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

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NASA NTRS1984

Managing geometric information with a data base management system

The strategies for managing computer based geometry are described. The computer model of geometry is the basis for communication, manipulation, and analysis of shape information. The research on integrated programs for aerospace-vehicle design (IPAD) focuses on the use of data base management system (DBMS) technology to manage engineering/manufacturing data. The objectives of IPAD is to develop a computer based engineering complex which automates the storage, management, protection, and retrieval of engineering data. In particular, this facility must manage geometry information as well as associated data. The approach taken on the IPAD project to achieve this objective is discussed. Geometry management in current systems and the approach taken in the early IPAD prototypes are examined.

Dube, R. P.↗

NASA NTRS1986

Weight estimation of unconventional structures by structural optimization

Automated techniques are presented that are used in structural optimization technology, with emphasis on modifications of finite element models to obtain an optimal material distribution for minimum weight while satisfying the prescribed design requirements. It is anticipated that the future development of computer aided engineering (CAE) system will provide environments where structural analysis, a design optimization, and weight evaluation modules are integrated, sharing a common data base. Structural optimization capabilities obtained by integrating a finite element structural analysis program and a numerical optimization code are developed and applied to two illustrative examples: marine gear housing structural weight minimization and joined wing structures.

Miura, Hirokazu↗

NASA NTRS1988

A modernized PDL approach for Ada software development

The desire to integrate newly available, graphically-oriented Computed Aided Software Engineering (CASE) tools with existing software design approaches is changing the way Program Design Language (PDL) or Process Description Language is used for large system development. In the approach documented here, Software Engineers use graphics tools to model the problem and to describe high level software design in diagrams. An Ada-based PDL is used to document low level design. Some results are provided along with an analysis for each of three smaller General Electric (GE) Ada development projects that utilized variations on this approach. Finally some considerations are identified for larger scale implementation.

Usavage, Paul, Jr.↗

NASA NTRS1992

Flight-determined benefits of integrated flight-propulsion control systems

Over the last two decades, NASA has conducted several experiments in integrated flight-propulsion control. Benefits have included improved maneuverability; increased thrust, range, and survivability; reduced fuel consumption; and reduced maintenance. This paper presents the basic concepts for control integration, examples of implementation, and benefits. The F-111E experiment integrated the engine and inlet control systems. The YF-12C incorporated an integral control system involving the inlet, autopilot, autothrottle, airdata, navigation, and stability augmentation systems. The F-15 research involved integration of the engine, flight, and inlet control systems. Further extension of the integration included real-time, onboard optimization of engine, inlet, and flight control variables; a self-repairing flight control system; and an engines-only control concept for emergency control. The F-18A aircraft incorporated thrust vectoring integrated with the flight control system to provide enhanced maneuvering at high angles of attack. The flight research programs and the resulting benefits of each program are described.

James F Stewart↗

NASA NTRS1996

Beyond the Renderer: Software Architecture for Parallel Graphics and Visualization

As numerous implementations have demonstrated, software-based parallel rendering is an effective way to obtain the needed computational power for a variety of challenging applications in computer graphics and scientific visualization. To fully realize their potential, however, parallel renderers need to be integrated into a complete environment for generating, manipulating, and delivering visual data. We examine the structure and components of such an environment, including the programming and user interfaces, rendering engines, and image delivery systems. We consider some of the constraints imposed by real-world applications and discuss the problems and issues involved in bringing parallel rendering out of the lab and into production.

Crockett, Thomas W.↗

NASA NTRS2010

DARPA DTN Phase 3 Core Engineering Support

This report covers the initial DARPA DTN Phase 3 activities as JPL provided Core Engineering Support to the DARPA DTN Program, and then further details the culmination of the Phase 3 Program with a systematic development, integration and test of a disruption-tolerant C2 Situation Awareness (SA) system that may be transitioned to the USMC and deployed in the near future. The system developed and tested was a SPAWAR/JPL-Developed Common Operating Picture Fusion Tool called the Software Interoperability Environment (SIE), running over Disruption Tolerant Networking (DTN) protocols provided by BBN and MITRE, which effectively extends the operational range of SIE from normal fully-connected internet environments to the mobile tactical edges of the battlefield network.

