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Track-train dynamic analysis and test program. Barber S-2 static test

The results of a static test of a Barber S-2 freight truck conducted to measure the stiffness and friction parameters of the modes of deformation which are being used in various mathematical models in the railroad industry were presented. Some difficulty was first experienced with the truck hardware since it was in an essentially new condition with many high spots causing interference. No difficulty was experienced once the interference was removed. The characteristics of the Barber S-2 are very similar to the ASF ride control truck. The major difference between the two trucks is the amount of friction between the bolster and side frames in both the vertical and lateral directions. The Barber S-2 has approximately twice the friction the ASF ride control truck has in the fully loaded condition. This does not necessarily imply that all trucks will have this same ratio of friction.

Abbott, P. W.↗

Rigid lightweight optical bench for a spaceborne FUV spatial heterodyne interferometer

Requirements for spaceflight optical instruments usually dictate that for the structures be rigid, lightweight, and thermally stable. In addition, for interferometric far ultraviolet (FUV) spectrometers, the requirements for torsional deflection are more severe than with conventional spectrometers. To meet the challenge for rigid and lightweight optical instruments, this paper explores the design of a high-stiffness structure for the support of an FUV spatial heterodyne interferometer where the torsional deflection of the instrument is on the order of 10 arc seconds. The structure is based on use of a thin, hollow section beam with weight-relieving between optical elements. The design also uses a modular and self-contained positioning mechanism that is removed after final optical alignment. Several specific material properties are presented as criteria for material selection. The parameters which affect the particular design requirements are identified with respect to the desired material properties and physical design features. Although large thin sections are susceptible to thermal gradients, this could be minimized by a trade-off for weight, where adequate margin exists. This paper describes the preliminary design for the structure and presents an analysis to verify compliance with the requirements.

Tom, James L.↗

Performability analysis using semi-Markov reward processes

Beaudry (1978) proposed a simple method of computing the distribution of performability in a Markov reward process. Two extensions of Beaudry's approach are presented. The method is generalized to a semi-Markov reward process by removing the restriction requiring the association of zero reward to absorbing states only. The algorithm proceeds by replacing zero-reward nonabsorbing states by a probabilistic switch; it is therefore related to the elimination of vanishing states from the reachability graph of a generalized stochastic Petri net and to the elimination of fast transient states in a decomposition approach to stiff Markov chains. The use of the approach is illustrated with three applications.

Ciardo, Gianfranco↗

Finite Element Development of Honeycomb Panel Configurations with Improved Transmission Loss

The higher stiffness-to-mass ratio of a honeycomb panel compared to a homogeneous panel results in a lower acoustic critical frequency. Above the critical frequency the panel flexural wave speed is acoustically fast and the structure becomes a more efficient radiator with associated lower sound transmission loss. Finite element models of honeycomb sandwich structures are presented featuring areas where the core is removed from the radiating face sheet disrupting the supersonic flexural and shear wave speeds that exist in the baseline honeycomb panel. These modified honeycomb panel structures exhibit improved transmission loss for a pre-defined diffuse field sound excitation. The models were validated by the sound transmission loss of honeycomb panels measured in the Structural Acoustic Loads and Transmission (SALT) facility at the NASA Langley Research Center. A honeycomb core panel configuration is presented exhibiting a transmission loss improvement of 3-11 dB compared to a honeycomb baseline panel over a frequency range from 170 Hz to 1000 Hz. The improved transmission loss panel configuration had a 5.1% increase in mass over the baseline honeycomb panel, and approximately twice the deflection when excited by a static force.

