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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 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Design of a Versatile, Teleoperable, Towable Lifting Machine with Robotic Capabilities for Use in Nasa's Lunar Base Operations

The lifting machine will assist in lifting cargo off of landers sent to the Moon and in the construction of a lunar base. Three possible designs were considered for the overall configuration of the lifting machine: the variable angle crane, the tower crane, and the gantry crane. Alternate designs were developed for the major components of the lifting machine. A teleoperable, variable angle crane was chosen as its final design. The design consists of a telescoping boom mounted to a chassis that is supported by two conical wheels for towing and four outriggers for stability. Attached to the end of the boom is a seven degree of freedom robot arm for light, dexterous, lifting operations. A cable and hook suspends from the end of the boom for heavy, gross, lifting operations. Approximate structural sizes were determined for the lifter and its components. However, further analysis is needed to determine the optimum design dimensions. The design team also constructed a model of the design which demonstrates its features and operating principals.

Harris, Elizabeth↗
NASA NTRS1990

Lunar articulated remote transportation system

A first generation lunar transportation vehicle was designed for use on the surface of the Moon between the years 2010 and 2020. Attention is focussed on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three cart, six-wheeled articulated vehicle. It's purpose will be for the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 kilometers). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the asronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include: a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat restraints, heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model was built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

Beech, Geoffrey↗
NASA NTRS1989

Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

Lee, Thomas S.↗
NASA NTRS1989

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Weisbin, C. R.↗
NASA NTRS1990

Shared direct memory access on the Explorer 2-LX

Advances in Expert System technology and Artificial Intelligence have provided a framework for applying automated Intelligence to the solution of problems which were generally perceived as intractable using more classical approaches. As a result, hybrid architectures and parallel processing capability have become more common in computing environments. The Texas Instruments Explorer II-LX is an example of a machine which combines a symbolic processing environment, and a computationally oriented environment in a single chassis for integrated problem solutions. This user's manual is an attempt to make these capabilities more accessible to a wider range of engineers and programmers with problems well suited to solution in such an environment.

Musgrave, Jeffrey L.↗
NASA NTRS1990

Lunar articulated remote transportation system

The students of the Florida A&M/Florida State University College of Engineering continued their design from 1988 to 1989 on a first generation lunar transportation vehicle for use on the surface of the Moon between the years 2010 and 2020. Attention is focused on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three-cart, six-wheeled articulated vehicle. Its purpose will be the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 km). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the astronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat retraints; heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model has been built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

Source record↗
NASA NTRS1991

NASA/Ames Research Center DC-8 data system

In-flight facility data acquisition, distribution, and recording on the NASA Ames Research Center (ARC) DC-8 are performed by the Data Acquisition and Distribution System (DADS). Navigational and environmental data collected by the DADS are converted to engineering units and distributed real-time to investigator stations once per second. Selected engineering units data are printed and displayed on closed circuit television monitors throughout flights. An in-flight graphical display of the DC-8 flight track (with barbs indicating wind direction and magnitude) has recently been added to the DADS capabilities. Logging of data run starts/stops and commentary from the mission director are also provided. All data are recorded to hard disk in-flight and archived to tape medium post-flight. Post-flight, hard copies of the track map and mission director's log are created by the DADS. The DADS is a distributed system consisting of a data subsystem, an Avionic Serial Data-to-VMEbus (ASD2VME) subsystem, and a host subsystem. Each subsystem has a dedicated central processing unit (CPU) and is capable of stand-alone operation. All three subsystems are housed in a single 20-slot VME chassis and communicate with each other over the VMEbus. The data and host subsystems are briefly discussed, and the DC-8 DADS internal configuration and system block diagram are presented.

Cherniss, S. C.↗
NASA NTRS1990

Integrated receiver for NASA tracking and data relay satellite system

The tracking and data relay satellite system (TDRSS) provides a flexible communications system for low-earth-orbit spacecraft and a source of tracking data to permit the location of the many orbital platforms to be accessed. Central to the TDRSS ground terminal is the integrated receiver which provides data demodulation, decoding, and deinterleaving over the range of 100 sps to 12 Msps, and all the tracking services in a single high-performance design. The requirements and design of the integrated receiver (IR), as well as an unbalanced quadriphase shift keying (UQPSK) receiver/demodulator under development for use in the TDRSS are discussed. The top level architecture of the IR is presented, and the implementation of the primary functions in the receiver is described. A single IR replaces the 12 different chassis currently required to support a single S-band single-access service. This approach has proven to be successful.

Bricker, P.↗
NASA NTRS1993

Comparison Of Telerobot Control Modes

Report presents evaluation of three different modes of telerobot control: teleoperation with position control only; teleoperation with force reflection; and teleoperation with shared control, in which operator controls some elements of task while autonomous system controls other elements of task. Evaluation involved experiments in which nine trained operators used telerobot system to perform tasks of increasing difficulty - removal and insertion of electrical connector, removal and insertion of orbital replacement unit, and removal and insertion of electronic-circuit board in electronic chassis.

