Search NASA⌕ Search

SEARCH · Search NASA

Results for “umbilical”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

The use of force feedback control for robotic mating of umbilical fuel lines

Control problems in developing force feedback control to use in remotely connecting, disconnecting, and reconnecting the umbilical fuel lines of the Space Shuttle Vehicle are discussed. A docking protocol is proposed, indicating the required role of force feedback. The use of active force feedback control is examined and performance requirements and experimental results are given. A single degree-of-freedom force feedback model is presented and the application of classical control compensation techniques to the force control loop to increase flexibility is considered. In addition, possible modifications to the controller and plans for future research are discussed.

Fullmer, R.↗
NASA NTRS1988

Three degree-of-freedom force feedback control for robotic mating of umbilical lines

The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

Fullmer, R. Rees↗
NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗
NASA NTRS1995

Shielded, Automated Umbilical Mechanism

Umbilical mechanism automatically connects and disconnects various fluid couplings and/or electrical contacts while shielding mating parts from debris. Reacts mating and demating loads internally, without additional supporting structures. All functions - extension of plug, mating, and movement of debris shields - actuated by single motor. If mechanism jams or fails at any point in sequence, override feature in drive train allows manual operation. Designed for service in outer space, where its shields protect against micrometeoroids, debris, ultraviolet radiation, and atomic oxygen. Used on Earth to connect or disconnect fluid or electrical utilities in harsh environments like those of nuclear powerplants or undersea construction sites, or in presence of radioactive, chemical, or biological hazards, for example.

Barron, Daniel R.↗
NASA NTRS1996

Umbilical mechanism assembly for the international space station

Mechanisms for engaging and disengaging electrical and fluid line connectors are required to be operated repeatedly in hazardous or remote locations on space station, nuclear reactors, toxic chemical and undersea environments. Such mechanisms may require shields to protect the mating faces of the connectors when connectors are not engaged and move these shields out of the way during connector engagement. It is desirable to provide a force-transmitting structure to react the force required to engage or disengage the connectors. It is also desirable that the mechanism for moving the connectors and shields is reliable, simple, and the structure as lightweight as possible. With these basic requirements, an Umbilical Mechanism Assembly (UMA) was originally designed for the Space Station Freedom and now being utilized for the International Space Station.

Mandvi, A. Ali↗
NASA NTRS2007

Overview of Umbilical Extravehicular Activity (EVA) Interfaces in Life Support Systems on Spacecraft Vehicles and Applications for the Crew Exploration Vehicle (CEV)

Extravehicular Activities (EVAs) for manned spacecraft vehicles have been performed for contingencies and nominal operations numerous times throughout history. This paper will investigate how previous U.S. manned spacecraft vehicles provided life support to crewmembers performing the EVA. Specifically defined are umbilical interfaces with respect to crewmember cooling, drinking water, air (or oxygen), humidity control, and carbon dioxide removal. As historical data is available, the need for planned versus contingency EVAs in previous vehicles as well as details for a nominal EVA day versus a contingency EVA day will be discussed. The hardware used to provide the cooling, drinking water, air (or oxygen), humidity control, and carbon dioxide removal, and the general functions of that hardware, will also be detailed, as information is available. The Crew Exploration Vehicle (CEV or Orion) EVA interfaces will be generically discussed to provide a glimpse of how similar they are to the EVA interfaces in previous vehicles. Conclusions on strategies that should be used for CEV based on previous spacecraft EVA interfaces will be made in the form of questions and recommendations.

Peterson, Laurie J.↗
NASA NTRS2008

Failure of the Trailing Umbilical System Disconnect Actuator on the International Space Station

In December of 2005, one of two trailing umbilical cables used on the International Space Station (ISS) Mobile Transporter (MT) was inadvertently severed by an internal cutter system designed to free a snagged cable or jammed reel while transporting hazardous payloads. The mechanism s intended means of actuation is electrical; however, troubleshooting revealed a mechanical actuation occurred. The investigation of the failed component revealed several lessons learned in developing hardware requirements, understanding and following the rationale behind the requirements throughout the design life cycle, understanding the impacts of gaps and tolerances in a mechanism, and the importance of identifying critical steps during assembly.

