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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 NTRS1999

Towards a Strategy of Remote Sensing of Aerosol Direct and Indirect Radiative Forcing

The role of aerosol forcing remains one of the largest uncertainties in estimating man's impact on the global climate system. One school of thought suggests that remote sensing by satellite sensors will provide the data necessary to narrow these uncertainties. Much effort has gone into the development of new satellite sensors specifically designed to retrieve aerosol loading and some information about the sizes of the aerosols. These next generation remote sensing instruments (EOS-MODIS, EOS-MISR, POLDER, ATSR) will provide unprecedented accuracy in the retrieval of aerosol loading. Although the new generation of sensors has excellent accuracy compared to the heritage instruments of the past, they still have measurement limitations. In clean, pristine regions the absolute magnitude of the uncertainty in the aerosol retrieval becomes comparable in magnitude to the signal itself. If much of the aerosol forcing is occurring at very low magnitudes of aerosol concentrations, satellite remote sensing will miss it. This study attempts to quantify remote sensing limitations due to the accuracy limits of the retrieval algorithms. We use a combination of numerical aerosol transport models, ground-based AERONET data and ISCCP cloud climatology to determine how much of the forcing occurs in regions too clean to determine from satellite retrievals. This study is not an intercomparison of global transport models. It is not an estimation of global aerosol forcing. This study is an exercise to determine whether satellite remote sensing can live up to our high expectations. The results show that while remote sensing will be able to measure a majority of the direct forcing, it will miss roughly half of the indirect forcing.

Remer, L. A.↗
NASA NTRS1988

Design considerations of manipulator and feel system characteristics in roll tracking

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such control system features of typical modern fighter aircraft roll rate command mechanizations as: (1) force versus displacement sensing side-stick type manipulator, (2) feel force/displacement gradient, (3) feel system versus command prefilter dynamic lag, and (4) flight control system effective time delay. The experiment encompassed some 48 manipulator/filter/aircraft configurations. Displacement side-stick experiment results are given and compared with the previous force sidestick experiment results. Attention is focused on control bandwidth, excitement (peaking) of the neuromuscular mode, feel force/displacement gradient effects, time delay effects, etc. Section 5 is devoted to experiments with a center-stick in which force versus displacement sensing, feel system lag, and command prefilter lag influences on tracking performance and pilot preference are investigated.

Johnston, Donald E.↗
NASA NTRS1996

Sensing Position With Approximately Constant Contact Force

Computer-controlled electromechanical system uses number of linear variable-differential transformers (LVDTs) to measure axial positions of selected points on surface of lens, mirror, or other precise optical component with high finish. Pressures applied to pneumatically driven LVDTs adjusted to maintain small, approximately constant contact forces as positions of LVDT tips vary.

Sturdevant, Jay↗
NASA NTRS1998

Tribometer for Lubrication Studies in Vacuum

The NASA Lewis Research Center has developed a new way to evaluate the liquid lubricants used in ball bearings in space mechanisms. For this evaluation, a liquid lubricant is exercised in the rolling contact vacuum tribometer shown in the photo. This tribometer, which is essentially a thrust bearing with three balls and flat races, has contact stresses similar to those in a typical preloaded, angular contact ball bearing. The rotating top plate drives the balls in an outward-winding spiral orbit instead of a circular path. Upon contact with the "guide plate," the balls are forced back to their initial smaller orbit radius; they then repeat this spiral orbit thousands of times. The orbit rate of the balls is low enough, 2 to 5 rpm, to allow the system to operate in the boundary lubrication regime that is most stressful to the liquid lubricant. This system can determine the friction coefficient, lubricant lifetime, and species evolved from the liquid lubricant by tribodegradation. The lifetime of the lubricant charge is only few micrograms, which is "used up" by degradation during rolling. The friction increases when the lubricant is exhausted. The species evolved by the degrading lubricant are determined by a quadrupole residual gas analyzer that directly views the rotating elements. The flat races (plates) and 0.5-in.-diameter balls are of a configuration and size that permit easy post-test examination by optical and electron microscopy and the full suite of modern surface and thin-film chemical analytical techniques, including infrared and Raman microspectroscopy and x-ray photoelectron spectroscopy. In addition, the simple sphere-on-a-flat-plate geometry allows an easy analysis of the contact stresses at all parts of the ball orbit and an understanding of the frictional energy losses to the lubricant. The analysis showed that when the ball contacts the guide plate, gross sliding occurs between the ball and rotating upper plate as the ball forced back to a smaller orbit radius. The friction force due to gross sliding is sensed by the piezoelectric force transducer behind the guide plate and furnishes the coefficient of friction for the system. This tribometer has been used to determine the relative lifetimes of Fomblin Z-25, a lubricant often used in space mechanisms, as a function of the material of the plates against which it was run. The balls were 440C steel in all cases; the plate materials were aluminum, chromium (Cr), 440C steel (17 wt % Cr), and 4150 steel (1 wt % Cr). As shown in the bar graph, the lifetime is greatest for the plate material with least chromium, thus implicating chromium as a tribochemically active element attacking Fomblin Z-25.