Zimmerman, Wayne F.↗
NASA NTRS1992

The Enabler: A reevaluation of design concepts and construction of a scaled model

The basic objective of the student's work this quarter was to make an in depth examination of the design concepts used on the lunar vehicle 'The Enabler'. Several changes were made to the vehicle including a redesigned wheel, a more compact boom and a reduced articulation angle. The vehicle's final dimensions were determined through an optimization process by defining mathematical equations for several of the vehicle's defined objectives. These included the ability to scale a one meter object, traverse a one meter crevice, and maintain a wheel-to-wheel clearance of three inches while at maximum articulation. The final dimensions of the vehicle were used to construct an approximate 1/4 scale model of the chassis and wheels. The boom, however, was constructed on a 1/5 scale (from the original design). This was due to the redesign of the boom and the limitations of the constructing material and PVC fittings.

Bess, David↗
NASA NTRS1992

Mechanical Engineering Design Project report: Enabler control systems

The Controls Group was assigned the responsibility for designing the Enabler's control system. The requirement for the design was that the control system must provide a simple user interface to control the boom articulation joints, chassis articulation joints, and the wheel drive. The system required controlling hydraulic motors on the Enabler by implementing 8-bit microprocessor boards. In addition, feedback to evaluate positions and velocities must be interfaced to provide the operator with confirmation as well as control.

Cullen, Christian↗
NASA NTRS1932

Dynamic and Flight Tests on Rubber-Cord and Oleo-Rubber-Disk Landing Gears for an F6C-4 Airplane

The investigation described in this report was conducted for the purpose of comparing an oleo-rubber-disk and a rubber-cord landing gear, built for use on an F6C-4 airplane. The investigation consisted of drop tests under various loading conditions and flight tests on an F6C-4 airplane. In the drop tests the total work done on each gear and the work done on each of the shock-absorbing units were determined. For both drop tests and flight tests the maximum loads and accelerations were determined. The comparative results showed that the oleo gear was slightly superior in reducing the ordinary landing shocks, that it had a greater capacity for work, and that it was very superior in the reduction of the rebound. The results further showed that for drops comparable to very severe landings, the rubber-cord gear was potentially more effective as a shock-reducing mechanism. However, due to the construction of this chassis, which limited the maximum elongation of the cords, this gear was incapable of withstanding as severe tests as the oleo gear. The action of the oleo gear was greatly inferior to the action of an ideal gear. The maximum accelerations encountered during the flight tests for severe landings were 3.64g for the rubber-cord gear and 2.27g for the oleo gear. These were less than those experienced in free drops of 7 inches on either gear.

Peck, William C↗
NASA NTRS1937

On the actual loads on airplane landing gears

This investigation was intended to throw light on a number of problems: 1) obtain a time history of the force acting on the gear wheels during take-off and landing runs; 2) obtain the time history of the direction of this force (magnitude of its three components along the coordinate axes); 3) derive conclusions as to the design load factors. In connection with the latter, of special interest was the solution of such problems as: a) the dynamic loads in the three main landing attitudes; b) the problem of the true direction of the forces for each of the three "pure" types of landing; c) combination of the above types; d) the comparison for each of the chassis members of the computed force (according to the design standards) with the actual force measured in the tests so as to determine the actual factors of safety.

Shiskin, S↗
NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗
NASA NTRS1992

The Enabler: A concept for a lunar work vehicle

The Enabler is an earthbound prototype designed to model an actual lunar work vehicle and is able to perform many of the tasks that might be expected of a lunar work vehicle. The vehicle will be constructed entirely from parts made by students and from standard stock parts. The design utilizes only four distinct chassis pieces and sixteen moving parts. The Enabler has non-orthogonal articulating joints that give the vehicle a wide range of mobility and reduce the total number of parts. Composite wheels provide the primary suspension system for the vehicle.

Brazell, James W.↗
NASA NTRS1994

Fiber optic (flight quality) sensors for advanced aircraft propulsion

Development of flight prototype, fiber-optic sensing system components for measuring nine sensed parameters (three temperatures, two speeds, three positions, and one flame) on an F404-400 aircraft engine is described. Details of each sensor's design, functionality, and environmental testing, and the electro-optics architecture for sensor signal conditioning are presented. Eight different optical sensing techniques were utilized. Design, assembly, and environmental testing of an engine-mounted, electro-optics chassis unit (EOU), providing MIL-C-1553 data output, are related. Interconnection cables and connectors between the EOU and the sensors are identified. Results of sensor/cable/circuitry integrated testing, and installation and ground testing of the sensor system on an engine in October 1993 and April 1994 are given, including comparisons with the engine control system's electrical sensors. Lessons learned about the design, fabrication, testing, and integration of the sensor system components are included.

Poppel, Gary L.↗
NASA NTRS1996

CLMNANAL: A C++ program for application of the Coleman stability analysis to rotorcraft

This program is an adaptation of the theory of Robert P. Coleman and Arnold M. Feingold as presented in NACA Report 1351, 1958. This theory provided a method for the analysis of multiple-bladed rotor systems to determine the system susceptibility to ground resonance. Their treatment also provided a simple means for determining the required product of rotor and chassis damping factors to suppress the resonance. This C++ program is based on a FORTRAN 77 version of a similar code.

Lance, Michael B.↗
NASA NTRS1999

RF Bonding Investigation: The Effects of a Space Environment on Coatings

Coatings are commonly used in the aerospace industry for corrosion control of metals. The impedance of these coatings can reduce the effectiveness of EMI filters. This paper documents the effects of a space environment on a variety of coatings applied to electrical bonding surfaces. Nickel plating, anodizing, and chemical conversion coatings of alodine and iridite are investigated. The test fixture is designed to simulate a feed-through filter in a metal chassis. The filter insertion loss will be shown as a function of frequency and coating.

Krome, Mark E.↗