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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Generalized compliant motion task description and execution within a complete telerobotic system

A motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces.

Backes, Paul G.↗
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
NASA NTRS2009

Cell Cycle Progression of Human Cells Cultured in Rotating Bioreactor

Space flight has been shown to alter the astronauts immune systems. Because immune performance is complex and reflects the influence of multiple organ systems within the host, scientists sought to understand the potential impact of microgravity alone on the cellular mechanisms critical to immunity. Lymphocytes and their differentiated immature form, lymphoblasts, play an important and integral role in the body's defense system. T cells, one of the three major types of lymphocytes, play a central role in cell-mediated immunity. They can be distinguished from other lymphocyte types, such as B cells and natural killer cells by the presence of a special receptor on their cell surface called T cell receptors. Reported studies have shown that spaceflight can affect the expression of cell surface markers. Cell surface markers play an important role in the ability of cells to interact and to pass signals between different cells of the same phenotype and cells of different phenotypes. Recent evidence suggests that cell-cycle regulators are essential for T-cell function. To trigger an effective immune response, lymphocytes must proliferate. The objective of this project is to investigate the changes in growth of human cells cultured in rotating bioreactors and to measure the growth rate and the cell cycle distribution for different human cell types. Human lymphocytes and lymphoblasts will be cultured in a bioreactor to simulate aspects of microgravity. The bioreactor is a cylindrical culture vessel that incorporates the aspects of clinostatic rotation of a solid fluid body around a horizontal axis at a constant speed, and compensates gravity by rotation and places cells within the fluid body into a sustained free-fall. Cell cycle progression and cell proliferation of the lymphocytes will be measured for a number of days. In addition, RNA from the cells will be isolated for expression of genes related in cell cycle regulations.

Parks, Kelsey↗
NASA NTRS2014

Successful Starshade Petal Deployment Tolerance Verification in Support of NASA's Technology Development for Exoplanet Missions

A Starshade is a sunflower-shaped satellite with a large inner disk structure surrounded by petals that flies in formation with a space-borne telescope, creating a deep shadow around the telescope over a broad spectral band to permit nearby exoplanets to be viewed. Removing extraneous starlight before it enters the observatory optics greatly loosens the tolerances on the telescope and instrument that comprise the optical system, but the nature of the Starshade dictates a large deployable structure capable of deploying to a very precise shape. These shape requirements break down into key mechanical requirements, which include the rigid-body position and orientation of each of the petals that ring the periphery of the Starshade. To verify our capability to meet these requirements, we modified an existing flight-like Astromesh reflector, provided by Northrup Grumman, as the base ring to which the petals attach. The integrated system, including 4 of the 30 flight-like subscale petals, truss, connecting spokes and central hub, was deployed tens of times in a flight-like manner using a gravity compensation system. After each deployment, discrete points in prescribed locations covering the petals and truss were measured using a highly-accurate laser tracker system. These measurements were then compared against the mechanical requirements, and the as-measured data shows deployment accuracy well within our milestone requirements and resulting in a contrast ratio consistent with exoplanet detection and characterization.

External occulters↗
NASA NTRS2020

Demonstration of Deployment Accuracy of the Starshade Inner Disk Subsystem

We present experimental results that demonstrate the required in-plane deployment accuracy of the starshade Inner Disk Subsystem (IDS). This effort was to address Milestone 7C of the Starshade Technology Activity S5, which requires that the in-plane deployment accuracy of the petal interfaces on the IDS be within +/-300um. A full-scale 10m-diameter IDS prototype was constructed. This prototype comprised a medium-fidelity perimeter truss, medium-fidelity spokes, and a low-fidelity optical shield (OS). The testbed also included gravity compensation systems and a laser tracker metrology system. The post-processed measurement uncertainties of the laser tracker were less than 30um at the 3 sigma level. Design, engineering and fabrication of these components was done by JPL, Tendeg, and Roccor. Testing was performed at the Tendeg facility in Louisville, Colorado. The IDS prototype was deployed 22 times and the locations of petal interfaces on the IDS were measured after each deployment. Based on this data, tolerance intervals were calculated that would contain 99.73% of future deployment accuracy errors with 90% confidence. These tolerance intervals are conservative estimates for 3 sigma bounds. The tolerance intervals for the three pertinent error components were found to be within the required allocations, with at least 19% margin.

