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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 NTRS1985

Application of the ADAMS program to deployable space truss structures

The need for a computer program to perform kinematic and dynamic analyses of large truss structures while deploying from a packaged configuration in space led to the evaluation of several existing programs. ADAMS (automatic dynamic analysis of mechanical systems), a generalized program from performing the dynamic simulation of mechanical systems undergoing large displacements, is applied to two concepts of deployable space antenna units. One concept is a one cube folding unit of Martin Marietta's Box Truss Antenna and the other is a tetrahedral truss unit of a Tetrahedral Truss Antenna. Adequate evaluation of dynamic forces during member latch-up into the deployed configuration is not yet available from the present version of ADAMS since it is limited to the assembly of rigid bodies. Included is a method for estimating the maximum bending stress in a surface member at latch-up. Results include member displacement and velocity responses during extension and an example of member bending stresses at latch-up.

Calleson, R. E.↗
NASA NTRS1988

User's guide to the Fault Inferring Nonlinear Detection System (FINDS) computer program

Described are the operation and internal structure of the computer program FINDS (Fault Inferring Nonlinear Detection System). The FINDS algorithm is designed to provide reliable estimates for aircraft position, velocity, attitude, and horizontal winds to be used for guidance and control laws in the presence of possible failures in the avionics sensors. The FINDS algorithm was developed with the use of a digital simulation of a commercial transport aircraft and tested with flight recorded data. The algorithm was then modified to meet the size constraints and real-time execution requirements on a flight computer. For the real-time operation, a multi-rate implementation of the FINDS algorithm has been partitioned to execute on a dual parallel processor configuration: one based on the translational dynamics and the other on the rotational kinematics. The report presents an overview of the FINDS algorithm, the implemented equations, the flow charts for the key subprograms, the input and output files, program variable indexing convention, subprogram descriptions, and the common block descriptions used in the program.

Caglayan, A. K.↗
NASA NTRS1988

A finite element method for time varying geometry in multibody structures

A three-dimensional finite element formulation using convected coordinates is presented for the multibody dynamics of truss-like configurations. Unlike existing formulations, the present one does not superimpose nonlinear rigid body kinematics with linear structural mode shapes, an approach that has recently been shown to be grossly inaccurate under certain conditions. Instead, the finite element method is extended to treat large motions/deformations. The formulation is oriented toward joint dominated structures and places the generalized coordinates at the joints. For the planar spin-up of a flexible beam, results are compared with those derived from a commercially available computer program. The two programs predict nearly identical results.

Housner, J. M.↗
NASA NTRS2014

Evaluation of the First Transport Rotorcraft Airframe Crash Testbed (TRACT 1) Full-Scale Crash Test