Grosveld, Ferdinand W.↗

NASA Tech Briefs, July 2006

Topics covered include: Airport Remote Tower Sensor Systems; Implantable Wireless MEMS Sensors for Medical Uses; Embedded Sensors for Measuring Surface Regression; Coordinating an Autonomous Earth-Observing Sensorweb; Range-Measuring Video Sensors; Stability Enhancement of Polymeric Sensing Films Using Fillers; Sensors for Using Times of Flight to Measure Flow Velocities; Receiver Would Control Phasing of a Phased-Array Antenna; Modern Design of Resonant Edge-Slot Array Antennas; Carbon-Nanotube Schottky Diodes; Simplified Optics and Controls for Laser Communications; Coherent Detection of High-Rate Optical PPM Signals; Multichannel Phase and Power Detector; Using Satellite Data in Weather Forecasting: I; Using Dissimilarity Metrics to Identify Interesting Designs; X-Windows PVT Widget Class; Shuttle Data Center File-Processing Tool in Java; Statistical Evaluation of Utilization of the ISS; Nanotube Dispersions Made With Charged Surfactant; Aerogels for Thermal Insulation of Thermoelectric Devices; Low-Density, Creep-Resistant Single-Crystal Superalloys; Excitations for Rapidly Estimating Flight-Control Parameters; Estimation of Stability and Control Derivatives of an F-15; Tool for Coupling a Torque Wrench to a Round Cable Connector; Ultrasonically Actuated Tools for Abrading Rock Surfaces; Active Struts With Variable Spring Stiffness and Damping; Multiaxis, Lightweight, Computer-Controlled Exercise System; Dehydrating and Sterilizing Wastes Using Supercritical CO2; Alpha-Voltaic Sources Using Liquid Ga as Conversion Medium; Ice-Borehole Probe; Alpha-Voltaic Sources Using Diamond as Conversion Medium; White-Light Whispering-Gallery-Mode Optical Resonators; Controlling Attitude of a Solar-Sail Spacecraft Using Vanes; and Wire-Mesh-Based Sorber for Removing Contaminants from Air.

Source record↗

Understanding of the Dynamics of the Stirling Convertor Advanced by Structural Testing

The NASA Glenn Research Center, the U.S. Department of Energy, and the Stirling Technology Company (STC) are developing a highly efficient, long-life, free-piston Stirling convertor for use as an advanced spacecraft power system for future NASA missions, including deep-space and Mars surface applications. As part of this development, four structural dynamic test programs were recently performed on Stirling Technology Demonstration Convertors (TDC's) that were designed and built by STC under contract to the Department of Energy. This testing was performed in Glenn's Structural Dynamics Laboratory and Microgravity Emissions Laboratory. The first test program, in November and December 1999, demonstrated that the Stirling TDC could withstand the harsh random vibration experienced during a typical spacecraft launch and survive with no structural damage or functional power performance degradation. This was a critical step in enabling the use of Stirling convertors for future spacecraft power systems. The most severe test was a 12.3grms random vibration test, with test durations of 3 min per axis. The random vibration test levels were chosen to simulate, with margin, the maximum anticipated launch vibration conditions. The Microgravity Emissions Laboratory is typically used to measure the dynamics produced by operating space experiments and the resulting impact to the International Space Station's microgravity environment. For the second Stirling dynamic test program, performed in January 2001, the Microgravity Emissions Laboratory was used to characterize the structure-borne disturbances produced by the normal operation of a pair of Stirling convertors. The forces and moments produced by the normal operation of a Stirling system must be recognized and controlled, if necessary, so that other nearby spacecraft components, such as cameras, are not adversely affected. The Stirling convertor pair emitted relatively benign tonal forces at its operational frequency and associated harmonics. Therefore, Stirling power systems will not disturb spacecraft science experiments if minimal appropriate mounting efforts are made. The third test program, performed in February and May 2001, resulted in a modal characterization of a Stirling convertor. Since the deflection of the TDC piston rod, under vibration excitation, was of particular interest, the outer pressure shell was removed to allow access to the rod. Through this testing, the Stirling TDC's natural frequencies and modes were identified. This knowledge advanced our understanding of the successful 1999 vibration test and may be utilized to optimize the output power of future Stirling designs. The fourth test program, in April 2001, was conducted to characterize the structural response of a pair of Stirling convertors, as a function of their mounting interface stiffness. The test results provide guidance for the Stirling power package interface design. Properly designed, the interface may lead to increased structural capability and power performance beyond what was demonstrated in the successful 1999 vibration test. Dynamic testing performed to date at Glenn has shown that the Stirling convertors can withstand liftoff random vibration environments and meet "good neighbor" vibratory emission requirements. Furthermore, the future utilization of the information obtained during the tests will allow the corporation selected to be the Stirling system integrator to optimize their convertor and system interfaces designs. Glenn's Thermo-Mechanical Systems Branch provides Stirling technology expertise under a Space Act Agreement with the Department of Energy. Additional vibration testing by Glenn's Structural Systems Dynamics Branch is planned to continue to demonstrate the Stirling power system's vibration capability as its technology and flight system designs progress.