Disruption Tolerant Networking (DTN) protocols↗

NASA NTRS2000

Design of an Aircraft Vortex Spacing System for Airport Capacity Improvement

The National Aeronautics and Space Administration (NASA) is addressing airport capacity enhancements through the Terminal Area Productivity (TAP) program. Within TAP, the Reduced Spacing Operations element at the NASA Langley Research Center is developing an Aircraft VOrtex Spacing System (AVOSS). AVOSS will integrate the output of several systems to produce weather dependent, dynamic wake vortex spacing criteria. These systems provide current and predicted weather conditions, models of wake vortex transport and decay in these weather conditions, and real-time feedback of wake vortex behavior from sensors. The goal of the NASA program is to provide the research and development to demonstrate an engineering model AVOSS, in real-time operation, at a major airport. A wake vortex system test facility was established at the Dallas-Fort Worth International Airport (DFW) in 1997 and tested in 1998. Results from operation of the initial AVOSS system, plus advances in wake vortex prediction and near-term weather forecast models, "nowcast", have been integrated into a second-generation system. This AVOSS version is undergoing final checkout in preparation for a system demonstration in 2000. This paper describes the revised AVOSS system architecture, subsystem enhancements, and initial results with AVOSS version 2 from a deployment at DFW in the fall of 1999.

Hinton, David A.↗

DOE OSTI2013

Advanced Natural Gas Reciprocating Engine(s)

Energy independence and fuel savings are hallmarks of the nation’s energy strategy. The advancement of natural gas reciprocating engine power generation technology is critical to the nation’s future. A new engine platform that meets the efficiency, emissions, fuel flexibility, cost and reliability/maintainability targets will enable American manufacturers to have highly competitive products that provide substantial environmental and economic benefits in the US and in international markets. Along with Cummins and Waukesha, Caterpillar participated in a multiyear cooperative agreement with the Department of Energy to create a 50% efficiency natural gas powered reciprocating engine system with a 95% reduction in NOx emissions by the year 2013. This platform developed under this agreement will be a significant contributor to the US energy strategy and will enable gas engine technology to remain a highly competitive choice, meeting customer cost of electricity targets, and regulatory environmental standard. Engine development under the Advanced Reciprocating Engine System (ARES) program was divided into phases, with the ultimate goal being approached in a series of incremental steps. This incremental approach would promote the commercialization of ARES technologies as soon as they emerged from development and would provide a technical and commercial foundation of later-developing technologies. Demonstrations of the Phase I and Phase II technology were completed in 2004 and 2008, respectively. Program tasks in Phase III included component and system development and testing from 2009-2012. Two advanced ignition technology evaluations were investigated under the ARES program: laser ignition and distributed ignition (DIGN). In collaboration with Colorado State University (CSU), a laser ignition system was developed to provide ignition at lean burn and high boost conditions. Much work has been performed in Caterpillar’s DIGN program under the ARES program. This work has consisted of both modeling and single cylinder engine experiments to quantify DIGN performance. The air handling systems of natural gas engines dissipate a percentage of available energy as a result of both flow losses and turbomachinery inefficiencies. An analytical study was initiated to increase compressor efficiency by employing a 2-stage inter-cooled compressor. Caterpillar also studied a turbo-compound system that employs a power turbine to recover energy from the exhaust gases for improved engine efficiency. Several other component and system investigations were undertaken during the final phase of the program to reach the ultimate ARES goals. An intake valve actuation system was developed and tested to improve engine efficiency, durability and load acceptance. Analytical modeling and materials testing were performed to evaluate the performance of steel pistons and compacted graphite iron cylinder head. Effort was made to improve the detonation sensing system by studying and comparing the performance of different pressure sensors. To reduce unburned hydrocarbon emissions, different camshafts were designed and built to investigate the effect of exhaust valve opening timing and value overlap. 1-D & 3-D coupled simulation was used to study intake and exhaust manifold dynamics with the goal of reducing load in-balance between cylinders. Selective catalytic reduction with on-board reductant generation to reduce NOx emissions was also engine tested. An effective mean to successfully deploy ARES technologies into the energy markets is to deploy demonstration projects in the field. In 2010, NETL and Caterpillar agreed to include a new “opportunity fuel” deliverable and two field demonstrations in the ARES program. An Organic Rankine Cycle system was designed with production intent incorporating lessons learned from the Phase II demonstration. Unfortunately, business conditions caused Caterpillar to cancel this demonstration in 2011. Nonetheless, Caterpillar partnered with a local dealer to deploy an ARES class engine using syngas from a biomass gasifier as the DE-FC26-01CH11079 primary combustion fuel in Gleason, TN. Upon the successful start-up and commissioning of the demonstration unit, ownership of the system was transferred to the dealer. In order to further our understanding of syngas combustion, a fundamental combustion study on syngas combustion at high pressure and lean condition was conducted through the collaboration with University of Southern California. A Methane program was also developed to rate engine performance for various compositions of syngas using empirical data obtained at CSU. While much work remains in terms of extending and integrating these developments into commercial products, it is evident that engine manufacturers on our own or through private consortium efforts could not have overcome the financial hurdles to drive these improvements into reciprocating engine and system capabilities, helping maintain the natural gas reciprocating engine power generation technology as a strong option for electric power markets, both in the United States and worldwide.