Pepper, Stephen V.↗
NASA NTRS1993

A New Force Balanced Accelerometer Using Tunneling Tip Position Sensing

In this paper, we report the initial development of a single-axis bulk micromachined accelerometer. The device employs an electron tunneling tip as a position detector in a force feedback control system. Control electrodes are placed above and below the proof mass and act as electrostatic force plates. Using the force plates, the position of the proof mass relative to the tunneling tip can be controlled.

accelerometers sensors position detectors↗
NASA NTRS2011

The Robonaut 2 Hand - Designed to do Work with Tools

The second generation Robonaut hand has many advantages over its predecessor. This mechatronic device is more dexterous and has improved force control and sensing giving it the capability to grasp and actuate a wider range of tools. It can achieve higher peak forces at higher speeds than the original. Developed as part of a partnership between General Motors and NASA, the hand is designed to more closely approximate a human hand. Having a more anthropomorphic design allows the hand to attain a larger set of useful grasps for working with human interfaces. Key to the hand s improved performance is the use of lower friction drive elements and a redistribution of components from the hand to the forearm, permitting more sensing in the fingers and palm where it is most important. The following describes the design, mechanical/electrical integration, and control features of the hand. Lessons learned during the development and initial operations along with planned refinements to make it more effective are presented.

Bridgwater, L. B.↗
NASA NTRS1986

Force/torque display for space teleoperation control experiments and evaluation

Experiments were performed at the Johnson Space Center (JSC), Manipulator Development Facility using the full scale Shuttle Remote Manipulator System (SRMS) to evaluate the effect of visual presentation through perspective display of the orthogonal forces and torques sensed at the manipulator end effector. The experiments investigated the effect of the display information on the management of forces and torques generated during payload berthing and deployment, as well as simulated satellite module change-out operations. The evaluation also addressed (1) issues of display format, including: force/torque scaling, point of resolution, and display mixing with video generated imagery, and (20) task related variables of payload size, alternative sources of guidance information, and control mode. The results are presented of a first-pass informal anlaysis of the analog, strip chart-recorded data from these evaluation tests. The results provide a relative measure of improvement in force management through the use of such a display, as well as information regarding the impact of display variables and task demands on operator performance.

Corker, K.↗
NASA NTRS2004

Performance Evaluation of Fiber Bragg Gratings at Elevated Temperatures

The development of integrated fiber optic sensors for smart propulsion systems demands that the sensors be able to perform in extreme environments. In order to use fiber optic sensors effectively in an extreme environment one must have a thorough understanding of the sensor s limits and how it responds under various environmental conditions. The sensor evaluation currently involves examining the performance of fiber Bragg gratings at elevated temperatures. Fiber Bragg gratings (FBG) are periodic variations of the refractive index of an optical fiber. These periodic variations allow the FBG to act as an embedded optical filter passing the majority of light propagating through a fiber while reflecting back a narrow band of the incident light. The peak reflected wavelength of the FBG is known as the Bragg wavelength. Since the period and width of the refractive index variation in the fiber determines the wavelengths that are transmitted and reflected by the grating, any force acting on the fiber that alters the physical structure of the grating will change what wavelengths are transmitted and what wavelengths are reflected by the grating. Both thermal and mechanical forces acting on the grating will alter its physical characteristics allowing the FBG sensor to detect both temperature variations and physical stresses, strain, placed upon it. This ability to sense multiple physical forces makes the FBG a versatile sensor. This paper reports on test results of the performance of FBGs at elevated temperatures. The gratings looked at thus far have been either embedded in polymer matrix materials or freestanding with the primary focus of this paper being on the freestanding FBGs. Throughout the evaluation process, various parameters of the FBGs performance were monitored and recorded. These parameters include the peak Bragg wavelength, the power of the Bragg wavelength, and total power returned by the FBG. Several test samples were subjected to identical test conditions to allow for statistical analysis of the data. Test procedures, calibrations, and referencing techniques are presented in the paper along with directions for future research.

