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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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Robot Hand Would Adapt To Contours

Conceptual device uses hydraulic pressure to activate fingers. Projections on opposing fingers of proposed robot hand automatically conform to contours of object on contact. Pistons connected to common reservoir provide gentle, firm grip. Fingers communicate with each other via hydraulic pressure, without elaborate control system. Pistons move in and out, and tips slope to match contour of object. Their action tends to center object on finger. Hand used to grasp objects of various shapes and sizes. Conforming process passive; pressure of object on one or several pad elements forces other pad elements to touch it. Would not use elaborate mechanisms involving motors, cams, and cables.

Collins, Earl R., Jr.↗
NASA NTRS1989

The 3-D vision system integrated dexterous hand

Most multifingered hands use a tendon mechanism to minimize the size and weight of the hand. Such tendon mechanisms suffer from the problems of striction and friction of the tendons resulting in a reduction of control accuracy. A design for a 3-D vision system integrated dexterous hand with motor control is described which overcomes these problems. The proposed hand is composed of three three-jointed grasping fingers with tactile sensors on their tips, a two-jointed eye finger with a cross-shaped laser beam emitting diode in its distal part. The two non-grasping fingers allow 3-D vision capability and can rotate around the hand to see and measure the sides of grasped objects and the task environment. An algorithm that determines the range and local orientation of the contact surface using a cross-shaped laser beam is introduced along with some potential applications. An efficient method for finger force calculation is presented which uses the measured contact surface normals of an object.

Luo, Ren C.↗
NASA NTRS1989

Servomotor-Linked Articulated Versatile End Effector (SLAVE2)

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of approximately three feet (0.9 m). The fingers are to be designed to accommodate proximity, tactile, or force/torque sensors imbedded in their structure. In order to provide for the simultaneous control of the operator wears a specially instrumented glove which produces control signals corresponding to the finger configuration and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development.

Ajayi-Majebi, Abayomi J.↗
NASA NTRS1993

Testing of ROMPS robot mechanical interfaces and compliant device

The Robot Operated Materials Processing System (ROMPS) has been developed at Goddard Space Flight Center (GSFC) under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The ROMPS is currently scheduled for flight in 1994 as a Hitchhiker payload in a Get Away Special (GAS) can. An important component of the ROMPS is a three degree-of-freedom (DOF) robot which will be responsible for carrying out the required tasks of in-space processing of selected materials. This report deals with testing of the mating capability of the ROMPS robot fingers with its various mechanical interfaces. In particular, the test plan will focus on studying the capability of a compliance mechanism mounted on the robot fingers in accommodating misalignments between the robot fingers and the interfaces during the mating. The report is organized as follows: Section 2 represents the main components of the ROMPS robot and briefly describes its operations. Section 3 presents the objectives of the test and outlines the test plan. The testbed comprising a Steward Platform-based high precision manipulator and associated data acquisition and control systems is described in Section 4. Section 5 presents results of numerous experiments conducted to study the mating capability of the robot fingers with its various interfaces under misalignments. The report is concluded with observations and recommendations based on the test results.