Turse, Dana↗
DOE OSTI2025

Empowering Lineworkers: The Case for Active Exoskeletons in Utility Work

Exoskeletons have evolved from early medical prototypes to advanced systems capable of addressing physical demands in various industries. This report explores the potential of active exoskeleton technology within the utility sector, focusing on its application for linemen who face significant risks of work-related musculoskeletal disorders (WMSDs). By analyzing existing literature on exoskeletons across industries such as construction, manufacturing, and military, the study identifies a gap in utility-specific applications. Task-specific design features like gravity compensation, limb support, and advanced safety measures, improve exoskeletons’ potential to alleviate physical strain, reduce workplace injuries, and enhance productivity. This review emphasizes the need for targeted research and development to optimize exoskeleton designs for the utility sector to provide benefits for workers, companies, and the broader community.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1995

Compensation of Gravity-Induced Structural Deformations on a Beam- Waveguide Antenna Using a Deformable Mirror

At the NASA Deep Space Network (DSN) Goldstone Complex, a 34-meter- diameter beam-waveguide antenna, DSS-13, was constructed in 1988-1990 and has become an integral part of an advanced systems program and a test bed for technologies being developed to introduce Ka-band (32 GHz) frequencies into the DSN. A method for compensating the gravity- induced structural deformations in this large antenna is presented.

technologies DSN↗
NASA NTRS2004

Plan for compensation of self-gravity on ST-7/DRS

The Space Technology 7 (ST-7) payload, flying on the Laser Interferometer Space Antenna (LISA) Pathfinder (LPF) mission, will demonstrate drag-free control of a test mass with acceleration disturbances below 3x10-14 m/s2/(square root)Hz. Low frequency acceleration noise introduced by the electrostatic force needed to counter static mass distribution imbalance is expected to be a significant contributor to the acceleration noise budget. For this reason, the self-gravity (due to mass imbalance) is minimized by adding trim mass to bring the total differential acceleration between the two test masses due to self-gravity below 5x10-10 m/s2 in any axis and the DC acceleration gradient due to self-gravity below 4x10-8 m/s2/m in any axis of either test mass. A plan has been established to develop the distribution and placement of the compensation masses. Compensation for the self-gravity effects on the two test masses is handled in a two step process. A nominal compensation mass is defined and incorporated early and is located very near the test masses. The final trimming for self-gravity occurs after the integration on the spacecraft with small mass added externally to the test mass vacuum enclosures. The plan identifies three preliminary points in the hardware maturity where the trimming to the as-built configuration can take place: (1) during build-up of the sensor vacuum enclosure, (2) prior to delivery of the integrated ST-7 to Europe, and (3) prior to environmental testing of the integrated LPF system. The sensitivity of the self-gravity to knowledge errors in the actual mass distribution is taken into account in the determination of final trimming opportunities and mounting locations.

acceleration noise↗
NASA NTRS1983

Attitude control and drag compensation propulsion system for Gravity Probe-B spacecraft

An on board propulsion system for attitude control and drag compensation is presented which uses helium boiloff gas from an experiment package dewar as propellant. This boiloff gas would normally be vented nonpropulsively. Use of a small allowable temperature range in the dewar is exploited to store helium and accommodate incompatibilities in dewar heat leak and thruster demand flow over periods of more than one orbit. A relatively detailed thermodynamics analysis of the two phase helium dewar and simulation of pressure loss through the helium distribution system is included.

Blount, D. H.↗
NASA NTRS2009

Effect of Changing the Center of Gravity on Human Performance in Simulated Lunar Gravity

Subjective measures of physical exertion, compensation, and controllability while performing tasks in simulated reduced gravity can be affected by changing the center of gravity (CG) of the overall system. The CG of the overall system is defined as the combined CG of the subject, the spacesuit, and the equipment required to change the CG. PURPOSE: To determine if changing the CG affects subjective ratings of suited human performance in simulated lunar gravity. METHODS: A custom weight support structure interfaced with the lunar prototype spacesuit, allowing manipulation of the CG. Weight locations to alter CG were based on a reference subject (81.6 kg, 182.9 cm). Six subjects (80.0 +/- 10.6 kg, 182.3 +/- 6.2 cm) completed 4 tasks (walking, kneel/stand, rock pickup, and shoveling) with system CG at 3 different locations (B=4.8/1.0, C=7.6/14.4, and P=11.2/20.1 cm aft/above the standard subject?s CG). Lunar gravity (0.17-g) was simulated by parabolic flight. Suited testing was performed at 29.6 kPa with a combined suit and structure mass of 181 kg. In all conditions, subjects provided ratings of perceived exertion (RPE) and the gravity compensation and performance scale (GCPS) upon completion of each task. RESULTS: Mean RPE and GCPS were highest at P for all tasks. Variability was greatest at B and lowest at C, and large variations between subjects at the same CG existed for both RPE and GCPS. These trends were not consistent with results from unsuited CG studies performed in other underwater and overhead suspension lunar gravity simulations. CONCLUSION: Modifying CG during suited testing at lunar gravity seems to affect subjective human performance. However, variation in subjective ratings at a given CG location indicates that further study is needed to determine the interactions among lunar gravity simulation, system CG, system mass, and subject characteristics such as anthropometry, strength, and fitness.

Chappell, Steven P.↗
NASA NTRS1978

Germination of pine seed in weightlessness (investigation in Kosmos 782)

An investigation was made of the orientation of aboveground and underground organs of pine plants grown from seed in weightlessness. Orientation was found to be caused by the position of the seeds relative to the substrate surface. Normal growth was manifest only for the plants grown from seed oriented with embryo toward the substrate. Differences were noted between experiment and control as to the quantitative content of nucleoli in the meristematic cells of the rootlets and the shape of cells in the cotyledonous leaflets. No complete agreement was found between data obtained in weightlessness and when gravity was compensated (clinostat treatment with horizontal rotation).

