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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS1981

Optical fibers for the distribution of frequency and timing references

An optical fiber communications link was installed for the purpose of evaluating the applicability of optical fiber technology to the distribution of frequency and timing reference signals. It incorporated a 1.5km length of optical fiber cable containing two multimode optical fibers. The two fibers were welded together at one end of the cable to attain a path length of 3km. Preliminary measurements made on this link, including Allan variance and power spectral density of phase noise are reported.

Lutes, G. F.↗
NASA NTRS1993

Montmorillonite catalysis of RNA oligomer formation in aqueous solution. A model for the prebiotic formation of RNA

Oligomers of adenylic acid of up to the 11-mer in length are formed by the reaction of the phosphorimidazolide of adenosine (ImpA) in pH 8 aqueous solution at room temperature in the presence of Na(+)-montmorillonite. These oligomers are joined by phosphodiester bonds in which the 3',5'-linkage predominates over the 2',5'-linkage by a 2:1 ratio. Reaction of a 9:1 mixture of ImpA, A5'ppA results in the formation of oligomers with a 3:1 ratio of 3',5'- to 2',5'-linked phosphodiester bonds. A high proportion of these oligomers contain the A5'ppA grouping. A5'ppA reacts much more rapidly with ImpA than does 5'-ADP (ppA) or 5'-ATP (pppA). The exchangeable cation associated with the montmorillonite effects the observed catalysis with Li+, Na+, NH4+, and Ca2+ being the more effective while Mg2+ and Al3+ are almost ineffective catalysts. 2',5'-Linked oligomers, up to the tetramer in length, are formed using UO2(2+)-montmorillonite. The structure analysis of individual oligomer fractions was performed by selective enzymatic and KOH hydrolytic studies followed by HPLC analysis of the reaction products. It is concluded from the composition of the oligomers that the rate of addition ImpA to a 3'-terminus containing a 2',5'-linkage is slower than the addition to a nucleoside joined by a 3',5'-linked phosphodiester bond. The potential importance of mineral catalysis of the formation of RNA and other oligomers on primitive Earth is discussed.

Non-NASA Center↗
NASA NTRS2018

The Utilization Profiles of the CCSDS Unified Space Link Protocol (USLP)