In 2012, the NASA Rotary Wing Crashworthiness Program initiated the Transport Rotorcraft Airframe Crash Testbed (TRACT) research program by obtaining two CH-46E helicopters from the Navy CH-46E Program Office (PMA-226) at the Navy Flight Readiness Center in Cherry Point, North Carolina. Full-scale crash tests were planned to assess dynamic responses of transport-category rotorcraft under combined horizontal and vertical impact loading. The first crash test (TRACT 1) was performed at NASA Langley Research Center's Landing and Impact Research Facility (LandIR), which enables the study of critical interactions between the airframe, seat, and occupant during a controlled crash environment. The CH-46E fuselage is categorized as a medium-lift rotorcraft with fuselage dimensions comparable to a regional jet or business jet. The first TRACT test (TRACT 1) was conducted in August 2013. The primary objectives for TRACT 1 were to: (1) assess improvements to occupant loads and displacement with the use of crashworthy features such as pre-tensioning active restraints and energy absorbing seats, (2) develop novel techniques for photogrammetric data acquisition to measure occupant and airframe kinematics, and (3) provide baseline data for future comparison with a retrofitted airframe configuration. Crash test conditions for TRACT 1 were 33-ft/s forward and 25-ft/s vertical combined velocity onto soft soil, which represent a severe, but potentially survivable impact scenario. The extraordinary value of the TRACT 1 test was reflected by the breadth of meaningful experiments. A total of 8 unique experiments were conducted to evaluate ATD responses, seat and restraint performance, cargo restraint effectiveness, patient litter behavior, and photogrammetric techniques. A combination of Hybrid II, Hybrid III, and ES-2 Anthropomorphic Test Devices (ATDs) were placed in forward and side facing seats and occupant results were compared against injury criteria. Loads from ATDs in energy absorbing seats and restraints were within injury limits. Severe injury was likely for ATDs in forward facing passenger seats, legacy troop bench seats, and a three-tiered patient litter. In addition, two standing ATDs were used to evaluate the benefit of Mobile Aircrew Restraint Systems (MARS) versus a standard gunner's belt. The ATD with the MARS survived the impact, while fatal head blunt trauma occurred for the standing ATD held by the legacy gunner's belt. In addition to occupant loading, the structural response of the airframe was assessed based on accelerometers located throughout the airframe and using three-dimensional photogrammetric techniques. Analysis of the photogrammetric data indicated regions of maximum deflection and permanent deformation.

Annett, Martin S.↗
NASA NTRS1993

Planning collision free paths for two cooperating robots using a divide-and-conquer C-space traversal heuristic

A method was developed to plan feasible and obstacle-avoiding paths for two spatial robots working cooperatively in a known static environment. Cooperating spatial robots as referred to herein are robots which work in 6D task space while simultaneously grasping and manipulating a common, rigid payload. The approach is configuration space (c-space) based and performs selective rather than exhaustive c-space mapping. No expensive precomputations are required. A novel, divide-and-conquer type of heuristic is used to guide the selective mapping process. The heuristic does not involve any robot, environment, or task specific assumptions. A technique was also developed which enables solution of the cooperating redundant robot path planning problem without requiring the use of inverse kinematics for a redundant robot. The path planning strategy involves first attempting to traverse along the configuration space vector from the start point towards the goal point. If an unsafe region is encountered, an intermediate via point is identified by conducting a systematic search in the hyperplane orthogonal to and bisecting the unsafe region of the vector. This process is repeatedly applied until a solution to the global path planning problem is obtained. The basic concept behind this strategy is that better local decisions at the beginning of the trouble region may be made if a possible way around the 'center' of the trouble region is known. Thus, rather than attempting paths which look promising locally (at the beginning of a trouble region) but which may not yield overall results, the heuristic attempts local strategies that appear promising for circumventing the unsafe region.

Weaver, Johnathan M.↗
NASA NTRS1988

Task-oriented dual-arm manipulability and its application to configuration optimization

A measure of static manipulability is derived for a dual-redundant-arm (DRA) system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm (DA) manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented DA manipulability measure is defined as the measure of geometrical similarity between the desired and the actual DA manipulability ellipsoids at the selected task points. Mathematical formulas are developed to define task-oriented DRA static manipulability, and their application to the optimization of DRA joint and grasp configurations is demonstrated.

Lee, Sukhan↗
NASA NTRS1987

Notes on implementation of Coulomb friction in coupled dynamical simulations

A coupled dynamical system is defined as an assembly of rigid/flexible bodies that may be coupled by kinematic connections. The interfaces between bodies are modeled using hinges having 0 to 6 degrees of freedom. The equations of motion are presented for a mechanical system of n flexible bodies in a topological tree configuration. The Lagrange form of the D'Alembert principle was employed to derive the equations. The equations of motion are augmented by the kinematic constraint equations. This augmentation is accomplished via the method of singular value decomposition.