Gilmore, Adam↗
NASA NTRS2008

Failure of the Trailing Umbilical System Disconnect Actuator on the International Space Station

In December of 2005, one of two trailing umbilical cables used on the International Space Station (ISS) Mobile Transporter (MT) was inadvertently severed by an internal cutter system designed to free a snagged cable or jammed reel while transporting hazardous payloads. The mechanism s intended means of actuation is electrical; however, troubleshooting revealed a mechanical actuation occurred. The investigation of the failed component revealed several lessons learned in developing hardware requirements, understanding and following the rationale behind the requirements throughout the design life cycle, understanding the impacts of gaps and tolerances in a mechanism, and the importance of identifying critical steps during assembly

Gilmore, Adam↗
NASA NTRS2009

Shuttle Ground Support Equipment (GSE) T-0 Umbilical to Space Shuttle Program (SSP) Flight Elements Consultation

The NASA Engineering and Safety Center (NESC) was tasked with assessing the validity of an alternate opinion that surfaced during the investigation of recurrent failures at the Space Shuttle T-0 umbilical interface. The most visible problem occurred during the Space Transportation System (STS)-112 launch when pyrotechnics used to separate Solid Rocket Booster (SRB) Hold-Down Post (HDP) frangible nuts failed to fire. Subsequent investigations recommended several improvements to the Ground Support Equipment (GSE) and processing changes were implemented, including replacement of ground-half cables and connectors between flights, along with wiring modifications to make critical circuits quad-redundant across the interface. The alternate opinions maintained that insufficient data existed to exonerate the design, that additional data needed to be gathered under launch conditions, and that the interface should be further modified to ensure additional margin existed to preclude failure. The results of the assessment are contained in this report.

Wilson, Timmy R.↗
NASA NTRS2012

Hydrogen Vent Ground Umbilical Quick Disconnect - Flight Seal Advanced Development

This project is a team effort between NASA Engineering (NE) and Team QNA Engineering personnel to provide support for the Umbilical Systems Development project which is funded by Advanced Exploration Systems (AES) and 21st Century Launch Complex. Specifically, this project seeks to develop a new interface between the PPBE baselined Legacy SSP LH2 Vent Arm QD probe and SLS vent seal.

Girard, Doug↗
NASA NTRS2012

Verification and Validation Testing of the Bridle and Umbilical Device for Mars Science Laboratory

The Bridle Umbilical Device (BUD) subsystem is used during the Skycrane maneuver of the Mars Science Laboratory (MSL) during the final phases of the Entry Descent and Landing (EDL). During this phase the BUD subsystem will control the deployment of the MSL Rover from the Descent Stage. This paper covers the verification and validation testing of the subsystem. Testing included component through full system level testing. Testing ranged from simple bench top extraction tests to full system deploy drop test that included external disturbances such as the Rover mobility impulse. This paper will discuss the test that were performed, why they were performed and how these test results were used in the overall Verification and Validation of the MSL Skycrane phase.

Gallon, John↗
NASA NTRSDate not supplied

A Flexible Multibody Approach to Space Launch System Liftoff Pad Separation with Umbilical Disconnect

A flexible multibody dynamic framework is applied to the Space Launch System(SLS)liftoff Coupled Loads Analysis(CLA), enabling computational efficiencies and systematic inclusion of component nonlinearities. This work simulates the SLS liftoff transient pad separation event inclusive of umbilical disconnects and preload strain energy release (twang). For this system level nonlinear dynamic simulation, the flexible multibody framework provides a systematic approach for the addition of component specific algorithms to enforce the subject nonlinearities. As such, the complexities associated with the nonlinear CLA are greatly reduced, facilitating simplified bookkeeping as well as accelerating the execution of the nonlinear time-domain simulations.

Joel W Sills↗
NASA NTRS2021

Multi-User Spaceport Umbilical Low Force Disconnect

This project designed and fabricated a prototype model of an Umbilical Low Force Disconnect (LFD). Traditional quick disconnects (QD) have a high separation force (SF) when pressurized due to the axial flow path through the QD.

Gabor J Tamasy↗
NASA NTRS1970

Umbilical disconnect actuator

Contamination of sensitive equipment when squibs are fired is prevented by O-rings which retain the debris of squib discharge within the disconnect device.

Davis, D. P.↗
NASA NTRS1979

Mars penetrator umbilical

The device proposed to gather subsurface data on the planet Mars is a ballistic probe which penetrates the soil after a free fall through the Martian atmosphere. Highlights of the design, development, and testing of several features of the Mars Surface Penetration Probe are outlined.

Barns, C. E.↗