The purpose of this paper is to identify the utilization profiles for interfacing the Data Protocol Sublayer using the Unified Space Link Protocols (USLP) (reference 1) with the space link coding procedures as specified in the CCSDS Coding & Synchronization Blue Books (references 2 through 5), used in both telecommand and telemetry applications. This paper describes how the USLP Protocol utilizes the coding and synchronization sublayer to support: a. Direct to Earth (DTE) telemetry links for engineering and science data b. Direct to Earth (DTE) telemetry links for very high rate science data c. Direct from Earth (DFE) command, sequencing and flight software loads d. Space to Space Links (Proximity) utilized by orbiters for data exchange to/from surface bound assets. The CCSDS has divided the functions of the Data Link Layer into two sublayers: the Data Link Protocol Sublayer (DLP-SL) and the Coding and Synchronization Sublayer (CS-SL). The Data Link Protocol Sublayer (DLP-SL) interfaces to the users, accepting the data that is to be transported, on the sending side of the link, and delivering that data on the receiving end. The Transfer Frame is the data unit that is transferred across the Data Link Protocol Sublayer and the Coding and Synchronization Sublayer boundary. The Coding and Synchronization Sublayer (CS-SL) provides the encoding, randomization, and frame synchronization functions that prepares the USLP Transfer Frame for transport across the space link. The CS-SL is divided into 2 processes: 1) The Frame Interface Processes (FIP) performs the interface functions required to prepare the data for delivery to the Coding/Decoding Process (CDP). This process includes prepending a Frame Start Marker to the provided frame, when management has designated that the frame is not to be aligned to the codeblock or when there is no block code used. 2) The Coding/Decoding Process (CDP) performs the forward error correction processes that are used to optimize the performance of the link and minimize the error rate. The CDP creates the symbol stream that is delivered to the Physical Layer. The transfer of the USLP transfer frames across different types of space links is the focus of this paper. The Protocol Data Unit (PDU) that is passed in both directions between the Data Link Protocol Sublayer (DLP-SL) and Coding and Synchronization Sublayer (CS-SL) is the transfer frame. The USLP frame structure provides flexibility that can be constrained by the functions utilized within the CS-SL that prepare the transfer frame for transit. For example, the USLP transfer frame contains a length field that enables the frame to be of variable length but CS-SL under certain conditions may constrain the frame to be fixed in length. This paper describes 5 operational modes available for use by the Data Link Layer to provide data exchange across the USLP space link. These modes are different because different operational requirements apply to vastly different types of space links and thus the communications implementation requirements differ. The environmental issues include the power or energy available, the distance between the end points of the link, the complexity of the equipment available at those end points, the atmospheric conditions and radiometric frequency selection. The CS-SL utilizes different forward error correcting codes supported by specific operational modes to configure the data for transit. This paper describes all of the operational modes in a series of data models which decompose the functionality between the Data Link Protocol Sublayer and the Coding and Synchronization sublayer. The operational modes described are: 1. Uncoded Mode: has been used for short links that contain significant available power to provide an acceptable frame error rate. The frames in this mode can be variable in length and typically use an error detection algorithm (i.e., CRC) to determine if there are errors in the received frame. 2. Convolutional Only Mode: is currently the prime forward error correction coding used for the proximity links. The frames in this mode can be variable in length and typically use an error detection algorithm (i.e., CRC) to determine if there are errors in the received frame. 3. Variable Length Frame Aligned to Variable Length Codeblock (TC): is used for Direct from Earth links were power levels are high and the simple, least complex code i.e., the BCH code is used. This mode has been in use since the early 1970s. The BCH code is a short code and the decoder is easy to implement. 4. Fixed Length Frame Aligned to Fixed Length Codeblock (AOS/TM): was introduced when the concatenated Convolutional and Reed-Solomon Code was formulated to provide significant reduction in link data error rate and the ability to determine if there was an error in the decoded codeblock. The frame is aligned to the codeblock so that there is a one to one relationship of frame errors to codeblock errors without additional error detection coding being added. This mode requires the protocol frames to be the exact size of the message portion of the codeblock. 5. Frames Unaligned to Fixed Length Codeblocks (Currently used for very high rates and space to space links): This mode is currently used for missions that have a very high data rate that can be controlled adaptively as the environment changes and as the next generation operating mode for the proximity link. This mode from a coded data stream point of view is exactly like that described in 4. above, except that the frame need not be aligned to the codeblock. There is no requirement on frame length when using this mode. Thus when using USLP it can be used to support links that require short or long frames. There is also no mandatory requirement that frames cannot be separated by idle data reducing the tight data rate connection requirements between the data link protocol sublayer and the coding & synchronization sublayer. In conclusion, how these operational modes can be put to use in mission operational scenarios is described for Direct from Earth links (DFE), Direct to Earth links (DTE), and Proximity links.

Greenberg, E.↗
NASA NTRS1980

Signal to noise ratio calculation for fiber optics links

The signal to noise ratio (SNR) effect upon the maximum transmission length of a fiberoptic system is discussed. The relationships of different system parameters are discussed. A general formula to obtain the SNR of a single mode fiberoptic system is derived. The SNR attainable with single mode and multimode fiber optics links was calculated from fundamental noise considerations. It was found that for single mode fibers, laser noise dominates the noise contributions for links less than 30 km long, while thermal noise dominates for longer links. Multimode fibers degrade SNR for long links because of intermode dispersion. For frequency standard transmission, as long as the baseband modulation signals are within the bandwidth of the fibers, respectable SNR can be attained with low loss fibers (approximately 1 dB/km) for links as long as 70 km. For wideband transmission SNR is decreased by a factor equal to the ratio of the bandwidth.