Platonova, R. N.↗
NASA NTRS1988

Redundant manipulators for momentum compensation in a micro-gravity environment

This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.

Quinn, R. D.↗
NASA NTRS1999

Magnetic Control of Convection in Electrically Nonconducting Fluids

Inhomogeneous magnetic fields exert a body force on electrically nonconducting, magnetically permeable fluids. This force can be used to compensate for gravity and to control convection. The effects of uniform and nonuniform magnetic fields on a laterally unbounded fluid layer heated from below or above are studied using a linear stability analysis of the Navier-Stokes equations supplemented by Maxwell's equations and the appropriate magnetic body force. For a uniform oblique field, the analysis shows that longitudinal rolls with axes parallel to the horizontal component of the field are the rolls most unstable to convection. The corresponding critical Rayleigh number and critical wavelength for the onset of such rolls are less than the well-known Rayleigh-Benard values in the absence of magnetic fields. Vertical fields maximize these deviations, which vanish for horizontal fields. Horizontal fields increase the critical Rayleigh number and the critical wavelength for all rolls except longitudinal rolls. For a nonuniform field, our analysis shows that the magnetic effect on convection is represented by a dimensionless vector parameter which measures the relative strength of the induced magnetic buoyancy force due to the applied field gradient. The vertical component of this parameter competes with the gravitational buoyancy effect, and a critical relationship between this component and the Rayleigh number is identified for the onset of convection. Therefore, Rayleigh-Benard convection in such fluids can be enhanced or suppressed by the field. It also shows that magnetothermal convection is possible in both paramagnetic and diamagnetic fluids. Our theoretical predictions for paramagnetic fluids agree with experiments. Magnetically driven convection in diamagnetic fluids should be observable even in pure water using current technology.

Huang, Jie↗
NASA NTRS2002

Characterization of Truncated Tumor-Associated NADH Oxidase (ttNOX)

Bacterial, plant and animal cells possess novel surface proteins that exhibit both NADH oxidation (NOX) or hydroquinone and protein disulfide-thiol interchange. These enzymatic activities alternate to yield oscillating patterns wjth period lengths of approximately 24 minutes. The catalytic period of NOX proteins are temperature compensated and gravity responsive. We report the cloning, expression and characterization of truncated tumor-associated NADH oxidase (ttNOX), in which the membrane spanning region has been deleted. The cDNA (originated from HeLa cells) was cloned into pET-34b and pET-14b (Novagen) vectors for E. coli expression. Optimized expression and purification protocols yielded greater than 300mg per liter of culture with greater than 95% purity. Circular dichroism data was collected from a 2.7mg/ml solution in a 0.1mm cuvette with variable scanning using an Olis RSM CD spectrophotometer. The ellipticity values were scanned from 190 to 260nm. The spectra recorded have characteristics for alpha proteins with band maxima at 216nm and a possible shoulder at 212nm at 12OC and 250 C. Protein crystal screens are in progress and, to date, only small crystals have been observed. The regular periodic oscillatory change in the ttNOX protein is indicative of a possible time-keeping functional role. A single protein possessing alternating catalytic activities, with a potential biological clock function, is unprecedented and structural determination is paramount to understanding this role.

Karr, Laurel J.↗
NASA NTRS2004

Satellite Geopotential Anomaly Constraints for the Crust of the Greenland-Iceland Region

Satellite magnetometer observations of the Greenland-Iceland region compare quite well with lower altitude data. The satellite magnetic data suggest magnetically enhanced crust was emplaced by the Iceland Plume. Crustal thicknesses, which may be more than 30 km for the Greenland-Scotland Ridge, were obtained from inversion of the compensating terrain gravity effects that were estimated by spectral correlation analysis of the free-air gravity anomalies and terrain gravity effects. Regional magnetic anomaly maxima overlie possible thickened crust from eastern Iceland to the Greenland Coast. The Iceland-Faroe Ridge may involve thinner crust than the Greenland-Iceland portion of the Greenland-Scotland Ridge. The gravity derived crustal model exceeds a 0.7 correlation with available seismic estimates. In thermally active areas our gravity Moho estimates are systematically deeper than the seismic estimates suggesting local density reductions of the underlying lower crust/upper mantle. In south central Greenland, on the other hand, the gravity Moho estimates are shallower than seismic estimates to suggest a local enhancement of the lower crust/upper mantle density. The dichotomous crust of the Greenland-Iceland and Iceland-Faroe Ridges suggests unequal crustal development by the Iceland Plume and the Mid-Atlantic Ridge, where more crustal material may have been contributed to the North Atlantic Plate than the Eurasian Plate. A new thermal modeling scheme based on Poisson's relation between point pole gravity and thermal potentials allows estimation of magnetic crustal thicknesses. Subsequent magnetic anomaly inversion for susceptibility contrasts infers crustal development of the Greenland-Scotland Ridge by temporally variable pulses in plume strength.

vonFrese, R. R.↗