Hughes, William O.↗

Evaluation of a Compression-Loaded-Stitched-Multi-Bay Fuselage Panel With Barely Visible Impact Damage

The experimental results from a stitched VaRTM carbon-epoxy composite panel tested under uni-axial compression loading are presented along with nonlinear finite element analysis prediction of the response. The curved panel is divided by frames and stringers into six bays with a column of three bays along the compressive loading direction. The frames are supported at the frame ends to resist out-of-plane translation. Back-to-back strain gages are used to record the strain and displacement transducers were used to record the out-of-plane displacements. In addition a full-field-displacement measurement technique that utilizes a camera-based-stereo-vision system was used to record the displacements. The panel was loaded to 1.5 times the predicted initial buckling load (1st bay buckling load, P(sub er) from the nonlinear finite element analysis and then was removed from the test machine for impact testing. After impacting with 20 ft-lbs of energy using a spherical impactor to produce barely visible damage the panel was loaded in compression until failure. The buckling load of the first bay to buckle was 97% of the buckling load before impact. The stitching constrained the impact damage from growing during the loading to failure. Impact damage had very little overall effect on panel stiffness. Panel stiffness measured by the full-field-displacement technique indicated a 13% loss in stiffness after impact. The panel failed at 1.64 times the first panel buckling load. The barely visible impact damage did not grow noticeably as the panel failed by global instability due to stringer-web terminations at the frame locations. The predictions from the nonlinear analysis of the finite element modeling of the entire specimen were very effective in the capture of the initial buckling and global behavior of the panel. In addition, the prediction highlighted the weakness of the panel under compression due to stringer web terminations. Both the test results and the nonlinear predictions serve to reinforce the severe penalty in structural integrity caused by the low cost manufacturing technique to terminate the stringer webs, and demonstrates the importance of this type of sub-component testing and high fidelity failure analysis in the design of a composite fuselage.

Baker, Donald J.↗

Use of Several Thermal Analysis Techniques on a Hypalon Paint Coating for the Solid Rocket Booster (SRB) of the Space Shuttle

White Hypalon paint is brush-applied as a moisture barrier coating over cork surfaces on each of the two Space Shuttle SRBs. Fine cracks have been observed in the Hypalon coating three times historically on laboratory witness panels, but never on flight hardware. Samples of the cracked and standard ("good") Hypalon were removed from witness panel cork surfaces, and were tested in 1998 by Thermogravimetric Analysis (TGA), TMA and Differential Scanning Calorimetry (DSC) thermal analysis techniques. The TGA data showed that at 700C, where only paint pigment solids remain, the cracked material had about 9 weight percent more material remaining than the standard material, probably indicating incomplete mixing of the paint before it was brush-applied to produce the cracked material. Use of the TMA film/fiber technique showed that the average modulus (stiffness) vs. temperature was about 3 to 6 times higher for the cracked material than for the standard material. The TMA data also showed that an increase in coating thickness for the cracked Hypalon was not a factor in the anomaly.