Lau, K. Y.↗
NASA NTRS2020

The Role of Solar Wind Ion Processing in Space Weathering of Olivine: Unraveling the Paradox of Laboratory Irradiation Results Compared to Observations of Natural Samples

Ion irradiation by the solar wind plays a major role in space weathering. Among its multiple effects are ion damage and implantation processes that alter the crystal structure as well as chemical composition of the outer few 100 nanometers of space exposed regolith grains. This forms a portion of the space weathered rims on lunar and asteroidal regolith grains that is uniquely ion-processed. One aspect of these ion-processed grain rims is the possible link between their widths, and degree of ion damage, and the length of exposure of their host grain on the topmost surface of lunar and asteroidal regoliths. Ultimately, quantifying this link relies on laboratory ion irradiation experiments to calibrate the ion fluence or dose at which different degrees and depths of ion damage occur. Here we discuss evidence, specifically from the mineral olivine, suggesting there may be limitations in extrapolating the results of laboratory ion irradiation experiments to natural ion irradiation by the solar wind.

Christoffersen, R.↗
NASA NTRS1989

Articulated suspension system

The invention provides a rough terrain vehicle which maintains a substantially constant weight, and therefore traction, on all wheels, despite one wheel moving considerably higher or lower than the others, while avoiding a very soft spring suspension. The vehicle includes a chassis or body to be supported and a pair of side suspensions at either side of the body. In a six wheel vehicle, each side suspension includes a middle wheel, and front and rear linkages respectively coupling the front and rear wheels to the middle wheel. A body link pivotally connects the front and rear linkages together, with the middle of the body link rising or falling by only a fraction of the rise or fall of any of the three wheels. The body link pivotally supports the middle of the length of the body. A transverse suspension for suspending the end of the body on the side suspensions includes a middle part pivotally connected to the body about a longitudinal axis and opposite ends each pivotally connected to one of the side suspensions along at least a longitudinal axis.

Bickler, Donald B.↗
NASA NTRS1997

Atmospheric Angular Momentum Fluctuations During 1979-1988 Simulated by Global Circulation Models

Changes in major global dynamical phenomena in the Earth's atmosphere are manifested in the time series of atmospheric angular momentum (AAM), as determined directly from meteorological observations and indirectly from geodetic observations of small fluctuations in the rotation of the solid Earth which are proportional to length of day. AAM fluctuations are intimately linked with energetic processes throughout the whole atmosphere and also with the stresses at the Earth's surface produced largely by turbulent momentum transport in the oceanic and continental boundary layers and by the action of normal pressure forces on orographic features. A stringent test of any numerical global circulation model (GCM) is therefore provided by a quantitative assessment of its ability to represent AAM fluctuations on all relevant timescales, ranging from months to several years. From monthly data provided by the Atmospheric Model Intercomparison Project (AMIP) of the World Climate Research Programme, we have investigated seasonal and interannual fluctuations and the decadal mean in the axial component of AAM in 23 AMIP GCMs over the period 1979-1988. The decadal means are generally well simulated, with the model median value (1.58 x 10(exp 26) kg sq m/s) being only 3.5% larger than the observed mean and with 10 of the models being within 5% of the observed. The seasonal cycle is well reproduced, with the median amplitude of the models seasonal standard deviations being only 2.4% larger than observed. Half the seasonal amplitudes lie within 15% of the observed, and the median correlation found between the observed and model seasonal cycles is 0.95. The dominant seasonal error is an underestimation of AAM during northern hemisphere winter associated with errors in the position of subtropical jets. Less robust are the modeled interannual variations, although the median correlation of 0.61 between model simulations and observed AAM is statistically significant. The two El Nino-Southem Oscillation events that occurred during the AMIP decade 1979-1988 have the expected positive AAM anomalies, although the AAM signature of the 1982-1983 event tends to be underestimated and that of the 1986-1987 event overestimated.

