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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 NTRS1992

Automated assembly of a tetrahedral truss structure using machine vision

The Automated Structures Assembly Laboratory is a unique facility at NASA Langley Research Center used to investigate the robotic assembly of truss structures. Two special-purpose end-effectors have been used to assemble 102 truss members and 12 panels into an 8-meter diameter structure. One end-effector is dedicated to truss member insertion, while a second end-effector is used to install panels. Until recently, the robot motions required to construct the structure were developed iteratively using the facility hardware. Recent work at Langley has resulted in a compact machine vision system capable of providing position information relative to targets on the structure. Use of the vision system to guide the robot from an approach point 10 to 18 inches from the structure, offsetting model inaccuracies, permits robot motion based on calculated points as a first step toward use of preplanned paths from an automated path planner. This paper presents recent work at Langley highlighting the application of the machine vision system during truss member insertion.

Doggett, William R.↗
NASA NTRS1980

EVA manipulation and assembly of space structure columns

Assembly techniques and hardware configurations used in assembly of the basic tetrahedral cell by A7LB pressure-suited subjects in a neutral bouyancy simulator were studied. Eleven subjects participated in assembly procedures which investigated two types of structural members and two configurations of attachment hardware. The assembly was accomplished through extra-vehicular activity (EVA) only, EVA with simulated manned maneuvering unit (MMU), and EVA with simulated MMU and simulated remote manipulator system (RMS). Assembly times as low as 10.20 minutes per tetrahedron were achieved. Task element data, as well as assembly procedures, are included.

Loughead, T. E.↗
NASA NTRS1986

A space station Structures and Assembly Verification Experiment, SAVE

The Space Station structure has been baselined to be a 5 M (16.4 ft) erectable truss. This structure will provide the overall framework to attach laboratory modules and other systems, subsystems and utilities. The assembly of this structure represents a formidable EVA challenge. To validate this capability the Space Station Structures/Dynamics Technical Integration Panel (TIP) met to develop the necessary data for an integrated STS structures flight experiment. As a result of this meeting, the Langley Research Center initiated a joint Langley/Boeing Aerospace Company study which supported the structures/dynamics TIP in developing the preliminary definition and design of a 5 M erectable space station truss and the resources required for a proposed flight experiment. The purpose of the study was to: (1) devise methods of truss assembly by astronauts; (2) define a specific test matrix for dynamic characterization; (3) identify instrumentation and data system requirements; (4) determine the power, propulsion and control requirements for the truss on-orbit for 3 years; (5) study the packaging of the experiment in the orbiter cargo bay; (6) prepare a preliminary cost estimate and schedule for the experiment; and (7) provide a list of potential follow-on experiments using the structure as a free flyer. The results of this three month study are presented.

Russell, R. A.↗
NASA NTRSDate not supplied

Automated Multi-Robot Assembly of Compliance Optimized Structures

Autonomous assembly of large structures is one of the fundamental challenges on the way towards NASA’s objectives of deep space exploration. In this work, we propose an algorithmic framework to optimize the assembly process of a prescribed target structure by constraining the assembly effort as well as maintaining structural soundness throughout the process. This framework uses structural topology optimization with assembly effort metrics to generate checkpoints for robotic traversal algorithms. Assembly effort is quantified by the Wasserstein metric between consecutive structural configurations during the assembly process. The robotic assembly task is split into two subtasks, where we first optimize for a set of key frames, then perform reconfiguration between consecutive frames. Key frames are optimized by adopting topology optimization techniques to reduce assembly effort and maintain structural integrity during the assembly process, while reconfiguration between key frames is performed using a path planning algorithm with a minimum weight maximum matching approach on a bipartite graph. We employ a Crystalline robot model in which each structural element is capable of locomotion through the structure and locking into place with neighboring elements after reaching its destination. An example assembly of a two-dimensional cantilever beam under volume constraints and structural compliance considerations is presented to demonstrate the approach. Finally, we conclude by discussing possible future extensions to this work, including adoption of better metrics, extension to three-dimensional large-scale problems, and exacting finer control of structural integrity during the path-planning phase.

