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The mechanism here described belongs to the class of dynamometer brake in which the motive power is transformed into heat in the brake itself. This mechanism was invented by the writer for the purpose of measuring forces in which the two factors, torque and speed, vary within broad limits, the mechanism itself being of simple construction and of still simpler operation.
A convertible engine called the CEST TF34, using the variable inlet guide vane method of power change, was tested on an outdoor stand at the NASA Lewis Research Center with a waterbrake dynamometer for the shaft load. A new digital electronic system, in conjunction with a modified standard TF34 hydromechanical fuel control, kept engine operation stable and safely within limits. All planned testing was completed successfully. Steady-state performance and acoustic characteristics were reported previously and are referenced. This report presents results of transient and dynamic tests. The transient tests measured engine response to several rapid changes in thrust and torque commands at constant fan (shaft) speed. Limited results from dynamic tests using the pseudorandom binary noise technique are also presented. Performance of the waterbrake dynamometer is discussed in an appendix.
The Hubble Space Telescope (HST) Pistol Grip Tool (PGT) is a self-contained, microprocessor controlled, battery-powered, 3/8-inch-drive hand-held tool. The PGT is also a non-powered ratchet wrench. This tool will be used by astronauts during Extravehicular Activity (EVA) to apply torque to the HST and HST Servicing Support Equipment mechanical interfaces and fasteners. Numerous torque, speed, and turn or angle limits are programmed into the PGT for use during various missions. Batteries are replaceable during ground operations, Intravehicular Activities, and EVA's.
Robotic drilling and autonomous sample acquisition are considered as the key technology requirements in future planetary or small body exploration missions. Core sampling or subsurface drilling operation is envisioned to be off rovers or landers. These supporting platforms are inherently flexible, light, and can withstand only limited amount of reaction forces and torques. This, together with unknown properties of sampled materials, makes the sampling operation a tedious task and quite challenging. This paper highlights the recent advancements in the sample acquisition control system design and development for the in situ scientific exploration of planetary and small interplanetary missions.
PURPOSE: 1) To compare the test-to-test reliability of Muscle Atrophy Research and Exercise System (MARES) with a standard laboratory isokinetic dynamometer (ISOK DYN) and; 2) to determine if measures of peak torque and total work differ between devices. METHODS: Ten subjects (6M, 4F) completed two trials on both MARES and an ISOK DYN in a counterbalanced order. Peak torque values at 60 deg & 180 deg / s were obtained from five maximal repetitions of knee extension (KE) and knee flexion (KF). Total work at 180 deg / s was determined from the area under the torque vs. displacement curve during twenty maximal repetitions of KE and KF. Reliability of measures within devices was interpreted from the intraclass correlation coefficient (ICC) and compared between devices using the ratio of the within-device standard deviations. Indicators of agreement for the two devices were evaluated from: 1) a calculation of concordance (rho) and; 2) the correlation between the mean of measures versus the delta difference between measures (m u vs delta). RESULTS: For all outcome measures ICCs were high for both the ISOK DYN (0.95-0.99) and MARES (0.90-0.99). However, ratios of the within-device standard deviation were 1.3 to 4.3 times higher on MARES. On average, a wide range (3.3 to 1054 Nm) of differences existed between the values obtained. Only KE peak torque measured at 60 deg & 180 deg / s showed similarities between devices (rho = 0.91 & 0.87; Pearson's r for m u vs delta = -0.22 & -0.37, respectively). CONCLUSION: Although MARES was designed for use in microgravity it was quite reliable during ground-based testing. However, MARES was consistently more variable than an ISOK DYN. Future longitudinal studies evaluating a change in isokinetic peak torque or total work should be limited within one device.
The Mars Pathfinder Lander will land, right itself, and open so that none of its airbag covers its solar cells. This requires two different types of mechanisms, the Airbag Retraction Actuators, and the Lander Petal Actuators which are designed for a high torque, low temperature, dirty environment, and limited life application. The development of these actuators investigated low temperature lubrication, Electrical Discharge Machining (EDM) to cut gears, and gear design for limited life use.