Wingard, Charles D.↗

Joined-wing research airplane feasibility study

The joined wing is a new type of aircraft configuration which employs tandem wings arranged to form diamond shapes in plan view and front view. Wind-tunnel tests and finite-element structural analyses have shown that the joined wing provides the following advantages over a comparable wing-plus-tail system; lighter weight and higher stiffness, higher span-efficiency factor, higher trimmed maximum lift coefficient, lower wave drag, plus built-in direct lift and direct sideforce control capability. To verify these advantages at full scale a manned research airplane is required. A study has therefore been performed of the feasibility of constructing such an airplane, using the fuselage and engines of the existing NAA AD-1 oblique-wing airplane. Cost and schedule constraints favored converting the AD-1 rather than constructing a totally new airframe. By removing the outboard wing panels the configuration can simulate wings joined at 60, 80, or 100 percent of span. For maximum versatility the aircraft has alternative control surfaces (such as ailerons and elevators on the front and/or rear wings), and a removeable canard to explore canard/joined-wing interactions at high-lift conditions. Design, performance, and flying qualities are discussed.

Wolkovitch, J.↗

Manufacturing Trials of Integrally Stiffened Composite Panels Using Automated Fiber Placement

Commercial aircraft structures are frequently manufactured from carbon-epoxy materials because of their weight and stiffness advantages compared to metallic materials. Wing cover panels are regularly manufactured using an automated fiber placement (AFP) process, but current design and manufacturing methodologies do not fully take advantage of the opportunities afforded by AFP. Design and manufacturing studies were undertaken at the NASA Langley Research Center at the Integrated Structural Assembly of Advanced Composites (ISAAC) facility to quantify manufacturing benefits and limitations associated with AFP to create structurally efficient integral stiffeners as an alternative to bonded or mechanically fastened stiffeners. This methodology could save weight and remove failure mechanisms by reducing the need for rivets and bonding materials since the stiffener plies are interleaved within the skin plies. The use of AFP with integral stiffeners can open the design space, but a fundamental, systematic evaluation of manufacturing limitations is necessary. Manufacturing trials are described herein, where considered manufacturing variables included stiffener location, stiffener course staggering, stiffener widths, stiffener intersections, and material thicknesses for both the skin and stiffener plies. The manufacturing process and lessons learned from each trial are described, including the most successful current design which contains staggered stiffeners, non-traditional laminate angles, and a combination of multiple material thicknesses within the same laminate.

Composite manufacturing↗

Manufacturing Trials of Integrally Stiffened Composite Panels Using Automated Fiber Placement

Commercial aircraft structures are frequently manufactured from carbon-epoxy materials because of their weight and stiffness advantages compared to metallic materials. Wing cover panels are regularly manufactured using an automated fiber placement (AFP) process, but current design and manufacturing methodologies do not fully take advantage of the opportunities afforded by AFP. Design and manufacturing studies were undertaken at the NASA Langley Research Center at the Integrated Structural Assembly of Advanced Composites (ISAAC) facility to quantify manufacturing benefits and limitations associated with AFP to create structurally efficient integral stiffeners as an alternative to bonded or mechanically fastened stiffeners. This methodology could save weight and remove failure mechanisms by reducing the need for rivets and bonding materials since the stiffener plies are interleaved within the skin plies. The use of AFP with integral stiffeners can open the design space, but a fundamental, systematic evaluation of manufacturing limitations is necessary. Manufacturing trials are described herein, where considered manufacturing variables included stiffener location, stiffener course staggering, stiffener widths, stiffener intersections, and material thicknesses for both the skin and stiffener plies. The manufacturing process and lessons learned from each trial are described, including the most successful current design which contains staggered stiffeners, non-traditional laminate angles, and a combination of multiple material thicknesses within the same laminate.