Juergens, Jeffrey↗
NASA NTRS1980

Kinesthetic coupling between operator and remote manipulator

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Bejczy, A. K.↗
NASA NTRS2004

Reannealed Fiber Bragg Gratings Demonstrated High Repeatability in Temperature Measurements

Fiber Bragg gratings (FBGs) are formed by periodic variations of the refractive index of an optical fiber. These periodic variations allow an FBG to act as an embedded optical filter, passing the majority of light propagating through a fiber while reflecting back a narrow band of the incident light. The peak reflected wavelength of the FBG is known as the Bragg wavelength. Since the period and width of the refractive index variation in the fiber determines the wavelengths that are transmitted and reflected by the grating, any force acting on the fiber that alters the physical structure of the grating will change the wavelengths that are transmitted and reflected by it. Both thermal and mechanical forces acting on the grating will alter its physical characteristics, allowing the FBG sensor to detect both the temperature variations and the physical stresses and strains placed upon it. This ability to sense multiple physical forces makes the FBG a versatile sensor. To assess the feasibility of using Bragg gratings as temperature sensors for propulsion applications, researchers at the NASA Glenn Research Center evaluated the performance of Bragg gratings at elevated temperatures for up to 300 C. For these purposes, commercially available polyimide-coated high-temperature gratings were used that were annealed by the manufacturer to 300 C. To assure the most thermally stable gratings at the operating temperatures, we reannealed the gratings to 400 C at a very slow rate for 12 to 24 hr until their reflected optical powers were stabilized. The reannealed gratings were then subjected to periodic thermal cycling from room temperature to 300 C, and their peak reflected wavelengths were monitored. The setup shown is used for reannealing and thermal cycling the FBGs. Signals from the photodetectors and the spectrum analyzer were fed into a computer equipped with LabVIEW software. The software synchronously monitored the oven/furnace temperature and the optical spectrum analyzer as well as processed the data. Experimental results presented in the following graph show typical wavelength versus temperature dependence of a reannealed FBG through six thermal cycles (80 hr). The average standard deviation of the temperature-to-wavelength relationship ranged from 1.86 to 2.92 C over the six thermal cycles each grating was subjected to. This is an error of less than 1.0 percent of full scale throughout the entire evaluation temperature range from ambient to 300 C.

Adamovsky, Grigory↗
NASA NTRS1992

Implementation of robotic force control with position accommodation

As the need for robotic manipulation in fields such as manufacturing and telerobotics increases, so does the need for effective methods of controlling the interaction forces between the manipulators and their environment. Position Accommodation (PA) is a form of robotic force control where the nominal path of the manipulator is modified in response to forces and torques sensed at the tool-tip of the manipulator. The response is tailored such that the manipulator emulates a mechanical impedance to its environment. PA falls under the category of position-based robotic force control, and may be viewed as a form of Impedance Control. The practical implementations are explored of PA into an 18 degree-of-freedom robotic testbed consisting of two PUMA 560 arms mounted on two 3 DOF positioning platforms. Single and dual-arm architectures for PA are presented along with some experimental results. Characteristics of position-based force control are discussed, along with some of the limitations of PA.

Ryan, Michael J.↗
NASA NTRS1985

Display comparison for six-degree-of-freedom force/torque control

The experimental design and the results of a study of a force and torque sensing and display (FTSD) system, developed at the Jet Propulsion Laboratory, are presented. The FTSD system was incorporated into the one-g version of the Space Shuttle Remote Manipulator System (RMS). The tests consisted of evaluating alternative graphics formats for presenting force and torque information at the RMS work station, and of testing the utility of the sensor and the display system as an aid to specific RMS tasks. The participating subjects were all trained RMS operators with experience on the one-g version of the system, three of them with previous experience using the Space Shuttle RMS on orbit. The results support the use of the FTSD system as an aid to RMS operations: the system was found to facilitate the control of forces when the RMS is under partially or wholly constrained conditions. The graphics format employed in the present version of the FTSD system was found to be superior to earlier formats.