Nguyen, Charles C.↗
NASA NTRS1992

Power assist EVA glove development

Structural modeling of the EVA glove indicates that flexibility in the metacarpophalangeal (MCP) joint can be improved by selectively lowering the elasticity of the glove fabric. Two strategies are used to accomplish this. One method uses coil springs on the back of the glove to carry the tension in the glove skin due to pressurization. These springs carry the loads normally borne by the glove fabric, but are more easily deformed. An active system was also designed for the same purpose and uses gas filled bladders attached to the back of the EVA glove that change the dimensions of the back of the glove and allow the glove to bend at the MCP joint, thus providing greater flexibility at this joint. A threshold control scheme was devised to control the action of the joint actuators. Input to the controller was provided by thin resistive pressure sensors placed between the hand and the pressurized glove. The pressure sensors consist of a layer of polyester film that has a thin layer of ink screened on the surface. The resistivity of the ink is pressure dependent, so an extremely thin pressure sensor can be fabricated by covering the ink patch with another layer of polyester film and measuring the changing resistance of the ink with a bridge circuit. In order to sense the force between the hand and the glove at the MCP joint, a sensor was placed on the palmar face of the middle finger. The resultant signal was used by the controller to decide whether to fill or exhaust the bladder actuators on the back of the glove. The information from the sensor can also be used to evaluate the effectiveness of a given control scheme or glove design since the magnitude of the measured pressures gives some idea of the torque required to bend a glove finger at the MCP joint. Tests of this actuator, sensor, and control system were conducted in an 57.2 kPa glove box by performing a series of 90 degree finger bends with a glove without an MCP joint assembly, a glove with the coil spring assembly, and with the four fingered actuated glove. The tests of these three glove designs confirm the validity of the model.

Main, John A.↗
NASA NTRS1993

Grasp synthesis for planar and solid objects

An analysis of the mechanics for multifingered grasps of planar and solid objects is presented. A method that is intuitive and computationally efficient is proposed. The search for finger grasp positions is combined with finger (manipulation and squeezing) for calculations in a single method. Physically, the squeezing and frictional effects between the fingers and the grasped objects are fully visualized through this approach. Mathematically, the complexity of finger force calculations are reduced when this scheme is compared with previously available schemes. The efficiency of the scheme is illustrated. On the basis of the analysis of grasp mechanics, an algorithm for quantitatively choosing the grasp points is proposed to ensure stable grasps.

Chen, Yu-Che↗
NASA NTRS1993

Design and control of a hand exoskeleton for use in extravehicular activities

To counter problems inherent in extravehicular activities (EVA) and complex space operations, an exoskeleton, a unique adaptive structure, has been designed. The exoskeleton fits on the hand and powers the proximal and middle phalanges of the index finger, the middle finger, and the combined ring and little finger. A kinematic analysis of the exoskeleton joints was performed using the loop-closure method. This analysis determined the angular displacement and velocity relationships of the exoskeleton joints. This information was used to determine the output power of the exoskeleton. Three small DC motors (one for each finger) are used to power the exoskeleton. The motors are mounted on the forearm. Power is transferred to the exoskeleton using lead screws. The control system for the exoskeleton measures the contact force between the operator and the exoskeleton. This information is used as the input to drive the actuation system. The control system allows the motor to rotate in both directions so that the operator may close or open the exoskeleton.

Shields, B.↗
NASA NTRS1999

Unusual Contact-Line Dynamics of Thick Films and Drops

We report several novel phenomena In contact-line and fingering dynamics of macroscopic spinning drops and gravity-driven films with dimensions larger than the capillary length. It is shown through experimental and theoretical analysis that such macroscopic films can exhibit various interfacial shapes, including multi valued ones, near the contact line due to a balance between the external body forces with capillarity. This rich variety of front shapes couples with the usual capillary, viscous, and intermolecular forces at the contact line to produce a rich and unexpected spectrum of contact-line dynamics. A single finger develops when part of the front becomes multivalued on a partially wetting macroscopic spinning drop in contrast to a different mechanism for microscopic drops of completely wetting fluids. Contrary to general expectation, we observe that, at high viscosity and low frequencies of rotation, the speed of a glycerine finger increases with increasing viscosity. Completely wetting Dow Corning 200 Fluid spreads faster over a dry inclined plane than a prewetted one. The presence of a thin prewetted film suppresses fingering both for gravity-driven flow and for spin coating. We analyze some of these unique phenomena in detail and offer qualitative physical explanations for the others.

