can be populated by sensors and electronics from a variety of technologies including surface mount and integrated circuit (IC) processes. The entire structure is fabricated from a four-inch silicon wafer using a simple four mask process and a post-process EDP etch. The micromachined ribbon cables allow the platform assembly to be folded into a three level structure with control electronics on the bottom level, microsensors and interface electronics on the second level, and sensors that need environmental access on the top level. Using the silicon multi-platform assembly, a prototype microinstrumentation system has been developed that includes a microcontroller unit and sensors for measuring temperature, barometric pressure, humidity, altitude, and acceleration as well as a telemetry device for wireless communication. When folded in the three level structure, this microsystem occupies only 5 cc and can be placed in an outer case the size of a wristwatch.

Mason, A.↗

NASA NTRS2007

High Efficiency Plastic Scintillator Detector with Wave-Length Shifting Fiber Readout for the GLAST Large Area Telescope

This paper describes the design and performance studies of the scintillator tile detectors for the Anti-Coincidence Detector (ACD) of the Large Area Telescope (LAT) on the Gamma ray Large Area Space Telescope (GLAST), scheduled for launch in early 2008. The scintillator tile detectors utilize wavelength shifting fibers and have dual photomultiplier tube (PMT) readout. The design requires highly efficient and uniform detection of singly charged relativistic particles over the tile area and must meet all requirements for a launch, as well as operation in a space environment. We present here the design of three basic types of tiles used in the ACD, ranging in size from approx.450 sq cm to approx.2500 sq cm, all 1 cm thick, with different shapes, and with photoelectron yield of approx. 20 photoelectrons per minimum ionizing particle (mip) at normal tile incidence, uniform over the tile area. Some tiles require flexible clear fiber cables up to 1.5 m long to deliver scintillator light to remotely located PMT.

Moiseev, A. A.↗

NASA NTRS2007

Infrared Imaging System for Studying Brain Function

A proposed special-purpose infrared imaging system would be a compact, portable, less-expensive alternative to functional magnetic resonance imaging (fMRI) systems heretofore used to study brain function. Whereas a typical fMRI system fills a large room, and must be magnetically isolated, this system would fit into a bicycle helmet. The system would include an assembly that would be mounted inside the padding in a modified bicycle helmet or other suitable headgear. The assembly would include newly designed infrared photodetectors and data-acquisition circuits on integrated-circuit chips on low-thermal-conductivity supports in evacuated housings (see figure) arranged in multiple rows and columns that would define image coordinates. Each housing would be spring-loaded against the wearer s head. The chips would be cooled by a small Stirling Engine mounted contiguous to, but thermally isolated from, the portions of the assembly in thermal contact with the wearer s head. Flexible wires or cables for transmitting data from the aforementioned chips would be routed to an integrated, multichannel transmitter and thence through the top of the assembly to a patch antenna on the outside of the helmet. The multiple streams of data from the infrared-detector chips would be sent to a remote site, where they would be processed, by software, into a three-dimensional display of evoked potentials that would represent firing neuronal bundles and thereby indicate locations of neuronal activity associated with mental or physical activity. The 3D images will be analogous to current fMRI images. The data would also be made available, in real-time, for comparison with data in local or internationally accessible relational databases that already exist in universities and research centers. Hence, this system could be used in research on, and for the diagnosis of response from the wearer s brain to physiological, psychological, and environmental changes in real time. The images would also be stored in a relational database for comparison with corresponding responses previously observed in other subjects.

Mintz, Frederick↗

NASA NTRS1971

Data sampling system for monitor and control station

System design is based on development of standardized, interchangeable modules that minimize power dissipation, interconnecting cables and size. Maximum flexibility is achieved by using building block approach where all data modules are identical and are connected at any remote location and addressed in random fashion from central unit.

Source record↗

NASA NTRS1976

Collapsible Towers

NASA needed a means of orbiting a large radio telescope antenna. Astro Research Corporation developed a new structure that was strong, lightweight, folded into a small storage space, and could be erected by rotation. Later they adapted it to commercial use. Today the "Astromast" tower consists of tubular aluminum alloy and stainless steel members that deploy into small three-sided bays, each made rigid by six diagonal cables. All joints are flexible to permit folding and unfolding. Tower packs into container 5% of its height, can be erected without tools and is reusable. Tower has won "Design of the Year" award from Machine Design. Variations include portable emergency bridges and commercial scaffolding.