Automated Fiber Placement↗

The Vibration Ring

The vibration ring was conceived as a driveline damping device to prevent structure-borne noise in machines. It has the appearance of a metal ring, and can be installed between any two driveline components like an ordinary mechanical spacer. Damping is achieved using a ring-shaped piezoelectric stack that is poled in the axial direction and connected to an electrical shunt circuit. Surrounding the stack is a metal structure, called the compression cage, which squeezes the stack along its poled axis when excited by radial driveline forces. The stack in turn generates electrical energy, which is either dissipated or harvested using the shunt circuit. Removing energy from the system creates a net damping effect. The vibration ring is much stiffer than traditional damping devices, which allows it to be used in a driveline without disrupting normal operation. In phase 1 of this NASA Seedling Fund project, a combination of design and analysis was used to examine the feasibility of this concept. Several designs were evaluated using solid modeling, finite element analysis, and by creating prototype hardware. Then an analytical model representing the coupled electromechanical response was formulated in closed form. The model was exercised parametrically to examine the stiffness and loss factor spectra of the vibration ring, as well as simulate its damping effect in the context of a simplified driveline model. The results of this work showed that this is a viable mechanism for driveline damping, and provided several lessons for continued development.

Asnani, Vivake M.↗

Generation and analysis of reduced-part-count truss geometries for space-based applications

A technique for deriving truss structures with reduced part count from the octahedral-tetrahedral (octet) truss by removal of struts and nodes is described. The technique is based on an understanding of the geometry and symmetry of the octet truss. Six example reduced-part-count structures are analyzed and compared with the parent octet truss with regard to part count, redundancy, mass, and free-free fundamental frequency. Part count reductions of 12 to 37 percent, mass reductions of 7 to 33 percent, and fundamental frequency reductions of 18 to 30 percent are demonstrated. Increases in strut cross-sectional area and truss depth are considered for the purpose of increasing the stiffness of the reduced structures.

Collins, Timothy J.↗

Use of Several Thermal Analysis Techniques on a Hypalon Paint Coating for the Solid Rocket Booster (SRB) of the Space Shuttle

White Hypalon paint is brush-applied as a moisture barrier coating over cork surfaces on each of the two Space Shuttle SRBS. Fine cracks have been observed in the Hypalon coating three times historically on laboratory witness panels, but never on flight hardware. Recent samples of the cracked and standard ("good") Hypalon were removed from cork surfaces and were tested by Thermal Gravimetric Analysis (TGA), Thermomechanical (TMA) and Differential Scanning Calorimetry (DSC) thermal analysis techniques. The TGA data showed that at 700 C, where only paint pigment solids remain, the cracked material had about 9 weight percent more material remaining than the standard material, probably indicating incomplete mixing of the paint before it was brush-applied to produce the cracked material. Use of the TMA film tension method showed that the average static modulus vs. temperature was about 3 to 6 times higher for the cracked material than for the standard material, indicating a much higher stiffness for the cracked Hypalon. The TMA data also showed than an increased coating thickness for the cracked Hypalon was not a factor in the anomaly.

Wingard, Charles D.↗

Measurement of Residual Flexibility for Substructures Having Prominent Flexible Interfaces

Verification of a dynamic model of a constrained structure requires a modal survey test of the physical structure and subsequent modification of the model to obtain the best agreement possible with test data. Constrained-boundary or fixed-base testing has historically been the most common approach for verifying constrained mathematical models, since the boundary conditions of the test article are designed to match the actual constraints in service. However, there are difficulties involved with fixed-base testing, in some cases making the approach impractical. It is not possible to conduct a truly fixed-base test due to coupling between the test article and the fixture. In addition, it is often difficult to accurately simulate the actual boundary constraints, and the cost of designing and constructing the fixture may be prohibitive. For use when fixed-base testing proves impractical or undesirable, alternate free-boundary test methods have been investigated, including the residual flexibility technique. The residual flexibility approach has been treated analytically in considerable detail and has had limited frequency response measurements for the method. This concern is well-justified for a number of reasons. First, residual flexibilities are very small numbers, typically on the order of 1.0E-6 in/lb for translational diagonal terms, and orders of magnitude smaller for off-diagonal values. This poses difficulty in obtaining accurate and noise-free measurements, especially for points removed from the excitation source. A second difficulty encountered in residual measurements lies in obtaining a clean residual function in the process of subtracting synthesized modal data from a measured response function. Inaccuracies occur since modes are not subtracted exactly, but only to the accuracy of the curve fits for each mode; these errors are compounded with increasing distance from the excitation point. In this paper, the residual flexibility method is applied to a simple structure in both test and analysis. Measured and predicted residual functions are compared, and regions of poor data in the measured curves are described. It is found that for accurate residual measurements, frequency response functions having prominent stiffness lines in the acceleration/force format are needed. The lack of such stiffness lines increases measurement errors. Interface drive point frequency respose functions for shuttle orbiter payloads exhibit dominant stiffness lines, making the residual test approach a good candidate for payload modal tests when constrained tests are inappropriate. Difficulties in extracting a residual flexibility value from noisy test data are discussed. It is shown that use of a weighted second order least-squares curve fit of the measured residual function allows identification of residual flexibility that compares very well with predictions for the simple structure. This approach also provides an estimate of second order residual mass effects.