Hide, R.↗
NASA NTRS1997

Atmospheric Angular Momentum Fluctuations During 1979-1988 Simulated by Global Circulation Models

Changes in major global dynamical phenomena in the Earth's atmosphere are manifested in the time series of atmospheric angular momentum (AAM), as determined directly from meteorological observations and indirectly from geodetic observations of small fluctuations in the rotation of the solid Earth which are proportional to length of day. AAM fluctuations are intimately linked with energetic processes throughout the whole atmosphere and also with the stresses at the Earth's surface produced largely by turbulent momentum transport in the oceanic and continental boundary layers and by the action of normal pressure forces on orographic features. A stringent test of any numerical global circulation model (GCM) is therefore provided by a quantitative assessment of its ability to represent AAM fluctuations on all relevant timescales, ranging from months to several years. From monthly data provided by the Atmospheric Model Intercomparison Project (AMIP) of the World Climate Research Programme, we have investigated seasonal and interannual fluctuations and the decadal mean in the axial component of AAM in 23 AMIP GCMs over the period 1979-1 988. The decadal means are generally well simulated, with the model median value (1.58 x 10(exp 26) kg sq m/s) being only 3.5% larger than the observed mean and with 10 of the models being within 5% of the observed. The seasonal cycle is well reproduced, with the median amplitude of the models' seasonal standard deviations being only 2.4% larger than observed. Half the seasonal amplitudes lie within 15% of the observed, and the median correlation found between the observed and model seasonal cycles is 0.95. The dominant seasonal error is an under- estimation of AAM during northern hemisphere winter associated with errors in the position of subtropical jets. Less robust are the modeled interannual variations, although the median correlation of 0.61 between model simulations and observed AAM is statistically significant. The two El Nino-Southern Oscillation events that occurred during the AMIP decade 1979-1988 have the expected positive AAM anomalies, although the AAM signature of the 1982-1983 event tends to be underestimated and that of the 1986-1987 event overestimated.

Hide, R.↗
NASA NTRS2009

NASA 2009 Body of Knowledge (BoK) carbon nanotube technology

The nature of the bonding of a nanotube is described by applied quantum chemistry, specifically, orbital hybridization. The chemical bonding of nanotubes is composed entirely of sp2 bonds, similar to those of graphite. This bonding structure, which is stronger than the sp3 bonds found in diamonds, provides the molecules with their unique strength. Nanotubes naturally align themselves into "ropes" held together by Van der Waals forces. Under high pressure, nanotubes can merge together, trading some sp² bonds for sp³ bonds, giving the possibility of producing strong, unlimited-length wires through high-pressure nanotube linking. This document looks at the topic of carbon nanotubes as it applies to microelectronics packaging and assembly.

Gerke, David↗
NASA NTRS1988

Personnel occupied woven envelope robot

The Personnel Occupied Woven Envelope Robot (POWER) provides an alternative to extravehicular activity (EVA) of space suited astronauts and/or use of long slender manipulator arms such as are used in the Shuttle Remote Manipulator System. POWER provides the capability for a shirt sleeved astronaut to perform such work by entering a control pod through air locks at both ends of an inflated flexible bellows (access tunnel). The exoskeleton of the tunnel is a series of six degrees of freedom (Six-DOF) articulated links compressible to 1/6 of their fully extended length. The operator can maneuver the control pod to almost any location within about 50 m of the base attachment to the space station. POWER can be envisioned as a series of hollow Six-DOF manipulator segments or arms wherein each arm grasps the shoulder of the next arm. Inside the hollow arms ia a bellow-type access tunnel. The control pod is the fist of the series of linked hollow arms. The fingers of the fist are conventional manipulator arms under direct visual control of the nearby operator in the pod. The applications and progress to date of the POWER system is given.

Wessling, Francis↗
NASA NTRS2013

An Investigation of Flight Deck Data Link in the Terminal Area

The Next Generation Air Transportation System (NextGen) and Europe's Single European Sky ATM Research (SESAR) concepts require an increased use of trajectory-based operations, including extensive strategic air traffic control clearances. The clearances are lengthy and complex, which necessitate data link communications to allow for message permanence and integration into the autoflight systems (i.e., autoload capability). This paper examines the use of flight deck data link communications for strategic and tactical clearance usage in the terminal area. A human-in-the-loop simulation was conducted using a high-fidelity flight deck simulator, with ten commercial flight crews as participants. Data were collected from six flight scenarios in the San Francisco terminal airspace. The variables of interest were ATC message modality (voice v. data link), temporal quality of the message (tactical v. strategic) and message length. Dependent variables were message response times, communication clarifications, communication-related errors, and pilot workload. Response time results were longer in data link compared to voice, a finding that has been consistently revealed in a number of other simulations [1]. In addition, strategic clearances and longer messages resulted in a greater number of clarifications and errors, suggesting an increase in uncertainty of message interpretation for the flight crews when compared to tactical clearances. The implications for strategic and compound clearance usage in NextGen and SESAR are discussed