robotic assembly↗
NASA NTRS1991

Hybrid CMS methods with model reduction for assembly of structures

Future on-orbit structures will be designed and built in several stages, each with specific control requirements. Therefore there must be a methodology which can predict the dynamic characteristics of the assembled structure, based on the dynamic characteristics of the subassemblies and their interfaces. The methodology developed by CSC to address this issue is Hybrid Component Mode Synthesis (HCMS). HCMS distinguishes itself from standard component mode synthesis algorithms in the following features: (1) it does not require the subcomponents to have displacement compatible models, which makes it ideal for analyzing the deployment of heterogeneous flexible multibody systems, (2) it incorporates a second-level model reduction scheme at the interface, which makes it much faster than other algorithms and therefore suitable for control purposes, and (3) it does answer specific questions such as 'how does the global fundamental frequency vary if I change the physical parameters of substructure k by a specified amount?'. Because it is based on an energy principle rather than displacement compatibility, this methodology can also help the designer to define an assembly process. Current and future efforts are devoted to applying the HCMS method to design and analyze docking and berthing procedures in orbital construction.

Farhat, Charbel↗
NASA NTRS1998

Composite Bus Structure for the SMEX/WIRE Satellite

In an effort to reduce the weight and optimize the structural design of the Small Explorer (SMEX) Wide-Field Infrared Explorer (WIRE) spacecraft, it has become desirable to change the material and construction from mechanically fastened aluminum structure to a fully bonded fiber-reinforced composite (FRC) structure. GSFC has developed the WIRE spacecraft structural bus design concept, including the instrument and launch vehicle requirements. The WIRE Satellite is the fifth of a series of SMEX satellites to be launched once per year. GSFC has chosen Composite Optics Inc. (COI) as the prime contractor for the development and procurement of the WIRE composite structure. The detailed design of the fully bonded FRC structure is based on COI's Short Notice Accelerated Production SATellite ("SNAPSAT") approach. SNAPSAT is a state of the art design and manufacturing technology for advanced composite materials which utilizes flat-stock detail parts bonded together to produce a final structural assembly. The structural design approach adopted for the WIRE structure provides a very viable alternative to both traditional aluminum construction as well as high tech. molded type composite structures. This approach to composite structure design is much less costly than molded or honeycomb sandwich type composite construction, but may cost slightly more than conventional aluminum construction on the subsystem level. However on the overall program level the weight saving achieved is very cost effective, since the primary objective is to allocate more mass for science payloads.

Rosanova, Giulio G.↗
NASA NTRS2020

Assemblers: A Modular, Reconfigurable Manipulator for Autonomous in-Space Assembly

This paper presents a modular, reconfigurable robotic manipulator for autonomous in-space assembly. On-orbit and planetary surface assembly is a challenging domain that encompasses various technological thrusts to support human exploration, science, and technology demonstration missions. The system architecture presented here addresses the need for robotic assembly of structures in locations that prohibit constant human oversight and/or teleoperation. This system is capable of scheduling, reconfiguring itself, and executing structural assembly tasks with the ability to assess construction and correct errors during the assembly as needed. An example concept of operations is presented. Details of the mechanical and electrical design of the robotic modules as well as the dynamic modeling approach, control algorithms, and sensing and perception systems are also provided.

robotics↗
DOE OSTI2022

Multi-device cooling structure having assembly alignment features

A single device having both thermal and alignment features is provided to mechanically align and more efficiently cool multiple heat generating components. The device includes one or more thermal structures and assembly alignment features, in which the one or more thermal structures make thermal contact with a plurality of heat generating components. The assembly alignment features control the positions of the heat generating components during assembly of the heat generating components onto a common substrate.