Vandervoort, R. J.↗
NASA NTRS1993

More Uses For Configuration Control Of Robots

Two papers present theoretical studies of older and newer uses for configuration control. Configuration control described in "Increasing the Dexterity of Redundant Robots" (NPO-17801) and "Redundant Robot Can Avoid Obstacles" (NPO-17852). One paper "Configuration Control of 7 DOF Arms" reviews these concepts, then applies them to commercial robotic arm having seven revolute joints corresponding to those of human arm. Other paper "New Goals for Redundancy Resolution Using Configuration Control" addresses use of redundant degrees of freedom to optimize dynamical instead of kinematical aspects of performance.

Seraji, Homayoun↗
NASA NTRS2021

IROSA 2B/4B EVA Robotics

The MAGIK Robotic analysis team provides kinematic feasibility assessments and robotic visualizations for the ISS. This animation was created with configurations provided by the CX Team and showcases the robotics for the IROSA install 2B and 4B EVAs. The ExtraVehicular Activities (EVAs) shown include the extraction of the two ISS Roll-Out Solar Arrays (IROSAs) from the ISS Power Augmentation (IPA) carrier by an astronaut on the end of the Space Station Remote Manipulator System (SSRMS) and subsequent handoff to a second astronaut on the ISS port side truss. Extravehicular activities not shown will complete the install of the IROSAs.

Alexander Radford Fryer↗
NASA NTRS2022

IROSA 3A EVA Robotics

The MAGIK Robotic analysis team provides kinematic feasibility assessments and robotic visualizations for the ISS. This animation was created with configurations provided by the CX Team and showcases the robotics for the IROSA 3A EVA install. The ExtraVehicular Activity (EVA) shown include the extraction of one ISS Roll-Out Solar Array (IROSA) from the ISS Power Augmentation (IPA) carrier by an astronaut on the end of the Space Station Remote Manipulator System (SSRMS) and subsequent install on the ISS starboard side truss. Operations during the EVA not shown will complete the install of the IROSA.

ISS↗
NASA NTRS1989

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.

Carignan, Craig R.↗
NASA NTRS2009

Small-Bolt Torque-Tension Tester

The device described here measures the torque-tension relationship for fasteners as small as #0. The small-bolt tester consists of a plate of high-strength steel into which three miniature load cells are recessed. The depth of the recess is sized so that the three load cells can be shimmed, the optimum height depending upon the test hardware. The three miniature load cells are arranged in an equilateral triangular configuration with the test bolt aligned with the centroid of the three. This is a kinematic arrangement.

Posey, Alan J.↗
NASA NTRS1982

A high-Reynolds-number seal test facility: Facility description and preliminary test data

A facility has been developed for testing the leakage and rotordynamic characteristics of interstage-seal configurations for the HPFTP (High Pressure Fuel Turbopump) of the SSME (Space Shuttle Main Engine). Axial Reynolds numbers on the order of 400,000 are realized in the test facility by using a Dupont freon fluid called Halon (CBrF3). The kinematic viscosity of Halon is of the same order as the liquid hydrogen used in the HPFTP. Initial testing has focused on the current flight configurations (a three-segment, stepped unit) and a convergent-taper candidate.

Childs, D. W.↗
NASA NTRS2001

The Role of Magnetograms in Testing Models of Coronal Mass Ejections

A general review of current and future magnetographic capabilities is presented with emphasis on how they address observational predictions of CME models (e.g., the model/observation matrix developed in the SHINE 2000 workshop). Existing line-of-sight magnetographs can observe certain structural and kinematic properties of CME source regions when they are on the visible disk. These include polarity configuration, location and structure of the magnetic inversion line, proper motions of magnetic elements, and time variation of flux. Additional chromospheric magnetograms provide information on how the field spreads with height and, if properly sequenced with photospheric magnetograms, can determine whether flux is emerging or submerging. Vector magnetographs can provide information about currents and magnetic shear but will only begin to attain the spatial and temporal coverage appropriate to CMEs with the advent of the SOLIS vector spectromagnetograph and, hopefully, its copies at several widely spaced longitudes. Important additions to the SHINE 2000 matrix are required to define an observational program. These include spatial and temporal resolutions and extents as well as needed sensitivity.