data link communication↗
NASA NTRS2006

Multiscale Analysis of Delamination of Carbon Fiber-Epoxy Laminates with Carbon Nanotubes

A multi-scale analysis is presented to parametrically describe the Mode I delamination of a carbon fiber/epoxy laminate. In the midplane of the laminate, carbon nanotubes are included for the purposes of selectively enhancing the fracture toughness of the laminate. To analyze carbon fiber epoxy carbon nanotube laminate, the multi-scale methodology presented here links a series of parameterizations taken at various length scales ranging from the atomistic through the micromechanical to the structural level. At the atomistic scale molecular dynamics simulations are performed in conjunction with an equivalent continuum approach to develop constitutive properties for representative volume elements of the molecular structure of components of the laminate. The molecular-level constitutive results are then used in the Mori-Tanaka micromechanics to develop bulk properties for the epoxy-carbon nanotube matrix system. In order to demonstrate a possible application of this multi-scale methodology, a double cantilever beam specimen is modeled. An existing analysis is employed which uses discrete springs to model the fiber bridging affect during delamination propagation. In the absence of empirical data or a damage mechanics model describing the effect of CNTs on fracture toughness, several tractions laws are postulated, linking CNT volume fraction to fiber bridging in a DCB specimen. Results from this demonstration are presented in terms of DCB specimen load-displacement responses.

Riddick, Jaret C.↗
NASA NTRS2017

Intrauterine Exposure to Maternal Stress Alters Bdnf IV DNA Methylation and Telomere Length in the Brain of Adult Rat Offspring

DNA methylation (addition of methyl groups to cytosines which normally represses gene transcription) and changes in telomere length (TTAGGG repeats on the ends of chromosomes) are two molecular modifications that result from stress and could contribute to the long-term effects of intrauterine exposure to maternal stress on offspring behavioral outcomes. Here, we measured methylation of Brain-derived neurotrophic factor (Bdnf), a gene important in development and plasticity, and telomere length in the brains of adult rat male and female offspring whose mothers were exposed to unpredictable and variable stressors throughout gestation. Males exposed to prenatal stress had greater methylation (Bdnf IV) in the medial prefrontal cortex (mPFC) compared to non-stressed controls. Further, prenatally-stressed males had shorter telomeres than controls in the mPFC. This study provides the first evidence in a rodent model of an association between prenatal stress exposure and subsequent shorter brain telomere length. Together findings indicate a long-term impact of prenatal stress on DNA methylation and telomere biology with relevance for behavioral and health outcomes, and contribute to a growing literature linking stress to intergenerational epigenetic alterations and changes in telomere length.

prenatal stress↗
NASA NTRS1994

Issues in the development of a 10 MBPS K=15 Viterbi decoder

The NMSU Telemetry Center, in collaboration with the NASA Microelectronics Center (MRC) at UNM, has completed a study of the feasibility of building a constraint length 15, rate 1/2 Viterbi Decoder (or BVD) to operate at a rate of 10 Mbps. The BVD, if built, would make TDRSS more accessible to all users, small satellites in particular, by providing an additional 2 dB of link margin, relative to the use of the standard constraint length 7 decoder. The study included the following: review of the 1 Mbps BVD built by the Jet Propulsion Laboratory (JPL), currently the only BVD in existence; development of Specifications for the basic processing unit of the BVD (MRC); analytical Determination of performance of large constraint length convolutional codes; investigation of the impact of processor design on the overall system design; and two feasible packaging technologies, proposed by Cincinnati Electronics of Ohio. It was concluded that while the construction of the BVD is feasible, it will require the most advanced packaging technology currently available, and that the project would be best accomplished in an industrial facility. While the size, complexity, and power requirements of the BVD will be extreme, these will impact only the ground station. The spacecraft will incur a minor change in the encoder design, and the increased coding gain will allow a satellite to operate with a smaller antenna.

