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Modified NRZ (non-return-to-zero) code immunizes record and playback systems against dc drift and bit slippage. In order to maximize bit packing density improved code called J-NRZ gives 100 percent NRZ efficiently and solves DC drift problem by adding check bits in specified format when long string is encountered. Remainder of data stream is encoded in NRZ format.
The problem of displaying information generated by sensors attached to the terminal device of a remotely controlled manipulator is considered. The sensors under consideration are proximity, force-torque, tactile and slip-page sensors. The paper describes and evaluates several examples that have been implemented in the JPL teleoperator project using audio and graphic displays of information generated by four proximity sensors attached to a manipulator end effector. Design schemes are also discussed related to the display of information generated by a six-dimensional force-torque sensor, a multipoint proportional tactile sensor, and a directional slippage sensor. The paper concludes with a discussion of future integrated displays of visual (TV) and handbased sensor information.
Proximity, force-torque, touch and slippage sensors developed or applied by the JPL Teleoperator Project for remote manipulator control are described, including sensor data handling by computers for display and control. Examples are quoted showing the significance of these sensors for manual or computer control of manipulators. An interesting example is a proximity sensor system implemented for a four-claw JSC end effector and tested at the Shuttle Manipulator Training Facility of JSC. New sensing concepts aimed at simplifying the implementation of 'Smart Sensors for Smart Hands' in the space environment are discussed.
Two novel analysis techniques have been used to study focal mechanisms of A1 moonquakes, which occur at the most active of the 80 deep-moonquake source regions identified to date. The first is the cross-spectral analysis of matching signal waveforms. Cross phase spectra clearly show relative polarity of signals and give precise time relationships between signals, thus enabling accurate detemination of relative source locations within the source region. The second is the analysis of amplitude ratios, which reveal the patterns of P- and S-wave radiations around the source region. A1 moonquake foci are found to be concentrated in a nearly horizontal planar region less than 1 km in diameter. Their focal mechanism may be described by slippages along a horizontal plane with the slip direction rotating with and predominantly controlled by the shifting tidal stress field. Thus, A1 moonquakes represent a process of simple storage and release of tidal energy with no evidence for a release of accumulated tectonic stress.
Tasks of scaling up the tandem junction cell (TJC) from 2 cm x 2 cm to 6.2 cm and the assembly of several modules using these large area TJC's are described. The scale-up of the TJC was based on using the existing process and doing the necessary design activities to increase the cell area to an acceptably large area. The design was carried out using available device models. The design was verified and sample large area TJCs were fabricated. Mechanical and process problems occurred causing a schedule slippage that resulted in contract expiration before enough large-area TJCs were fabricated to populate the sample tandem junction modules (TJM). A TJM design was carried out in which the module interconnects served to augment the current collecting buses on the cell. No sample TJMs were assembled due to a shortage of large-area TJCs.
New Torque wrench for electrical connnectors automatically tightens its grip with increasing torque to insure against slippage. Tool requires only minimal clearance between connector and adjacent structures or components. Wrench is operated with one hand and can be used on connectors of various shapes.
Two versions of a Nasvytis multiroller traction drive were tested in liquid oxygen for possible application as cryogenic boost pump speed reduction drives for advanced hydrogen-oxygen rocket engines. The roller drive, with a 10.8:1 reduction ratio, was successfully run at up to 70,000 rpm input speed and up to 14.9 kW (20 hp) input power level. Three drive assemblies were tested for a total of about three hours of which approximately one hour was at nominal full speed and full power conditions. Peak efficiency of 60 percent was determined. There was no evidence of slippage between rollers for any of the conditions tested. The ball drive, a version using balls instead of one row of rollers, and having a 3.25:1 reduction ratio, failed to perform satisfactorily.
The experimental studies on the mitochondria of insect and mammalian cells are examined with a view to an analysis of intrinsic mitochondrial senescence, and its relation to the age-related changes in other cell organelles. The fine structural and biochemical data support the concept that the mitochondria of fixed postmitotic cells may be the site of intrinsic aging because of the attack by free radicals and lipid peroxides originating in the organelles as a by-product of oxygen reduction during respiration. Although the cells have numerous mechanisms for counteracting lipid peroxidation injury, there is a slippage in the antioxidant protection. Intrinsic mitochondrial aging could thus be considered as a specific manifestation of oxygen toxicity. It is proposed that free radical injury renders an increasing number of the mitochondria unable to divide, probably because of damage to the lipids of the inner membrane and to mitochondrial DNA.
Proposed transmission with continuously-variable speed ratio couples two mechanical trigonometric-function generators. Transmission is expected to handle higher loads than conventional variable-pulley drives; and, unlike variable pulley, positive traction through entire drive train with no reliance on friction to transmit power. Able to vary speed continuously through zero and into reverse. Possible applications in instrumentation where drive-train slippage cannot be tolerated.
Finite element analysis is applied to study the large deflection and stress of a thin-walled pressurized torus loaded by normal contact with a plane. Experimentally determined stresses are compared to those resulting from finite element analysis at various meridional and circumferential coordinates of the torus, including the footprint area. Circumferential strains compare favorably while meridional strains are higher in the finite element analysis, probably due to slippage of the boundary at the rim. The STAGS finite element computer program was used. The purpose of the study was to evaluate the various program options for structural loading, for material modeling, for stress analysis, and for grid refinement. The experimental model, a thin-walled rubber tube mounted on a steel cylindrical rim, provided measured results to compare with various analytical trade-offs. It was found that there was almost no difference in predicted deflections or stress distributions between linear and nonlinear material description. However, the difference between linear analysis and that of geometric nonlinearities utilizing incremental loading was marked.