Source record↗

NASA NTRS2021

Scalability and Design of Six Rod Tensegrity Soft Robotic Structure

Robots based on tensegrity structures (interconnected rods and cables) offer many advantages such as low weight, small volume when packed, and have high impact resistance. Unfortunately tensegrity robots can be difficult to make and scale due a fundamental design trade-off: they need to have enough tension in the structure to maintain its integrity, while not having so much tension that it is difficult to actuate,change shape and move. This paper addresses this issue with three approaches:1) Traction based pulley actuation that is less sensitive to the tensioning of the structure, 2) A mix of elastic and inelastic cables allowing for a better balance between tensioning and actuation and 3) Using flexible rods allowing for actuation with inelastic cables. We test configurations and show that these approaches can indeed increase the scalability and usefulness of tensegrity robots.

Tensegrity↗

NASA NTRS1988

Attitude control system testing on SCOLE

This paper presents implementation of two control policies on SCOLE (Space Control Laboratory Experiment), a laboratory apparatus representing an offset-feed antenna attached to the Space Shuttle by a flexible mast. In the first case, the flexible mast was restrained by cables, permitting modeling of SCOLE as a rigid-body. Starting from an arbitrary state, SCOLE was maneuvered to a specified terminal state using rigid-body minimum-time control law. In the second case, the so called single step optimal control (SSOC) theory is applied to suppress vibrations of the flexible mast mounted as a cantilever beam. Based on the SSOC theory, two parameter optimization algorithms were developed.

Shenhar, J.↗

NASA NTRS2011

Qualifications of Bonding Process of Temperature Sensors to Deep-Space Missions

A process has been examined for bonding a platinum resistance thermometer (PRT) onto potential aerospace materials such as flat aluminum surfaces and a flexible copper tube to simulate coaxial cables for flight applications. Primarily, PRTs were inserted into a silver-plated copper braid to avoid stresses on the sensor while the sensor was attached with the braid to the base material for long-duration, deep-space missions. A1-1145/graphite composite (planar substrate) and copper tube have been used in this study to assess the reliability of PRT bonding materials. A flexible copper tube was chosen to simulate the coaxial cable to attach PRTs. The substrate materials were cleaned with acetone wipes to remove oils and contaminants. Later, the surface was also cleaned with ethyl alcohol and was air-dried. The materials were gently abraded and then were cleaned again the same way as previously mentioned. Initially, shielded (silver plated copper braid) PRT (type X) test articles were fabricated and cleaned. The base antenna material was pretreated and shielded, and CV-2566 NuSil silicone was used to attach the shielded PRT to the base material. The test articles were cured at room temperature and humidity for seven days. The resistance of the PRTs was continuously monitored during the thermal cycling, and the test articles were inspected prior to, at various intermediate steps during, and at the end of the thermal cycling as well. All of the PRTs survived three times the expected mission life for the JUNO project. No adhesion problems were observed in the PRT sensor area, or under the shielded PRT. Furthermore, the PRT resistance accurately tracked the thermal cycling of the chamber.

Ramesham, Rajeshuni↗

NASA NTRS2022

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots with-out substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables.

Tendon/wire mechanism↗

NASA NTRS1984

Enhanced vibration controllability by minor structural modifications

A procedure for checking whether small changes in a structure have the potential for significant enhancements of its vibration control system is described. The first step in the procedure consists of the calculation of the sensitivity of the required strength of the control system to small changes in structural parameters. The second step consists of the optimization of the structural parameters to produce maximal reduction in required control system strength with minimal change in the structure. The procedure has been demonstrated for a flexible beam supported by four cables and controlled by a rate feedback single-colocated force-actuator velocity-sensor pair. Large changes in control strength requirement were obtained with small structural modifications. Analytical predictions of such effects have also been validated experimentally.

Haftka, R. T.↗

NASA NTRS1985

Service Modules for Coal Extraction

Service train follows group of mining machines, paying out utility lines as machines progress into coal face. Service train for four mining machines removes gases and coal and provides water and electricity. Flexible, coiling armored carriers protect cables and hoses. High coal production attained by arraying row of machines across face, working side by side.

Gangal, M. D.↗

NASA NTRS1986

SRB/SLEEC (Solid Rocket Booster/Shingle Lap Extendible Exit Cone) feasibility study, volume 2. Appendix A: Design study for a SLEEC actuation system

The results are presented of a design feasibility study of a self-contained (powered) actuation system for a Shingle Lap Extendible Exit Cone (SLEEC) for Transportation System (STS). The evolution of the SLEEC actuation system design is reviewed, the final design concept is summarized, and the results of the detailed study of the final concept of the actuation system are treated. A conservative design using proven mechanical components was established as a major program priority. The final mechanical design has a very low development risk since the components, which consist of ballscrews, gearing, flexible shaft drives, and aircraft cables, have extensive aerospace applications and a history of proven reliability. The mathematical model studies have shown that little or no power is required to deploy the SLEEC actuation system because acceleration forces and internal pressure from the rocket plume provide the required energies. A speed control brake is incorporated in the design in order to control the rate of deployment.

Thompson, D. S.↗