20 FOSSIL-FUELED POWER PLANTS↗

NASA NTRS2002

Space Shuttle Main Engine (SSME) Options for the Future Shuttle

The main engines for the Future Shuttle will focus on improved safety and operability. Performance enhancements may also be required for vehicle safety purposes to achieve more desirable abort scenarios. This paper discusses the potential improvements that will be considered for implementation into the Future Shuttle. Integrated engine and vehicle health management systems will achieve additional system-level reliability improvements over those currently in development. Advanced instrumentation for detecting leaks, analyzing component wear and degradation, and providing sophisticated operational data will be used for reliable engine control and scheduling maintenance operations. A new nozzle and main combustion chamber (MCC) will reduce failure probability by 50% and allow for higher thrust capability without requiring the entire engine to be redesigned. Turbopump improvements may range from minor component improvements to using 3rd-generation pumps built on the advanced concepts demonstrated by the Integrated Powerhead Development (IPD) program and the Space Launch Initiative (SLI) prototype engines.The main engines for the Future Shuttle will focus on improved safety and operability. Performance enhancements may also be required for vehicle safety purposes to achieve more desirable abort scenarios. This paper discusses the potential improvements that will be considered for implementation into the Future Shuttle. Integrated engine and vehicle health management systems will achieve additional system-level reliability improvements over those currently in development. Advanced instrumentation for detecting leaks, analyzing component wear and degradation, and providing sophisticated operational data will be used for reliable engine control and scheduling maintenance operations. A new nozzle and main combustion chamber (MCC) will reduce failure probability by 50% and allow for higher thrust capability without requiring the entire engine to be redesigned. Turbopump improvements may range from minor component improvements to using 3rd-generation pumps built on the advanced concepts demonstrated by the Integrated Powerhead Development (IPD) program and the Space Launch Initiative (SLI) prototype engines.

Jue, Fred↗

NASA NTRS2000

NPSS on NASA's IPG: Using CORBA and Globus to Coordinate Multidisciplinary Aeroscience Applications

