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At least 145 records · Page 8

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NASA NTRS2013

Robotics On-Board Trainer (ROBoT)

ROBoT is an on-orbit version of the ground-based Dynamics Skills Trainer (DST) that astronauts use for training on a frequent basis. This software consists of two primary software groups. The first series of components is responsible for displaying the graphical scenes. The remaining components are responsible for simulating the Mobile Servicing System (MSS), the Japanese Experiment Module Remote Manipulator System (JEMRMS), and the H-II Transfer Vehicle (HTV) Free Flyer Robotics Operations. The MSS simulation software includes: Robotic Workstation (RWS) simulation, a simulation of the Space Station Remote Manipulator System (SSRMS), a simulation of the ISS Command and Control System (CCS), and a portion of the Portable Computer System (PCS) software necessary for MSS operations. These components all run under the CentOS4.5 Linux operating system. The JEMRMS simulation software includes real-time, HIL, dynamics, manipulator multi-body dynamics, and a moving object contact model with Tricks discrete time scheduling. The JEMRMS DST will be used as a functional proficiency and skills trainer for flight crews. The HTV Free Flyer Robotics Operations simulation software adds a functional simulation of HTV vehicle controllers, sensors, and data to the MSS simulation software. These components are intended to support HTV ISS visiting vehicle analysis and training. The scene generation software will use DOUG (Dynamic On-orbit Ubiquitous Graphics) to render the graphical scenes. DOUG runs on a laptop running the CentOS4.5 Linux operating system. DOUG is an Open GL-based 3D computer graphics rendering package. It uses pre-built three-dimensional models of on-orbit ISS and space shuttle systems elements, and provides realtime views of various station and shuttle configurations.

Johnson, Genevieve↗

NASA NTRS1984

Dynamics of early planetary gear trains

A method to analyze the static and dynamic loads in a planetary gear train was developed. A variable-variable mesh stiffness (VVMS) model was used to simulate the external and internal spur gear mesh behavior, and an equivalent conventional gear train concept was adapted for the dynamic studies. The analysis can be applied either involute or noninvolute spur gearing. By utilizing the equivalent gear train concept, the developed method may be extended for use for all types of epicyclic gearing. The method is incorporated into a computer program so that the static and dynamic behavior of individual components can be examined. Items considered in the analysis are: (1) static and dynamic load sharing among the planets; (2) floating or fixed Sun gear; (3) actual tooth geometry, including errors and modifications; (4) positioning errors of the planet gears; (5) torque variations due to noninvolute gear action. A mathematical model comprised of power source, load, and planetary transmission is used to determine the instantaneous loads to which the components are subjected. It considers fluctuating output torque, elastic behavior in the system, and loss of contact between gear teeth. The dynamic model has nine degrees of freedom resulting in a set of simultaneous second order differential equations with time varying coefficients, which are solved numerically. The computer program was used to determine the effect of manufacturing errors, damping and component stiffness, and transmitted load on dynamic behavior. It is indicated that this methodology offers the designer/analyst a comprehensive tool with which planetary drives may be quickly and effectively evaluated.

August, R.↗

NASA NTRS1981

Dynamics of solid dispersions in oil during the lubrication of point of contacts. Part 2: Molybdenum disulfide

A Hertzian contact consisting of a steel ball in contact with a glass disk is lubricated with MoS2 dispersions and observed by optical microscopy at various slide/roll conditions. In general the behavior of MoS2 and graphite are similar. That is, the solids tend to enter the contact and form a film on the contacting surfaces whenever a rolling component of motion is used, but solid particles seldom enter the contact during pure sliding. The MoS2 has more pronounced plastic flow behavior than graphite. However, the polished steel ball is more readily scratched by MoS2 than by graphite. Under the conditions of these studies, lower friction and wear are observed with pure oil rather than with the dispersions. However under other conditions (such as different contact geometry or rougher surfaces) the solid lubricant dispersions might be beneficial.

Cusano, C.↗

NASA NTRS1983

Thermal Elastohydrodynamic Lubrication of Spur Gears

Analysis and computer program (TELSGE) predict variations of dynamic load and surface temperature and lubricant film thickness along contacting path of pair of involute spur gears. Analysis of dynamic load includes effect of gear inertia, effect of load sharing of adjacent teeth, and effect of variable tooth stiffness obtained by element method. TELSGE written in FORTRAN IV.

Wang, K. L.↗

NASA NTRS1985

A Positive-Shutoff Fuel Valve

Pneumatically actuated ball valve utilizes continuous contact ball seat seals and dynamic delta seals in lieu of bellows to seal against low pressure leads in fuel supply lines.