Baggen, A.↗
NASA NTRS1999

Remote Sensing of smoke and its Direct Radiative Forcing in South America

Smoke aerosol, organic and black carbon particles suspended in the air, can absorb and reflect solar radiation to space, i.e., direct radiative forcing. Depending on the ratio of scattering to absorption, and the surface spectral properties, the net smoke effect can be warming or cooling of the climate system. Data from the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) flown on the ER-2 at altitude of 20km, and of the AERONET ground based sun/sky radiometers are used to assess the smoke aerosol optical thickness over the land and the direct radiative forcing at the top of the atmosphere and at ground level, respectively. The data are collected during the Smoke, Clouds, and Radiation - Brazil (SCAR-B) experiment. In contrast to model results of the smoke effect, we show using the AVIRIS data, that even though the surface albedo is high (0.17 - average on the solar spectrum) and the smoke single scattering albedo is low (0.88), smoke does increase the instantaneous reflectance of sunlight to space by 30-40 W/m2 for an increase in the smoke optical thickness of 0.5. The AERONET data are used to derive, simultaneously, the effect of smoke on the downward radiation. Models using spectrally averaged smoke optical properties and averaged surface reflectance, predicted very small smoke forcing. The reason is that smoke is mainly opaque in short wavelengths (e.g.<0.7 micron) while the surface is mainly bright in longer wavelengths (>0.7 micron). Modeling the effect of smoke on climate forcing cannot be done using the spectrally average properties. It requires the knowledge of the smoke and surface spectral properties.

Kaufman, Yoram J.↗
NASA NTRS1999

Remote Sensing of Smoke and its Direct Radiative Forcing in South-America

Smoke aerosol, organic and black carbon particles suspended in the air, are capable to absorb and reflect solar radiation to space - direct radiative forcing. Depending on the ratio of scattering to absorption, and on the surface spectral properties, the net smoke effect can be warming or cooling of the climate system. Data from the AVIRIS spectrometer flown on the ER-2 at altitude of 20 km, and of the AERONET ground based sun/sky radiometers are used to assess the smoke aerosol optical thickness over the land and the direct radiative forcing at the top of the atmosphere and at ground level, respectively. The data are collected during the SCAR-B experiment in Brazil. In contrast to model results of the smoke effect, we show using the AVIRIS data, that even though the surface albedo is high (0.17 - average on the solar spectrum) and the smoke single scattering albedo is low (0.88), smoke does increase the instantaneous reflectance of sunlight to space by 30-40 W/m(exp 2) for an increase in the smoke optical thickness of 0.5. The AERONET data are used to derive, simultaneously, the effect of smoke on the downward radiation. Models using spectrally averaged smoke optical properties and averaged surface reflectance, predicted very small smoke forcing. The reason is that smoke is mainly opaque in short wavelengths (e.g.< 0.7 micron) while the surface is mainly bright in longer wavelengths (> 0.7 micron). Modeling the effect of smoke on climate forcing cannot be done using the spectrally average properties. It requires the knowledge of the smoke and surface spectral properties.

Kaufman, Yoram↗
NASA NTRS2000

The GOCART Model Study of Aerosol Composition and Radiative Forcing: Present and Future

The Georgia Tech/Goddard Global Ozone Chemistry Aerosol Radiation and Transport (GOCART) model is used to simulate sulfate, dust, carbonaceous, and sea salt aerosols. The simulations are conducted using the present and future emission scenarios based on the IPCC projection. Distributions of individual aerosol components for the present day are compared with observations from field experiments, ground-based sun photometer networks, and remote sensing. Aerosol radiative forcing for the present day and the projected future will also be discussed.

