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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1979

Recovery of skeletal muscle after 3 mo of hindlimb immobilization in rats

During immobilization, skeletal muscle undergoes decreases in size and strength with concomitant atrophic and degenerative changes in slow-twitch muscle fibers. Currently there are no objective data in slow-twitch muscle demonstrating recovery of biochemical or physiological indices following termination of immobilization. The purpose of this study was to determine whether the soleus, a slow-twitch muscle, could recover normal biochemical or physiological levels following termination of immobilization. Adenosine triphosphate, glycogen, and protein concentration (mg/g wet wt) all significantly decreased following 90 days of hindlimb immobilization, but these three values returned to control levels by the 60th recovery day. Similarly, soleus muscle wet weight and protein content (mg protein/muscle) returned to control levels by the 14th recovery day. In contrast, maximal isometric tension did not return to normal until the 120th day. These results indicate that following muscular atrophy, which was achieved through 90 days of hindlimb immobilization, several biochemical and physiological values in skeletal muscle are recovered at various times after the end of immobilization.

Booth, F. W.↗
NASA NTRS1995

Effects of Yarn Crimping on Braided Composite Design Allowables

Braided composite materials are currently being evaluated for wing skin stiffeners on commercial aircraft. These carbon-fiber/epoxy materials allow for low-cost manufacturing while maintaining high strength-to-weight and stiffness-to-weight ratios. The proposed braid architecture consists of axial carbon fiber yarns and braider carbon fiber yarns making 60 deg to 70 deg angles with respect to the axial yarns. These 2-D triaxial braids are produced as long, continuous tubes, which are flattened, cut, and stacked to produce the desired part thickness and shape. When infiltrated with epoxy resin and cured under a compaction pressure, the fiber yarns become crimped, allowing for higher fiber packing. Although high fiber packing is desirable, yarn crimping (especially in the axial fiberyarns) is undesirable. Significant axial yarn crimp angles (greater than 10 deg) have been measured in braided composites. Comparable levels of crimping have been found to produce significant compressive strength reductions in laminated composites consisting of planar fiber sheets. Thus, axial yarn crimping is suspected of producing significant reductions in compressive strength allowables for braided composites. The objective of this research is to quantify the reduction in compressive strength as a function of axial yarn crimp severity. Since crimp severity can be reduced by lowering the compaction pressure during curing, the resulting compressive strengths may be used to determine optimum processing conditions. A 'cure-on-the-loom' manufacturing process was developed to produce braided composites with controlled levels of crimping. This method allowed for controlled levels of tension to be placed on the axial yarns and maintained during the curing process. With increasing tension, the crimp severity in the axial yarns was reduced. Thus, varying crimp severities were produced ranging from conventional levels (greater than 10 deg) to virtually straight axial yarns. Test results indicate that a 30% increase in compressive strength is obtainable by eliminating axial yarn crimping. Further compression testing is underway to quantify the relationship between crimp severity and compressive strength. Additional testing is planned to investigate the effect of crimping on the open-hole compressive strength, often considered a more significant design allowable.

Adams, Dan↗
NASA NTRS1978

Zero gravity and cardiovascular homeostasis. The relationship between endogenous hyperprolactinemia and plasma aldosterone

Prolactin, thyrotropin and aldosterone were measured by radioimmunoassay and plasma renin activity by the radioimmunoassay of angiotensin I in normal women before and after the intravenous injection of 200 micrograms of thyrotropin releasing hormone. Prolactin increased at 15 minutes following thyrotropin releasing hormone. Plasma renin activity was not different from control levels during the first hour following the administration of thyrotropin releasing hormone, nor did the plasma aldosterone concentration differ significantly from the control levels during this period. However, with upright posture, an increase in aldosterone and in plasma renin activity was noted, demonstrating a normal capacity to secrete aldosterone. Similarly, no change in aldosterone was seen in 9 patients with primary hypothyroidism given thyrotropin releasing hormone, despite the fact that the increase in prolactin was greater than normal. These data demonstrate that acutely or chronically elevated serum prolactin levels do not result in increased plasma aldosterone levels in humans.