Tolpen, J.↗

NASA NTRS1991

Analysis of radiative and phase-change phenomena with application to space-based thermal energy storage

The simplified geometry for the analysis is an infinite, axis symmetric annulus with a specified solar flux at the outer radius. The inner radius is either adiabatic (modeling Flight Experiment conditions), or convective (modeling Solar Dynamic conditions). Liquid LiF either contacts the outer wall (modeling ground based testing), or faces a void gap at the outer wall (modeling possible space based conditions). The analysis is presented in three parts: Part 3 considers and adiabatic inner wall and linearized radiation equations; part 2 adds effects of convection at the inner wall; and part 1 includes the effect of the void gap, as well as previous effects, and develops the radiation model further. The main results are the differences in melting behavior which can occur between ground based 1 g experiments and the microgravity flight experiments. Under 1 gravity, melted PCM will always contact the outer wall having the heat flux source, thus providing conductance from this source to the phase change front. In space based tests where a void gap may likely form during solidification, the situation is reversed; radiation is now the only mode of heat transfer and the majority of melting takes place from the inner wall.

Lund, Kurt O.↗

NASA NTRS2008

Misalignment in Gas Foil Journal Bearings: An Experimental Study

As gas foil journal bearings become more prevalent in production machines, such as small gas turbine propulsion systems and microturbines, system-level performance issues must be identified and quantified in order to provide for successful design practices. Several examples of system-level design parameters that are not fully understood in foil bearing systems are thermal management schemes, alignment requirements, balance requirements, thrust load balancing, and others. In order to address some of these deficiencies and begin to develop guidelines, this paper presents a preliminary experimental investigation of the misalignment tolerance of gas foil journal bearing systems. Using a notional gas foil bearing supported rotor and a laser-based shaft alignment system, increasing levels of misalignment are imparted to the bearing supports while monitoring temperature at the bearing edges. The amount of misalignment that induces bearing failure is identified and compared to other conventional bearing types such as cylindrical roller bearings and angular contact ball bearings. Additionally, the dynamic response of the rotor indicates that the gas foil bearing force coefficients may be affected by misalignment.

Howard, Samuel A.↗

NASA NTRS2013

Basic Operational Robotics Instructional System

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Todd, Brian Keith↗

NASA NTRS1982

Dynamic responses of graphite/epoxy laminated beam to impact of elastic spheres

Wave propagation in 90/45/90/-45/902s and 0/45/0/-45/02s laminates of a graphite/epoxy composite due to impact of a steel ball was investigated experimentally and also by using a high order beam finite element. Dynamic strain responses at several locations were obtained using strain gages. The finite element program which incorporated statically determined contact laws was employed to calculate the contact force history as well as the target beam dynamic deformation. The comparison of the finite element solutions with the experimental data indicated that the static contact laws for loading and unloading (developed under this grant) are adequate for the dynamic impact analysis. It was found that for the 0/45/0/-45/02s laminate which has a much larger longitudinal bending rigidity, the use of beam finite elements is not suitable and plate finite element should be used instead.

Sun, C. T.↗

NASA NTRS1993

Engineering science research issues in high power density transmission dynamics for aerospace applications

This paper discusses analytical and experimental approaches that will be needed to understand dynamic, vibro-acoustic and design characteristics of high power density rotorcraft transmissions. Complexities associated with mathematical modeling of such systems will be discussed. An overview of research work planned during the next several years will be presented, with emphasis on engineering science issues such as gear contact mechanics, multi-mesh drive dynamics, parameter uncertainties, vibration transmission through bearings, and vibro-acoustic characteristics of geared rotor systems and housing-mount structures. A few examples of work in progress are cited.

Singh, Rajendra↗

NASA NTRS1987

Dynamical mass transfer in cataclysmic binaries

When a binary comes into contact and mass transfer begins, orbital angular momentum is stored in the accretion disk until the disk couples tidally to the binary system. Taam and McDermott (1987) have suggested that this leads to unstable dynamical mass transfer in many cataclysmic variables in which mass transfer would otherwise be stable, and that it explains the gap between 2 and 3 h in the orbital period distribution of these systems. Here the consequences of this hypothesis for the evolution of cataclysmic binaries are explored. It is found that systems coming into contact longward of the period gap undergo one or more episodes of dynamical mass transfer.

Melia, Fulvio↗

NASA NTRS1976

Dynamics of solid lubrication as observed by optical microscopy

A bench metallograph was converted into a micro contact imager by the addition of a tribometer employing a steel ball in sliding contact with a glass disk. The sliding contact was viewed in real time by means of projection microscope optics. The dynamics of abrasive particles and of solid lubricant particles within the contact were observed in detail. The contact was characterized by a constantly changing pattern of elastic strain with the passage of surface discontinuities and solid particles. Abrasive particles fragmented upon entering the contact, embedded in one surface and scratched the other; in contrast, the solid lubricant particles flowed plastically into thin films. The rheological behavior of the lubricating solids gave every appearance of a paste-like consistency within the Hertzian contact.