In this paper, the problem of permanent magnet synchronous motor (PMSM) speed and unknown load torque estimation is addressed. For this purpose, a interval unknown input observer (UIO) for linear time-invariant (LTI) systems is used. First, the PMSM model is linearized in order to make it in a suitable form for the linear interval UIO. Then, the interval UIO is applied to allow the joint estimation of the motor speed and the unknown load torque disturbance. The main advantages of this approach is that it not only allows the joint state and unknown input estimation, but also to take the different uncertainty sources into account. Indeed, taking model and measurement uncertainty into account is crucial. Assuming that the measurement noise and disturbances are bounded, lower and upper bounds are first computed for the unmeasured state (motor speed) and then for the unknown input (load torque). The proposed approach and its limitations are demonstrated with the nonlinear PMSM model derived from its equivalent electrical circuit.
This paper develops and evaluate a technique to estimate the speed and unknown load torque of a permanent magnet synchronous motor (PMSM). An interval unknown input observer (UIO) for linear time-invariant (LTI) systems is designed and utilized to estimate the PMSM parameters. Interval UIOs are advantageous as they allow for the estimation of both states and unknown inputs, while accounting for varying uncertainty sources, such as model and measurement uncertainties inherent in dynamic systems and processes. First, the nonlinear PMSM model is linearized to transform it to a suitable form for application of the linear interval UIO. Then, the interval UIO is applied to jointly estimate the motor speed and the unknown load torque disturbance. Assuming that the measurement noise and disturbances are bounded, lower and upper bounds are first computed for the unmeasured state (motor speed) and then for the unknown input (load torque). The proposed approach and its limitations are demonstrated for the nonlinear PMSM model derived from its equivalent electrical circuit.
The improvement of the helicopter torque control system is discussed. At low to medium forward speeds helicopter performance is limited by the effectiveness of the means for counteracting main rotor torque and controlling sideslip airloads. These problems may be overcome by mounting strakes on the aft fuselage section. For single rotor helicopters whose main rotor rotates counter-clockwise as viewed from above, one of the strakes would be mounted in the upper lefthand quadrant and the second in the lower left hand quadrant. The strakes alter the air flow around the fuselage by separating the flow so as to produce lateral airloads on the tail boom which oppose main-rotor torque. The upper strake operates in a right crosswind to oppose main rotor torque, and the lower strake has effect in left crosswinds. The novelty of this invention resides in the simple and economical manner in which the helicopter tail boom may be modified by the addition of strakes in order to increase torque control, and reduce the need for supplemental mechanical means of torque control.
Graphite/epoxy laminates (T300/5208) were tested under bolt-bearing loads for a range of bolt clampup torques and for several test conditions involving water. High clampup torque improved both the static strength and fatigue limit by about 100 percent compared to a simple pin-bearing case, which had no through-the-thickness constraint. The static strength improvement was explained in terms of failure modes. Bolt clampup also influenced the hole elongation that developed before failure. For both the static and fatigue tests, the hole elongations were much larger for the low-torque-clampup case than for the pin-bearing case or for tests with moderate clampup torques. Tests in water degraded static bearing strength only slightly, but reduced the fatigue limit about 40 percent below that for tests conducted in air.
Graphite/epoxy laminates were tested under bolt-bearing loads for a range of bolt clampup torques and for several test conditions involving water. High clampup torque improved both the static strength and fatigue limit by about 100 percent compared to a simple pin-bearing case, which had no through-the-thickness constraint. The static strength improvement was explained in terms of failure modes. Bolt clampup also influenced the hole elongation that developed before failure. For both the static and fatigue tests, the hole elongations were much larger for the low-torque clampup. Tests in water degraded static bearing strength only slightly, but reduced the fatigue limit about 40 percent below that for tests conducted in air.
Proposed tool tightens or loosens several bolts, screws, nuts, or other threaded fasteners arranged in circle on compressor head, automotive wheel, pipe-end flange, or similar object. Enables assembly or disassembly in fraction of time needed to tighten fasteners one at a time. Simultaneously applies same torque to all fasteners, preventing distortion and enhancing reliability. Concept not limited to circular fastener patterns. Adapted to rectangular configurations like on engine intake manifolds, by adding gears to drive train to provide proper spacing. Designed to deliver fixed or adjustable maximum torque. To ensure even seal loading, piston pressure simultaneously ramped from initial to final values to maintain relatively constant torque loading on all fasteners until final specifications limit achieved.
Conditions are predicted under which limit cycles may be caused by the friction torque of the control moment gyroscope (CMG) output gimbal used in the Large Space Telescope (LST). The parameter plane analysis technique is described, and three separate models of the CMG output friction nonlinearity are used in three separate analyses. The results suggest that the Dahl model (included in model 3) is the best available friction model for use in dynamic analysis. The analysis and analog simulation indicate the absence of limit cycle behavior due to the CMG output gimbal friction nonlinearity for presently estimated LST numerical parameters and the occurrence of one stable and one unstable limit cycle if substantially larger numerical values are allowed for the CMG gimbal pivot friction parameter and/or the running friction torque.