Haber, E.↗
NASA NTRS1992

A computer architecture for intelligent machines

The theory of intelligent machines proposes a hierarchical organization for the functions of an autonomous robot based on the principle of increasing precision with decreasing intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed. The authors present a computer architecture that implements the lower two levels of the intelligent machine. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Execution-level controllers for motion and vision systems are briefly addressed, as well as the Petri net transducer software used to implement coordination-level functions. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.

Lefebvre, D. R.↗
NASA NTRS1976

Effect of hypovolemia, infusion, and oral rehydration on gradual onset +Gz acceleration tolerance

The purpose of this study was to determine the effect of blood withdrawal, blood infusion, and oral fluid intake on +Gz tolerance at an acceleration rate of 0.5 G/min. Six healthy men aged 21-27 yr were centrifuged after the withdrawal of 400 ml of blood (hypovolemia) from each man; they were centrifuged again following blood infusion (Phase I). Three weeks later the men were accelerated after similar hypovolemia and again after consuming 800 ml of an isotonic NaCl drink (Phase II). Phase I hypovolemia resulted in a reduction in tolerance in all subjects from a mean control level of 6.42 + or - 0.35 min to 5.45 + or - 0.17 min (-15.1%, p less than 0.05). Both infusion and drinking returned tolerances to control levels. During acceleration there were significant (p less than 0.05) increases in plasma vasopressin levels to 35 pg/ml; these were not influenced appreciably by infusion or drinking. In all acceleration runs there was an obligatory shift (loss) of plasma volume and electrolytes, especially potassium, regardless of the experimental treatments. Oral rehydration is shown to be as effective as blood replacement in restoring +Gz acceleration tolerance decrements due to hypovolemia.

Greenleaf, J. E.↗
NASA NTRS1992

Gain, Level, And Exposure Control For A Television Camera

Automatic-level-control/automatic-gain-control (ALC/AGC) system for charge-coupled-device (CCD) color television camera prevents over-loading in bright scenes using technique for measuring brightness of scene from red, green, and blue output signals and processing these into adjustments of video amplifiers and iris on camera lens. System faster, does not distort video brightness signals, and built with smaller components.

Major, Geoffrey J.↗
NASA NTRS1988

Comparative morphometry of fibers and capillaries in soleus following weightlessness (SL-3) and suspension

This work is a continuation of efforts to assess responses of rat skeletal muscle to weightlessness (W) and earthside laboratory experiments with unloading of hind limbs. The soleus is a slow-twitch, load-bearing (antigravity) muscle. Both exposure to W and to the hypokinesia/hypodynamia of whole-body suspension (WBS) results in soleus atrophy. Cross-sectional areas of both slow- and fast-twitch fibers decrease during 7 days of W or 7 or 14 days of WBS. Density and area changes tended to reverse to control levels during 7 days of recovery (R) following WBS. Capillary density was increased with 7 days of W or 7 or 14 days of WBS. During 7 days of R the capillary density returned toward control levels. In summary, the reduction in fiber cross-sectional areas and the increase in fiber and capillary densities support the hypothesis that in both W and WBS there is a loss in soleus muscle cell mass and not in fiber numbers.

Musacchia, X. J.↗
NASA NTRS1977

Insulin and glucose responses during bed rest with isotonic and isometric exercise

The effects of daily intensive isotonic (68% maximum oxygen uptake) and isometric (21% maximum extension force) leg exercise on plasma insulin and glucose responses to an oral glucose tolerance test (OGTT) during 14-day bed-rest (BR) periods were investigated in seven young healthy men. The OGTT was given during ambulatory control and on day 10 of the no-exercise, isotonic, and isometric exercise BR periods during the 15-wk study. The subjects were placed on a controlled diet starting 10 days before each BR period. During BR, basal plasma glucose concentration remained unchanged with no exercise, but increased (P less 0.05) to 87-89 mg/100 ml with both exercise regimens on day 2, and then fell slightly below control levels on day 13. The fall in glucose content during BR was independent of the exercise regimen and was an adjustment for the loss of plasma volume. The intensity of the responses of insulin and glucose to the OGTT was inversely proportional to the total daily energy expenditure during BR. It was estimated that at least 1020 kcal/day must be provided by supplemental exercise to restore the hyperinsulinemia to control levels.