Within NASA's High Performance Computing and Communication (HPCC) program, the NASA Glenn Research Center is developing an environment for the analysis/design of aircraft engines called the Numerical Propulsion System Simulation (NPSS). The vision for NPSS is to create a "numerical test cell" enabling full engine simulations overnight on cost-effective computing platforms. To this end, NPSS integrates multiple disciplines such as aerodynamics, structures, and heat transfer and supports "numerical zooming" between O-dimensional to 1-, 2-, and 3-dimensional component engine codes. In order to facilitate the timely and cost-effective capture of complex physical processes, NPSS uses object-oriented technologies such as C++ objects to encapsulate individual engine components and CORBA ORBs for object communication and deployment across heterogeneous computing platforms. Recently, the HPCC program has initiated a concept called the Information Power Grid (IPG), a virtual computing environment that integrates computers and other resources at different sites. IPG implements a range of Grid services such as resource discovery, scheduling, security, instrumentation, and data access, many of which are provided by the Globus toolkit. IPG facilities have the potential to benefit NPSS considerably. For example, NPSS should in principle be able to use Grid services to discover dynamically and then co-schedule the resources required for a particular engine simulation, rather than relying on manual placement of ORBs as at present. Grid services can also be used to initiate simulation components on parallel computers (MPPs) and to address inter-site security issues that currently hinder the coupling of components across multiple sites. These considerations led NASA Glenn and Globus project personnel to formulate a collaborative project designed to evaluate whether and how benefits such as those just listed can be achieved in practice. This project involves firstly development of the basic techniques required to achieve co-existence of commodity object technologies and Grid technologies; and secondly the evaluation of these techniques in the context of NPSS-oriented challenge problems. The work on basic techniques seeks to understand how "commodity" technologies (CORBA, DCOM, Excel, etc.) can be used in concert with specialized "Grid" technologies (for security, MPP scheduling, etc.). In principle, this coordinated use should be straightforward because of the Globus and IPG philosophy of providing low-level Grid mechanisms that can be used to implement a wide variety of application-level programming models. (Globus technologies have previously been used to implement Grid-enabled message-passing libraries, collaborative environments, and parameter study tools, among others.) Results obtained to date are encouraging: we have successfully demonstrated a CORBA to Globus resource manager gateway that allows the use of CORBA RPCs to control submission and execution of programs on workstations and MPPs; a gateway from the CORBA Trader service to the Grid information service; and a preliminary integration of CORBA and Grid security mechanisms. The two challenge problems that we consider are the following: 1) Desktop-controlled parameter study. Here, an Excel spreadsheet is used to define and control a CFD parameter study, via a CORBA interface to a high throughput broker that runs individual cases on different IPG resources. 2) Aviation safety. Here, about 100 near real time jobs running NPSS need to be submitted, run and data returned in near real time. Evaluation will address such issues as time to port, execution time, potential scalability of simulation, and reliability of resources. The full paper will present the following information: 1. A detailed analysis of the requirements that NPSS applications place on IPG. 2. A description of the techniques used to meet these requirements via the coordinated use of CORBA and Globus. 3. A description of results obtained to date in the first two challenge problems.

Lopez, Isaac↗

NASA NTRS2016

Tool for the Integrated Dynamic Numerical Propulsion System Simulation (NPSS)/Turbine Engine Closed-Loop Transient Analysis (TTECTrA) User's Guide

The Tool for Turbine Engine Closed-Loop Transient Analysis (TTECTrA ver2) is a control design tool thatenables preliminary estimation of transient performance for models without requiring a full nonlinear controller to bedesigned. The program is compatible with subsonic engine models implemented in the MATLAB/Simulink (TheMathworks, Inc.) environment and Numerical Propulsion System Simulation (NPSS) framework. At a specified flightcondition, TTECTrA will design a closed-loop controller meeting user-defined requirements in a semi or fully automatedfashion. Multiple specifications may be provided, in which case TTECTrA will design one controller for each, producing acollection of controllers in a single run. Each resulting controller contains a setpoint map, a schedule of setpointcontroller gains, and limiters; all contributing to transient characteristics. The goal of the program is to providesteady-state engine designers with more immediate feedback on the transient engine performance earlier in the design cycle.

Transient↗

NASA NTRS1978

Quiet Clean Short-haul Experimental Engine (QCSEE) composite fan frame design report

An advanced composite frame which is flight-weight and integrates the functions of several structures was developed for the over the wing (OTW) engine and for the under the wing (UTW) engine. The composite material system selected as the basic material for the frame is Type AS graphite fiber in a Hercules 3501 epoxy resin matrix. The frame was analyzed using a finite element digital computer program. This program was used in an iterative fashion to arrive at practical thicknesses and ply orientations to achieve a final design that met all strength and stiffness requirements for critical conditions. Using this information, the detail design of each of the individual parts of the frame was completed and released. On the basis of these designs, the required tooling was designed to fabricate the various component parts of the frame. To verify the structural integrity of the critical joint areas, a full-scale test was conducted on the frame before engine testing. The testing of the frame established critical spring constants and subjected the frame to three critical load cases. The successful static load test was followed by 153 and 58 hours respectively of successful running on the UTW and OTW engines.