A vast majority of utility-scale wind turbine generators in the United States are dependent on foreign- sourced rare-earth permanent magnets that are vulnerable to supply chain uncertainties. Many small wind original equipment manufacturers are motivated to pursue continuous improvements to the generator design to lower the material and production costs and improve performance by lowering cogging torque and increasing the efficiency. Traditional design and manufacturing offer limited opportunities. In this work, we demonstrate advanced design approaches for a 15-kW baseline wind turbine generator by making use of recent progress in three-dimensional (3D) printing of polymer- bonded magnets and, electrical and structural steel. We explore three methods of magnet parametrization using Bezier curves resulting in symmetric, asymmetric and multimaterial magnet designs. We employ a multiphysics approach combining parametric computer-aided design modeling, finite- element analysis and targeted sampling to identify novel designs with more opportunities for reducing rare-earth material, improving efficiency and minimizing cogging torque. The results show that asymmetric-pole design and multimaterial-pole designs offer a greater opportunity to minimize rare-earth magnet materials by up to 35% with similar performance as the baseline generator, suggesting newer opportunities with design freedom beyond traditional limits of symmetry and as allowed by 3D printing.
In the design of a new space suit it is necessary to have requirements that define what mobility space suit joints should be capable of achieving in both a system and at the component level. NASA elected to divide mobility into its constituent parts-range of motion (ROM) and torque- in an effort to develop clean design requirements that limit subject performance bias and are easily verified. Unfortunately, the measurement of mobility can be difficult to obtain. Current technologies, such as the Vicon motion capture system, allow for the relatively easy benchmarking of range of motion (ROM) for a wide array of space suit systems. The ROM evaluations require subjects in the suit to accurately evaluate the ranges humans can achieve in the suit. However, when it comes to torque, there are significant challenges for both benchmarking current performance and writing requirements for future suits. This is reflected in the fact that torque definitions have been applied to very few types of space suits and with limited success in defining all the joints accurately. This paper discussed the advantages and disadvantages to historical joint torque evaluation methods, describes more recent efforts directed at benchmarking joint torques of prototype space suits, and provides an outline for how NASA intends to address joint torque in design requirements for the Constellation Space Suit System (CSSS).
As part of the preliminary mission analysis of the Reusable Reentry Satellite (RRS) (planned for launching in the early to mid-1990s), the on-orbit attitude dynamics of the RRS were analyzed to quantify various parameters that would affect the attitude dynamics of the vehicle. The analysis simulated the attitude dynamics of the RRS due to aerodynamic forces coupled with the motion of the satellite moving around the orbit, estimated the levels of induced angular rates due to external disturbance torques while in orbit, and established the limits of operational orbit altitudes. The results show that, for a typical 60-day mission, orbit altitudes above 350 km are necessary to prevent undesirable orbit decay, with about 200 km as the lower limit. It was also found that, in order to maintain a pointing attitude toward the sun within an acceptable angular deviation for periods exceeding 8 hrs, it is necessary to orbit at an altitude above 600 km.
Flexible ribbon cable strap carries heat and electrical signals across rotational shaft without creating backlash torques at both extremes of rotation through limited angular range. Keeps its flexibility and nonbacklash properties at cryogenic temperatures. Used to connect delicate equipment, such as movable infrared sensors, requiring precise positioning. Adapted to greater or lesser angular travel by changing its length and offset and bias of ribbon cables.
The Mars Pathfinder Lander employs numerous mechanisms, as well as autonomous mechanical functions, during its Entry, Descent and Landing (EDL) Sequence. This is the first US lander of its kind, since it is unguided and airbag-protected for hard landing using airbags, instead of retro rockets, to soft land. The arrival condition, location, and orientation of the Lander will only be known by the computer on the Lander. The Lander will then autonomously perform the appropriate sequence to retract the airbags, right itself, and open, such that the Lander is nearly level with no airbag material covering the solar cells. This function uses two different types of mechanisms - the Airbag Retraction Actuators and the Lander Petal Actuators - which are designed for the high torque, low temperature, dirty environment and for limited life application. The development of these actuators involved investigating low temperature lubrication, Electrical Discharge Machining (EDM) to cut gears, and gear design for limited life use.