Jones, Harrison P.↗
NASA NTRS2020

3d Kinematic Passive-steering Control with Roll Compensation for Rover Trajectory Following Over Rough Terrain

Some of the most appealing areas for future planetary surface exploration lie in rough, uneven terrains, such as craters and cold traps, which are currently inaccessible by state-of-the-art robotic systems [1]. To provide modularity for access and in-situ sampling within such extreme environments, Jet Propulsion Laboratory (JPL) and California Institute of Technology have collaborated to develop the DuAxel rover system, a modular robot composed of two Axel rappelling vehicles docked to a central module into a four-wheeled configuration, suited for driving long distances due to articulated passivesteering capabilities [2]. Inspired by Carnegie Mellon’s Zoë rover [3], a 3D kinematic control strategy, leveraging a novel, DuAxel-centric model, has been developed to enable precise trajectory following over rough, flat terrain with presence of obstacles.

McGarey, Patrick↗
NASA NTRSDate not supplied

Modeling and Simulation Efforts to Support Improved Comfort in ARGOS

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch, and here we present preliminary modeling of that device using the open-source biomechanical tool OpenSim [1,2] with an in-house developed plugin. We analyze a series of motions performed by a single shirt-sleeved subject with goals of characterizing the device, validating the model, and predicting whether reduced gravity conditions (i.e., lunar gravity (Lg) or Martian gravity (Mg)) can be accurately simulated with the device, as well as providing comfort to the ARGOS user. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are either obtained from (1) inverse kinematics (IK) using motion capture markers on the various components of the device or (2) calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. Given the joint angles of the device, the resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) in order to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data and the forces from manual measurements of the spring both independently and integrated within the device. We found that calculated joint angles generally represent the angles measured and computed with IK, supporting a possible analysis workflow inputting human motion data and observing system behavior under varied design parameters. In two different device configurations in which the maximum applied force was 131 N, our current model accurately captured force with a difference of 2-3 N from measured loads. Though our initial test was performed with a shirt-sleeve subject, arm weights were added to emulate the weight of the suit sleeve and the subject was positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup. Arm range of motion tasks were performed outside of the HUT, inside the HUT, and inside the HUT while using the device. A variety of other upper body tasks were completed as well. In summary, we have developed a model to investigate and verify an upper limb offload device currently in development. We believe this model will be a valuable tool not only for device characterization but also to predict proper configurations to simulate Lg or Mg conditions, investigate range of motion concerns, predict limitations such as internal collisions and contacts, and inform future design improvements.

L B Nilsson↗
NASA NTRS1996

Kinematic/Dynamic Characteristics for Visual and Kinesthetic Virtual Environments

Work was carried out on two topics of principal importance to current progress in virtual environment research at NASA Ames and elsewhere. The first topic was directed at maximizing the temporal dynamic response of visually presented Virtual Environments (VEs) through reorganization and optimization of system hardware and software. The final results of this portion of the work was a VE system in the Advanced Display and Spatial Perception Laboratory at NASA Ames capable of updating at 60 Hz (the maximum hardware refresh rate) with latencies approaching 30 msec. In the course of achieving this system performance, specialized hardware and software tools for measurement of VE latency and analytic models correlating update rate and latency for different system configurations were developed. The second area of activity was the preliminary development and analysis of a novel kinematic architecture for three Degree Of Freedom (DOF) haptic interfaces--devices that provide force feedback for manipulative interaction with virtual and remote environments. An invention disclosure was filed on this work and a patent application is being pursued by NASA Ames. Activities in these two areas are expanded upon below.

Bortolussi, Michael R.↗
NASA NTRS1983

Manipulator interactive design with interconnected flexible elements

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.

Singh, R. P.↗