Chin, Mian↗
NASA NTRS1996

Fast Parallel Computation Of Multibody Dynamics

Constraint-force algorithm fast, efficient, parallel-computation algorithm for solving forward dynamics problem of multibody system like robot arm or vehicle. Solves problem in minimum time proportional to log(N) by use of optimal number of processors proportional to N, where N is number of dynamical degrees of freedom: in this sense, constraint-force algorithm both time-optimal and processor-optimal parallel-processing algorithm.

Fijany, Amir↗
NASA NTRS2012

Development of Field Excavator with Embedded Force Measurement

A semi-intelligent excavation mechanism was developed for use with the NASA-built Centaur 2 rover prototype. The excavator features a continuously rotatable large bucket supported between two parallel arms, both of which share a single pivot axis near the excavator base attached to the rover. The excavator is designed to simulate the collection of regolith, such as on the Moon, and to dump the collected soil into a hopper up to one meter tall for processing to extract oxygen. Because the vehicle can be autonomous and the terrain is generally unknown, there is risk of damaging equipment or using excessive power when attempting to extract soil from dense or rocky terrain. To minimize these risks, it is critical for the rover to sense the digging forces and adjust accordingly. It is also important to understand the digging capabilities and limitations of the excavator. This paper discusses the implementation of multiple strain gages as an embedded force measurement system in the excavator's arms. These strain gages can accurately measure and resolve multi-axial forces on the excavator. In order to validate these sensors and characterize the load capabilities, a series of controlled excavation tests were performed at Glenn Research Center with the excavator at various depths and cut angles while supported by a six axis load cell. The results of these tests are both compared to a force estimation model and used for calibration of the embedded strain gages. In addition, excavation forces generated using two different types of bucket edge (straight vs. with teeth) were compared.

Soils↗
NASA NTRS2012

NASA Tech Briefs, September 2012

Topics covered include: Beat-to-Beat Blood Pressure Monitor; Measurement Techniques for Clock Jitter; Lightweight, Miniature Inertial Measurement System; Optical Density Analysis of X-Rays Utilizing Calibration Tooling to Estimate Thickness of Parts; Fuel Cell/Electrochemical Cell Voltage Monitor; Anomaly Detection Techniques with Real Test Data from a Spinning Turbine Engine-Like Rotor; Measuring Air Leaks into the Vacuum Space of Large Liquid Hydrogen Tanks; Antenna Calibration and Measurement Equipment; Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling; Lightweight Metal Matrix Composite Segmented for Manufacturing High-Precision Mirrors; Plasma Treatment to Remove Carbon from Indium UV Filters; Telerobotics Workstation (TRWS) for Deep Space Habitats; Single-Pole Double-Throw MMIC Switches for a Microwave Radiometer; On Shaft Data Acquisition System (OSDAS); ASIC Readout Circuit Architecture for Large Geiger Photodiode Arrays; Flexible Architecture for FPGAs in Embedded Systems; Polyurea-Based Aerogel Monoliths and Composites; Resin-Impregnated Carbon Ablator: A New Ablative Material for Hyperbolic Entry Speeds; Self-Cleaning Particulate Prefilter Media; Modular, Rapid Propellant Loading System/Cryogenic Testbed; Compact, Low-Force, Low-Noise Linear Actuator; Loop Heat Pipe with Thermal Control Valve as a Variable Thermal Link; Process for Measuring Over-Center Distances; Hands-Free Transcranial Color Doppler Probe; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; PMA-Linked Fluorescence for Rapid Detection of Viable Bacterial Endospores; Portable Intravenous Fluid Production Device for Ground Use; Adaptation of a Filter Assembly to Assess Microbial Bioburden of Pressurant Within a Propulsion System; Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators; Whispering Gallery Mode Optomechanical Resonator; Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles; Self-Sealing Wet Chemistry Cell for Field Analysis; General MACOS Interface for Modeling and Analysis for Controlled Optical Systems; Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem; Fault-Tolerant, Real-Time, Multi-Core Computer System; Water Detection Based on Object Reflections; SATPLOT for Analysis of SECCHI Heliospheric Imager Data; Plug-in Plan Tool v3.0.3.1; Frequency Correction for MIRO Chirp Transformation Spectroscopy Spectrum; Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images; Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications; Low-Cost Telemetry System for Small/Micro Satellites; Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE; and Algorithms for Determining Physical Responses of Structures Under Load.

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