A design and ground test program was conducted to study the performance of the monofilar absorber for vibration reduction on a four-bladed helicopter. A monofilar is a centrifugal tuned two degree-of-freedom rotor hub absorber that provides force attenuation at two frequencies using the same dynamic mass. Linear and non-linear analyses of the coupled monofilar/airframe system were developed to study tuning and attenuation characteristics. Based on the analysis, a design was fabricated and impact bench tests verified the calculated non-rotating natural frequencies and mode shapes. Performance characteristics were measured using a rotating absorber test facility. These tests showed significant attenuation of fixed-system 4P hub motions due to 3P inplane rotating-system hub forces. In addition, detuning effects of the 3P monofilar modal response were small due to the nonlinearities and tuning pin slippage. However, attenuation of 4P hub motions due to 5P inplane hub forces was poor. The performance of the 5P monofilar modal response was degraded by torsional motion of the dynamic mass relative to the support arm which resulted in binding of the dynamic components. Analytical design studies were performed to evaluate this torsional motion problem. An alternative design is proposed which may alleviate the torsional motion of the dynamic mass.
A strip specimen is cut from a unidirectional strong, brittle fiber composite material, and the surfaces of both ends of the specimen are grit blasted. The specimen is then placed between metal load transfer members having grit blasted surfaces. Sufficient compressive stress is applied to the load transfer members to prevent slippage during testing at both elevated temperatures and room temperatures. The need for adhesives, load pads, and other secondary composite processing is eliminated. This gripping system was successful in tensile testing, creep rupture testing, and fatigue testing uniaxial composite materials at 316 C.
Set of grips developed for tensile testing of lightweight composite materials. Double-wedge design substantially increases gripping force and reduces slippage. Specimen held by grips made of hardened wedges. Assembly screwed into load cell in tensile-testing machine.
The mechanics of shear slippage and rupture in rock masses are reviewed. The essential ideas in fracture mechanics are summarized emphasizing the interpretation and relation among the fracture parameters in shear cracks. The slip-weakening model is described. The general formulation of the problem of nonuniform slip distribution in a continuum is covered.
The ceramic component technology development activity conducted by Standard Oil Engineered Materials Company while performing as a principal subcontractor to the Garrett Auxiliary Power Division for the Advanced Gas Turbine (AGT) Technology Development Project (NASA Contract DEN3-167) is summarized. The report covers the period October 1979 through July 1987, and includes information concerning ceramic technology work categorized as common and unique. The former pertains to ceramic development applicable to two parallel AGT projects established by NASA contracts DEN3-168 (AGT100) and DEN3-167 (AGT101), whereas the unique work solely pertains to Garrett directed activity under the latter contract. The AGT101 Technology Development Project is sponsored by DOE and administered by NASA-Lewis. Standard Oil directed its efforts toward the development of ceramic materials in the silicon-carbide family. Various shape forming and fabrication methods, and nondestructive evaluation techniques were explored to produce the static structural components for the ceramic engine. This permitted engine testing to proceed without program slippage.
Artificial intelligence approaches to software engineering are examined. The software development life cycle is a sequence of not so well-defined phases. Improved techniques for developing systems have been formulated over the past 15 years, but pressure continues to attempt to reduce current costs. Software development technology seems to be standing still. The primary objective of the knowledge-based approach to software development presented in this paper is to avoid problem areas that lead to schedule slippages, cost overruns, or software products that fall short of their desired goals. Identifying and resolving software problems early, often in the phase in which they first occur, has been shown to contribute significantly to reducing risks in software development. Software development is not a mechanical process but a basic human activity. It requires clear thinking, work, and rework to be successful. The artificial intelligence approaches to software engineering presented support the software development life cycle through the use of software development techniques and methodologies in terms of changing current practices and methods. These should be replaced by better techniques that that improve the process of of software development and the quality of the resulting products. The software development process can be structured into well-defined steps, of which the interfaces are standardized, supported and checked by automated procedures that provide error detection, production of the documentation and ultimately support the actual design of complex programs.
The paper outlines the results of an experimental/analytical investigation of deformation and stress fields in the test section of graphite/epoxy and boron/aluminum Iosipescu specimens using high-resolution moire interferometry and finite-element analysis. Very good correlation between experiment and analysis is demonstrated for the graphite/epoxy specimens. This, in turn, justifies the use of correction factors employed in the previous investigations to eliminate differences in the initial shear moduli obtained from 0-deg and 90-deg Iosipescu specimens. The significant discrepancies observed in the case of boron/aluminum specimens are attributed to localized yielding at the notch tips caused by the clamping action, the associated in-plane bending effects and changing boundary conditions due to slippage in the grips.
Proposed tactile sensor on robot finger puts out multiplexed analog signals transmitted to control computer on fewer wires than needed to transmit equivalent digital signals. Analog output represents data on contact area of object being gripped, on position of object, and on direction and rate of slippage if any. Consists of chains of normally open switches and resistors on surface of finger. Each resistance double preceding resistance in each chain. Constant-current sources supply power to chains.