Osborne, William P.↗
NASA NTRS1995

Changes in diaphragm muscle collagen gene expression after acute unilateral denervation

The purpose of the present study was to examine the effects of acute (3 days) unilateral diaphragm denervation (DNV) on 1) levels of alpha 1(I) and alpha 1(III) procollagen mRNA; 2) collagen concentration [hydroxyproline (HYP)]; 3) amount of the nonreducible collagen cross-link hydroxylysylpyridinoline (HP); and 4) the passive force-length relationship of the muscle. The levels of alpha 1(I) and alpha 1(III) procollagen mRNA, HYP concentration, and amount of HP were measured in muscle segments from the midcostal region of DNV and intact (INT) hemidiaphragms of adult male Fischer 344 rats (250-300 g). The in vitro passive force-length relationship of DNV and INT hemidiaphragm was determined by lengthening and shortening the diaphragm muscle segments from 85 to 115% of optimal length at a constant velocity (0.6 optimal length/s). Three days after DNV, the level of alpha 1(I) procollagen mRNA was increased over 15-fold in the DNV hemidiaphragm compared with INT (P < 0.05), whereas the level of alpha 1(III) procollagen mRNA was increased by approximately sixfold in the DNV hemidiaphragm compared with INT (P < 0.05). Collagen (HYP) concentration did not differ between groups, averaging 8.7 and 8.9 micrograms/mg dry wt for the DNV and INT hemidiaphragms, respectively. In addition, there was no difference in the amount of the mature nonreducible collagen cross-link HP between the DNV and INT hemidiaphragms (0.66 vs. 0.76 mole HP/mole collagen, respectively). The amount of passive force developed during lengthening did not differ between DNV and INT hemidiaphragms. These data indicate that acute DNV of the hemidiaphragm is associated with an increase in the mRNA level of the two principal fibrillar collagen phenotypes in skeletal muscle. However, despite extensive muscle remodeling, the passive force-length relationship of the DNV hemidiaphragm is unaffected compared with the INT muscle.

Non-NASA Center↗
NASA NTRS1987

Non-enzymatic transcription of an oligodeoxynucleotide 14 residues long

Nonenzymatic synthesis of oligodeoxynucleotides up to 14 residues long from 2-MeImpG and 2-MeImpC mononucleotides was demonstrated. The synthesis is primed by 14-mer and 15-mer oligonucleotides d(C3GC3GC3GC2) and d(C3GC3GC3GC3) as templates. The predominant products are a series of 3-prime-5-prime-linked oligonucleotides, complementary to the template, ranging in length from GGC to GGCGGGCGGGCGGG. The 15-mer template directed the synthesis of the same family of products that were formed on the 14-mer template. This finding is explained by the preferential conversion of the dimer GG to GGC rather than to GGG. In the context of molecular evolution, these results suggest that the detailed kinetics of template-directed synthesis could form the basis for the selection of one replicating oligonucleotide from a family of closely related oligonucleotides.

Acevedo, Oscar L.↗
NASA NTRS1994

Design and testing of a model CELSS chamber robot

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended. This proved that it was stable. Another pre-test was the actuator slip test used to determine if there is an adequate coefficient of friction between the actuator drive wheels and drive cable to enable the actuator to fully extend and retract the arm. This pre-test revealed that the coefficient of friction was not large enough to prevent slippage. Sandpaper was glued to the drive wheel and this eliminated the slippage problem. The class preformed a fit test in the CELSS chamber to ensure that the completed robot arm is capable of reaching the entire working envelope. The robot was centered in the chamber and the arm was fully extended to the sides of the chamber. The arm was also able to retract to clear the drain pipes separating the upper and lower plant trays.

Davis, Mark↗
NASA NTRS1992

Numerical analysis of right-half plane zeros for a single-link manipulator

The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

Girvin, Douglas Lynn↗