Sliney, H. E.↗

NASA NTRS1976

Dynamics of solid lubrication as observed by optical microscopy

A bench metallograph was converted into a 'micro contact imager' by the addition of a tribometer employing a steel ball in sliding contact with a glass disk. The sliding contact was viewed in real time by means of projection microscope optics. The dynamics of abrasive particles and of solid lubricant particles within the contact were observed in detail. The contact was characterized by a constantly changing pattern of elastic strain with the passage of surface discontinuities and solid particles. Abrasive particles fragmented upon entering the contact, embedded in one surface and scratched the other; in contrast, the solid lubricant particles flowed plastically into thin films. The rheological behavior of the lubricating solids gave every appearance of a paste-like consistency within the Hertzian contact.

Sliney, H. E.↗

NASA NTRS2001

Pathfinder Photogrammetry Research for Ultra-Lightweight and Inflatable Space Structures

The defining characteristic of ultra-lightweight and inflatable space structures is that they are both very large and very low mass. This makes standard contacting methods of measurement (e.g. attaching accelerometers) impractical because the dynamics of the structure would be changed by the mass of the contacting instrument. Optical measurements are therefore more appropriate. Photogrammetry is a leading candidate for the optical analysis of gossamer structures because it allows for the measurement of a large number of points, is amenable to time sequences, and offers the potential for a high degree of accuracy. The purpose of this thesis is to develop the methodology and determine the effectiveness of a photogrammetry system in measuring ultra-lightweight and inflatable space structures. The results of this thesis will be considered in the design of an automated photogrammetry system for the l6m-diameter vacuum chamber at the NASA Langley Research Center.

Giersch, Louis Roy Miller↗

NASA NTRS1987

Electric fields and double layers in plasmas

Various mechanisms for driving double layers (DLs) in plasmas are described, including applied potential drops, currents, contact potentials, and plasma expansions. Somne dynamic features of the DLs are discussed; and it is demonstrated that DLs and the currents through them undergo slow oscillations, determined by the ion transit time across an effective length of the system in which the DLs form. It is shown that a localized potential dip forms at the low potential end of a DL, which interrupts the electron current through it according to the Langmuir criterion whenever the ion flux into the DL is disrupted. Also considered is the generation of electric fields perpendicular to the ambient magnetic field by contact potentials.

Singh, Nagendra↗

NASA NTRS1996

Performance Robustness of Manipulator Collision Controller

In this paper, we propose that the manipulator impact control problem be approached from a stochastic optimal control perspective. The reason is that not only is such approach be able to model uncertainties in contact environment, force sensing, as well as manipulator dynamics, the controllers obtained is optimally robust in terms of performance. This result is verified by analyses and simulations.

model uncertainties contact environment force sens↗

NASA NTRS1987

Electric fields and double layers in plasmas

Various mechanisms for driving double layers in plasmas are briefly described, including applied potential drops, currents, contact potentials, and plasma expansions. Some dynamical features of the double layers are discussed. These features, as seen in simulations, laboratory experiments, and theory, indicate that double layers and the currents through them undergo slow oscillations which are determined by the ion transit time across an effective length of the system in which double layers form. It is shown that a localized potential dip forms at the low potential end of a double layer, which interrupts the electron current through it according to the Langmuir criterion, whenever the ion flux into the double is disrupted. The generation of electric fields perpendicular to the ambient magnetic field by contact potentials is also discussed. Two different situations were considered; in one, a low-density hot plasma is sandwiched between high-density cold plasmas, while in the other a high-density current sheet permeates a low-density background plasma. Perpendicular electric fields develop near the contact surfaces. In the case of the current sheet, the creation of parallel electric fields and the formation of double layers are also discussed when the current sheet thickness is varied. Finally, the generation of electric fields and double layers in an expanding plasma is discussed.

Singh, Nagendra↗

NASA NTRS1992

Compliance control with embedded neural elements

The authors discuss a control approach that embeds the neural elements within a model-based compliant control architecture for robotic tasks that involve contact with unstructured environments. Compliance control experiments have been performed on actual robotics hardware to demonstrate the performance of contact control schemes with neural elements. System parameters were identified under the assumption that environment dynamics have a fixed nonlinear structure. A robotics research arm, placed in contact with a single degree-of-freedom electromechanical environment dynamics emulator, was commanded to move through a desired trajectory. The command was implemented by using a compliant control strategy.

Venkataraman, S. T.↗