Mitchell, S. C.↗

NASA NTRSDate not supplied

Structural Dynamics Observations in Space Launch System Green Run Hot Fire Testing

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. Two actuators are used to move each engine in two planes perpendicular to one another (i.e., pitch and yaw). The TVC system design leverages hardware from the Space Shuttle program as well as new hardware designed specifically for the Core Stage. The Green Run Hot Fire (GRHF) of the SLS Core Stage provided a flight-like ground test environment for verification of integrated vehicle TVC performance. A TVC model coupled to a vehicle structural dynamic model has been developed previously and incrementally validated in subsystem tests and simulations. Still, some aspects of TVC performance in GRHF were not anticipated. The ensuing investigation demonstrated the need for well-instrumented test environments, various levels of modeling fidelity, test-representative structural models, and caution in reuse of legacy components. This paper is the sixth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. It introduces the salient structural dynamic phenomena uncovered in ambient and hot fire testing. During the Green Run test campaign, a comparison of ambient and hot fire step responses showed a significant change in apparent damping due to the presence of friction, challenging long standing assumptions that friction could be neglected. Additionally, the characteristic response of the engine and thrust structure during GRHF proved to be more complex than anticipated, as evidenced by the available actuator, thrust structure, and engine measurements. While the string-potentiometer based test instrumentation was intended to allow for reconstruction of the engine angles along the two control axes, the geometric placement, location uncertainty, and responses in overlapping frequency spectra revealed additional phenomena requiring further analysis and post-processing. The observations from both modal and frequency response testing during the Green Run ambient and hot fire configurations led to Engine and Core Stage FEM (finite element model) updates. When evidence of unexpected engine motion was found in engine section accelerometer data, the authors pursued additional structural analysis leading to FEM updates associated with the TVC gimbal and thrust structure. Through collaboration between structures, TVC, and flight control disciplines, the test-informed models and root-cause analysis led to confident flight rationale for the first flight of the SLS launch vehicle.

Richard K. Moore↗

NASA NTRSDate not supplied

Structural Dynamics Observations in Space Launch System Green Run Hot Fire Testing

Richard Moore↗

NASA NTRS2015

Implementing NASA's Capability-Driven Approach: Insight into NASA's Processes for Maturing Exploration Systems

NASA is engaged in transforming human spaceflight. The Agency is shifting from an exploration-based program with human activities focused on low Earth orbit (LEO) and targeted robotic missions in deep space to a more sustainable and integrated pioneering approach. Through pioneering, NASA seeks to address national goals to develop the capacity for people to work, learn, operate, live, and thrive safely beyond the Earth for extended periods of time. However, pioneering space involves more than the daunting technical challenges of transportation, maintaining health, and enabling crew productivity for long durations in remote, hostile, and alien environments. This shift also requires a change in operating processes for NASA. The Agency can no longer afford to engineer systems for specific missions and destinations and instead must focus on common capabilities that enable a range of destinations and missions. NASA has codified a capability driven approach, which provides flexible guidance for the development and maturation of common capabilities necessary for human pioneers beyond LEO. This approach has been included in NASA policy and is captured in the Agency's strategic goals. It is currently being implemented across NASA's centers and programs. Throughout 2014, NASA engaged in an Agency-wide process to define and refine exploration-related capabilities and associated gaps, focusing only on those that are critical for human exploration beyond LEO. NASA identified 12 common capabilities ranging from Environmental Control and Life Support Systems to Robotics, and established Agency-wide teams or working groups comprised of subject matter experts that are responsible for the maturation of these exploration capabilities. These teams, called the System Maturation Teams (SMTs) help formulate, guide and resolve performance gaps associated with the identified exploration capabilities. The SMTs are defining performance parameters and goals for each of the 12 capabilities, developing maturation plans and roadmaps for the identified performance gaps, specifying the interfaces between the various capabilities, and ensuring that the capabilities mature and integrate to enable future pioneering missions. By managing system development through the SMTs instead of traditional NASA programs and projects, the Agency is shifting from mission-driven development to a more flexible, capability-driven development. The process NASA uses to establish, integrate, prioritize, and manage the SMTs and associated capabilities is iterative. NASA relies on the Human Exploration and Operation Mission Directorate's SMT Integration Team within Advanced Exploration Systems to coordinate and facilitate the SMT process. The SMT Integration team conducts regular reviews and coordination meetings among the SMTs and has developed a number of tools to help the Agency implement capability driven processes. The SMT Integration team is uniquely positioned to help the Agency coordinate the SMTs and other processes that are making the capability-driven approach a reality. This paper will introduce the SMTs and the 12 key capabilities they represent. The role of the SMTs will be discussed with respect to Agency-wide processes to shift from mission-focused exploration to a capability-driven pioneering approach. Specific examples will be given to highlight systems development and testing within the SMTs. These examples will also show how NASA is using current investments in the International Space Station and future investments to develop and demonstrate capabilities. The paper will conclude by describing next steps and a process for soliciting feedback from the space exploration community to refine NASA's process for developing common exploration capabilities.