Veretennikov, Igor↗
NASA NTRS2003

Mixing and Transport in the Solar Nebula

Boss & Vanhala (2000, 2001) prepared reviews of triggered collapse and injection models, using Prudence Foster's finite differences code at very high spatial resolution (440 x 1440 cells) to demonstrate the convergence of the R-T fingers in triggered injection models. A two dimensional hydrodynamical calculation with unprecedentedly high spatial resolution (960 x 2880 zones, or almost 3 million grid points) demonstrated that it suitable shock front can both trigger the collapse of an otherwise stable presolar cloud, and inject shock front particles into the collapsing cloud through the formation of what become Rayleigh-Taylor fingers of compressed fluid layers falling into the gravitational potential well of the growing protostar. These calculations suggest that heterogeneity derived from these R-T fingers will persist down to the scale of their injection onto the surface of the solar nebula. Haghighipour developed a numerical code capable of calculating the orbital evolution of dust grains of varied sizes in a gaseous nebula, subject to Epstein and Stokes drag as well as the self-gravity of the disk. In collaboration with the PI and George W. Wetherill, Haghighipour has been involved in development of a new idea on the possibility of rapid formation of ice giant planets via the disk instability mechanism. Haghighipour studied the stability of a five-body system consisting of the Sun and four protoplanets by numerically integrating their equations of motions. Using Levison and Duncan s SWIFT integrator, Haghighipour showed that, depending on the orbital parameters of the bodies, such a system can be stable for 0.1-10 Myr. Time periods of 1 Myr or more are long enough to be consistent with the time scale proposed for the formation of giant planets by the disk instability mechanism and the photoevaporation of the gaseous envelopes of the outermost protoplanets by a nearby OB star, resulting in the formation of ice giant planets. The PI has used his three dimensional models of marginally gravitationally unstable disks to study the preservation of isotopic heterogeneity in evolving protoplanetary disks. Such heterogeneity might arise from the infall onto the disk s surface of solids processed in the X-wind region of the disk, or derived from stellar nucleosynthesis and injected by R-T fingers. The technique used consists of solving a color equation, identical to the gas continuity equation, which follows the time evolution in three space dimensions of an arbitrarily placed initial color field, i.e., a dye inserted the disk. The models show that significant concentrations of color could persist for time periods of about a thousand years or more, even in the most dynamically active region of such a disk. Such a time period might be long enough for solids to coagulate and grow to significant sizes while retaining the isotopic signature of their birth region in the nebula.

Boss, Alan P.↗
NASA NTRS2003

Fastener starter tool

A fastener starter tool includes a number of spring retention fingers for retaining a small part, or combination of parts. The tool has an inner housing, which holds the spring retention fingers, a hand grip, and an outer housing configured to slide over the inner housing and the spring retention fingers toward and away from the hand grip, exposing and opening, or respectively, covering and closing, the spring retention fingers. By sliding the outer housing toward (away from) the hand grip, a part can be released from (retained by) the tool. The tool may include replaceable inserts, for retaining parts, such as screws, and configured to limit the torque applied to the part, to prevent cross threading. The inner housing has means to transfer torque from the hand grip to the insert. The tool may include replaceable bits, the inner housing having means for transferring torque to the replaceable bit.

Chandler, Faith T.↗
NASA NTRS2014

Modelflow Estimates of Stroke Volume Do Not Correlate With Doppler Ultrasound Estimates During Upright Posture