Tinker, Michael L.↗

Monolithic Flexure Pre-Stressed Ultrasonic Horns

High-power ultrasonic actuators are generally assembled with a horn, backing, stress bolt, piezoelectric rings, and electrodes. The manufacturing process is complex, expensive, difficult, and time-consuming. The internal stress bolt needs to be insulated and presents a potential internal discharge point, which can decrease actuator life. Also, the introduction of a center hole for the bolt causes many failures, reducing the throughput of the manufactured actuators. A new design has been developed for producing ultrasonic horn actuators. This design consists of using flexures rather than stress bolts, allowing one to apply pre-load to the piezoelectric material. It also allows one to manufacture them from a single material/plate, rapid prototype them, or make an array in a plate or 3D structure. The actuator is easily assembled, and application of pre-stress greater than 25 MPa was demonstrated. The horn consists of external flexures that eliminate the need for the conventional stress bolt internal to the piezoelectric, and reduces the related complexity. The stress bolts are required in existing horns to provide prestress on piezoelectric stacks when driven at high power levels. In addition, the manufacturing process benefits from the amenability to produce horn structures with internal cavities. The removal of the pre-stress bolt removes a potential internal electric discharge point in the actuator. In addition, it significantly reduces the chances of mechanical failure in the piezoelectric stacks that result from the hole surface in conventional piezoelectric actuators. The novel features of this disclosure are: 1. A design that can be manufactured from a single piece of metal using EDM, precision machining, or rapid prototyping. 2. Increased electromechanical coupling of the horn actuator. 3. Higher energy density. 4. A monolithic structure of a horn that consists of an external flexure or flexures that can be used to pre-stress a solid piezoelectric structure rather than a bolt, which requires a through hole in the piezoelectric material. 5. A flexure system with low stiffness that accommodates mechanical creep with minor reduction in pre-stress.

Sherrit, Stewart↗

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗

Aeroelastic Tests of an Eight Percent Scale Saturn C-1 Block II

Buffet and flutter characteristics of Saturn Apollo mission were studied using a dynamically scaled model. The model was built around a central aluminum tube for scaled stiffness distribution and strength to resist loads imposed during testing. Styrofoam sections attached to the core provided the correct external contours. Lead weights were added for correct mass distribution. An electromagnetic shaker was used to excite the model in its flexible modes of vibration during portions of the test. The model was supported on a sting, mounted by leaf springs, cables and torsion bars. The support system provided for simulating the full scale rigid body pitch frequency with minimum restraint imposed on elastic deflections. Bending moments recorded by sensors on the aluminum tube. Several modified nose configurations were tested: The basic configuration was tested with and without a flow separator disk on the escape rocket motor, tests also were made with the escape tower and rocket motor removed completely. For the final test, the Apollo capsule was replaced with a Jupiter nose cone. The test program consisted of determining model response throughout the transonic speed range at angles of attack up to 6 degrees and measuring the aerodynamic damping over the same range for the basic model and the modified configurations. Signals from the model pickup were recorded on tape for later analysis. The data obtained were used to estimate bending moments that would be produced on the full-scale vehicle by aerodynamic forces due to buffeting.

EXPERIMENTS↗