Dolkas, C. B.↗
NASA NTRS1988

Motion planning for a free-flying robot

An investigation is presented of motion planning combining low level control and obstacle avoidance for a free flying robot. This free flying robot is an outgrowth of the concept of an assistant for astronauts on the U.S. Space Station and Shuttle. A motion planner based on the Khatib potential field approach is described. Because of the uncluttered environment in space, it generates a path from representation of known obstacles rather than from a representation of free space. A global planner supplies the low level controller with interim points between the current position and the desired goal position so that the vehicle does not become trapped by local minima, a phenomenon of the potential field approach. Discussion of the feasibility of this system for space applications is presented.

Kaiser, Donald Leo↗
NASA NTRS1988

New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.

Wen, John T.↗
NASA NTRS1987

Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

Wen, J. T.↗
NASA NTRS1994

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

Erickson, Jon D.↗
NASA NTRS2001

Facility Monitoring: A Qualitative Theory for Sensor Fusion

Data fusion and sensor management approaches have largely been implemented with centralized and hierarchical architectures. Numerical and statistical methods are the most common data fusion methods found in these systems. Given the proliferation and low cost of processing power, there is now an emphasis on designing distributed and decentralized systems. These systems use analytical/quantitative techniques or qualitative reasoning methods for date fusion.Based on other work by the author, a sensor may be treated as a highly autonomous (decentralized) unit. Each highly autonomous sensor (HAS) is capable of extracting qualitative behaviours from its data. For example, it detects spikes, disturbances, noise levels, off-limit excursions, step changes, drift, and other typical measured trends. In this context, this paper describes a distributed sensor fusion paradigm and theory where each sensor in the system is a HAS. Hence, given the reach qualitative information from each HAS, a paradigm and formal definitions are given so that sensors and processes can reason and make decisions at the qualitative level. This approach to sensor fusion makes it possible the implementation of intuitive (effective) methods to monitor, diagnose, and compensate processes/systems and their sensors. This paradigm facilitates a balanced distribution of intelligence (code and/or hardware) to the sensor level, the process/system level, and a higher controller level. The primary application of interest is in intelligent health management of rocket engine test stands.

Figueroa, Fernando↗
NASA NTRS2020

AMPR CAMP2Ex Calibrated and Quality-Controlled Dataset Level 2B, Revision B

Data were acquired by the Advanced Microwave Precipitation Radiometer (AMPR) during the Cloud, Aerosol and Monsoon Processes Philippines Experiment (CAMP2Ex) field campaign in August-October of 2019. These files include the Level 2B calibrated, corrected, and geo-referenced brightness temperature for the four AMPR-observed frequencies (10, 19, 37, 85 GHz). These data are archived in a self-describing, Climate and Forecasting (CF) 1.6-compliant Version 4 Network Common Data Format (netCDF4) format.Python software has been developed for reading, plotting, and providing some additional analysis capabilities. This software is available from: https://github.com/nasa/pyampr.The AMPR instrument is explained in more detail here: https://weather.msfc.nasa.gov/ampr/.These data have been determined to be viable for publishable scientific research, and alsoshould be useful for generating quicklooks or understanding what happened during a flight. Note: AMPRis not expected to provide useful data during significant aircraft maneuvers

Timothy Lang↗
NASA NTRS1988

A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

Wen, John T.↗
NASA NTRS1992

Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

Wen, John T.↗
NASA NTRS1981

A class of stable, robust feedback controllers for large space structures

A two-level control system design is considered for large space structures, which consists of a primary and a secondary controller. The secondary or damping enhancement controller is shown to be stable and robust, even when time-invariant nonlinearities are present in the actuators and/or sensors. The use of Annular Momentum Control Devices (AMCD's) is also considered for secondary control. The primary attitude controller using collocated torque actuators and attitude and rate sensors is stable and robust. The effect of actuator/sensor dynamics on the stability of the primary and secondary controllers is considered. The AMCD's used for secondary control actuation can also be used for the primary controller.

Joshi, S. M.↗