Williams-Byrd, Julie↗

NASA NTRS2001

Non-Deterministic, Non-Traditional Methods (NDNTM)

The review effort identified research opportunities related to the use of nondeterministic, nontraditional methods to support aerospace design. The scope of the study was restricted to structural design rather than other areas such as control system design. Thus, the observations and conclusions are limited by that scope. The review identified a number of key results. The results include the potential for NASA/AF collaboration in the area of a design environment for advanced space access vehicles. The following key points set the context and delineate the key results. The Principal Investigator's (PI's) context for this study derived from participation as a Panel Member in the Air Force Scientific Advisory Board (AF/SAB) Summer Study Panel on 'Whither Hypersonics?' A key message from the Summer Study effort was a perceived need for a national program for a space access vehicle whose operating characteristics of cost, availability, deployability, and reliability most closely match the NASA 3rd Generation Reusable Launch Vehicle (RLV). The Panel urged the AF to make a significant joint commitment to such a program just as soon as the AF defined specific requirements for space access consistent with the AF Aerospace Vision 2020. The review brought home a concurrent need for a national vehicle design environment. Engineering design system technology is at a time point from which a revolution as significant as that brought about by the finite element method is possible, this one focusing on information integration on a scale that far surpasses current design environments. The study therefore fully supported the concept, if not some of the details of the Intelligent Synthesis Environment (ISE). It became abundantly clear during this study that the government (AF, NASA) and industry are not moving in the same direction in this regard, in fact each is moving in its own direction. NASA/ISE is not yet in an effective leadership position in this regard. However, NASA does have complementary software interoperability efforts that should be a part of any major ISE program. Software standards that assure interoperability of data systems and modeling representations are enabling for the proposed research advocated herein and should be a major element in the ISE initiative. The international standard for data interchange is known by the acronym 'STEP.' The NASA participation and lead for that effort is at the Goddard Space Flight Center. NASA/GRC is leading an effort to define CAD geometry standards through the Object Management Group (OMG). To enable the design environment so necessary to the above national vision for a unique space vehicle will require an integrating software environment with interoperability standards that allow the development and widespread deployment of tools and toolsets, rather than traditional "shrink-wrapped" software used by engineers today.

Cruse, Thomas A.↗

NASA NTRS1997

STARS: An Integrated, Multidisciplinary, Finite-Element, Structural, Fluids, Aeroelastic, and Aeroservoelastic Analysis Computer Program

A multidisciplinary, finite element-based, highly graphics-oriented, linear and nonlinear analysis capability that includes such disciplines as structures, heat transfer, linear aerodynamics, computational fluid dynamics, and controls engineering has been achieved by integrating several new modules in the original STARS (STructural Analysis RoutineS) computer program. Each individual analysis module is general-purpose in nature and is effectively integrated to yield aeroelastic and aeroservoelastic solutions of complex engineering problems. Examples of advanced NASA Dryden Flight Research Center projects analyzed by the code in recent years include the X-29A, F-18 High Alpha Research Vehicle/Thrust Vectoring Control System, B-52/Pegasus Generic Hypersonics, National AeroSpace Plane (NASP), SR-71/Hypersonic Launch Vehicle, and High Speed Civil Transport (HSCT) projects. Extensive graphics capabilities exist for convenient model development and postprocessing of analysis results. The program is written in modular form in standard FORTRAN language to run on a variety of computers, such as the IBM RISC/6000, SGI, DEC, Cray, and personal computer; associated graphics codes use OpenGL and IBM/graPHIGS language for color depiction. This program is available from COSMIC, the NASA agency for distribution of computer programs.

Gupta, K. K.↗

NASA NTRS1988

Robot Design

Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

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