42 ENGINEERING↗
DOE OSTI2020

Converting 2D Nanofiber Membranes to 3D Hierarchical Assemblies with Structural and Compositional Gradients Regulates Cell Behavior

Abstract New methods are described for converting 2D electrospun nanofiber membranes to 3D hierarchical assemblies with structural and compositional gradients. Pore‐size gradients are generated by tuning the expansion of 2D membranes in different layers with incorporation of various amounts of a surfactant during the gas‐foaming process. The gradient in fiber organizations is formed by expanding 2D nanofiber membranes composed of multiple regions collected by varying rotating speeds of mandrel. A compositional gradient on 3D assemblies consisting of radially aligned nanofibers is prepared by dripping, diffusion, and crosslinking. Bone mesenchymal stem cells (BMSCs) on the 3D nanofiber assemblies with smaller pore size show significantly higher expression of hypoxia‐related markers and enhanced chondrogenic differentiation compared to BMSCs cultured on the assemblies with larger pore size. The basic fibroblast growth factor gradient can accelerate fibroblast migration from the surrounding area to the center in an in vitro wound healing model. Taken together, 3D nanofiber assemblies with gradients in pore sizes, fiber organizations, and contents of signaling molecules can be used to engineer tissue constructs for tissue repair and build biomimetic disease models for studying disease biology and screening drugs, in particular, for interface tissue engineering and modeling.

Chen, Shixuan↗
NASA NTRS2008

Alignment Pins for Assembling and Disassembling Structures

Simple, easy-to-use, highly effective tooling has been devised for maintaining alignment of bolt holes in mating structures during assembly and disassembly of the structures. The tooling was originally used during removal of a body flap from the space shuttle Atlantis, in which misalignments during removal of the last few bolts could cause the bolts to bind in their holes. By suitably modifying the dimensions of the tooling components, the basic design of the tooling can readily be adapted to other structures that must be maintained in alignment. The tooling includes tapered, internally threaded alignment pins designed to fit in the bolt holes in one of the mating structures, plus a draw bolt and a cup that are used to install or remove each alignment pin. In preparation for disassembly of two mating structures, external supports are provided to prevent unintended movement of the structures. During disassembly of the structures, as each bolt that joins the structures is removed, an alignment pin is installed in its place. Once all the bolts have been removed and replaced with pins, the pins maintain alignment as the structures are gently pushed or pulled apart on the supports. In assembling the two structures, one reverses the procedure described above: pins are installed in the bolt holes, the structures are pulled or pushed together on the supports, then the pins are removed and replaced with bolts. The figure depicts the tooling and its use. To install an alignment pin in a bolt hole in a structural panel, the tapered end of the pin is inserted from one side of the panel, the cup is placed over the pin on the opposite side of the panel, the draw bolt is inserted through the cup and threaded into the pin, the draw bolt is tightened to pull the pin until the pin is seated firmly in the hole, then the draw bolt and cup are removed, leaving the pin in place. To remove an alignment pin, the cup is placed over the pin on the first-mentioned side of the panel, the draw bolt is inserted through the cup and threaded into the pin, then the draw bolt is tightened to pull the pin out of the hole.

Campbell, Oliver C.↗
NASA NTRSDate not supplied

Modeling Effort of TriTruss Modular Structure for In-Space Assembled Telescope Foundational Structure

The TriTruss is a novel and innovative structural module developed by researchers at the NASA Langley Research Center to construct modular structures which can be assembled on-orbit for future persistent missions, including in-space assembled telescopes and platforms for science and communications. The TriTruss offers unique modular structural features including compact packaging for launch, the possibility of staged packaging, simple robotic deployment and assembly, and design versatility for specific space mission applications. This paper presents the modeling and analysis procedure for the TriTruss modular structure and the predicted frequency response of an In-Space Assembled Telescope’s (iSAT) primary reflector.

Structural Modeling↗
NASA NTRS1975

Oxygen tank assemblies

Structural design considerations for O2 tank shells and suspension systems of ground based storage and mobile tank systems are outlined. Safety factors, chemical compatibility, liquid slosh strength, and cryogenic temperature properties are summarized. Finally, costs, quality control measures, and long life characteristics are examined.

Source record↗
NASA NTRS1978

USAF antenna on-orbit assembly

Structural concepts, upper stage evaluations, and orbiter packing are discussed for spacecraft having 300 ft to 1000 ft diameter sensors. Techniques are examined for stowing, deploying, and transferring to high earth orbit expandable hex, expanding tetrahedral ring, and fold out truss configurations. Upper stage final candidate configurations and their influence on antenna design selection are discussed.

Heartquist, P. E.↗