Orthostatic intolerance affects 60‐80% of astronauts returning from long‐duration missions, representing a significant risk to completing mission‐critical tasks. While likely multifactorial, a reduction in stroke volume (SV) represents one factor contributing to orthostatic intolerance during stand and head up tilt (HUT) tests. Current measures of SV during stand or HUT tests use Doppler ultrasound and require a trained operator and specialized equipment, restricting its use in the field. BeatScope (Finapres Medical Systems BV, The Netherlands) uses a modelflow algorithm to estimate SV from continuous blood pressure waveforms in supine subjects; however, evidence supporting the use of Modelflow to estimate SV in subjects completing stand or HUT tests remain scarce. Furthermore, because the blood pressure device is held extended at heart level during HUT tests, but allowed to rest at the side during stand tests, changes in the finger arterial pressure waveform resulting from arm positioning could alter modelflow estimated SV. The purpose of this project was to compare Doppler ultrasound and BeatScope estimations of SV to determine if BeatScope can be used during stand or HUT tests. Finger photoplethysmography was used to acquire arterial pressure waveforms corrected for hydrostatic finger‐to‐heart height using the Finometer (FM) and Portapres (PP) arterial pressure devices in 10 subjects (5 men and 5 women) during a stand test while simultaneous estimates of SV were collected using Doppler ultrasound. Measures were made after 5 minutes of supine rest and while subjects stood for 5 minutes. Next, SV estimates were reacquired while each arm was independently raised to heart level, a position similar to tilt testing. Supine SV estimates were not significantly different between all three devices (FM: 68+/-20, PP: 71+/-21, US: 73+/-21 ml/beat). Upon standing, the change in SV estimated by FM (‐18+/-8 ml) was not different from PP (‐21+/-12), but both were significantly less than US (‐37+/-16 ml, p<.05). Raising finger BP devices to heart level caused no significant change in SV measured with any of the devices (FM: 1.5+/-19, PP: 1.7+/-26, US: 0.5+/-6), although variability was 3‐6x greater as assessed by both blood pressure devices compared to US. Retrospective analysis of blood pressure data to assess SV in 11 supine subjects revealed significantly different estimates between methods (FM: 95+/-17, US: 75+/-32, p<.05), but the change in SV resulting from HUT was similar between methods (FM: ‐37+/-9, US: ‐40+/-18 ml). However, the correlation coefficient determined from pairs of SV estimated by US and FM was weak (r2=0.03). These data suggest Modelflow cannot be used in lieu of Doppler ultrasound to estimate SV during stand or HUT tests. Further investigation should focus on identifying factors contributing to differences between these measurement techniques in order to make use of a simple method for assessing beat‐by‐beat changes in SV during postural changes, especially during field testing.

Ferguson, Connor R.↗
NASA NTRS2015

Feasibility Assessment of an EVA Glove Sensing Platform to Evaluate Potential Hand Injury Risk Factors

Injuries to the hands are common among astronauts who train for extravehicular activity (EVA). When the gloves are pressurized, they restrict movement and create pressure points during tasks, sometimes resulting in pain, muscle fatigue, abrasions, and occasionally more severe injuries such as onycholysis. A brief review of the Lifetime Surveillance of Astronaut Health's injury database reveals that 58% of total astronaut hand and arm injuries from NBL training between 1993 and 2010 occurred either to the fingernail, MCP, or fingertip. The purpose of this study was to assess the potential of using small sensors to measure force acting on the fingers and hand within pressurized gloves and other variables such as blood perfusion, skin temperature, humidity, fingernail strain, skin moisture, among others. Tasks were performed gloved and ungloved in a pressurizable glove box. The test demonstrated that fingernails saw greater transverse strain levels for tension or compression than for longitudinal strain, even during axial fingertip loading. Blood perfusion peaked and dropped as the finger deformed during finger presses, indicating an initial dispersion and decrease of blood perfusion levels. Force sensitive resistors to force plate comparisons showed similar force curve patterns as fingers were depressed, indicating suitable functionality for future testing. Strategies for proper placement and protection of these sensors for ideal data collection and longevity through the test session were developed and will be implemented going forward for future testing.

Reid, Christopher R.↗
NASA NTRS2023

New York Ecological Conservation: Evaluating Agricultural Conservation Easement Impact Using Earth Observations to Examine Avoided Soil Carbon Loss to Development

Farmland provides ecosystems and communities with services ranging from habitat conservation to food security. As total U.S. farmland continues to decline, agricultural lands near urban areas are especially vulnerable. Our project partners—Finger Lakes Land Trust, Genesee Land Trust, and Saratoga Preserving Land and Nature (PLAN)—can use study results to better profile farmland vulnerability, issuing conservation easements to protect maximum acreage in Saratoga County and the Finger Lakes Region of New York. Multiple existing studies effectively use remote sensing imagery to analyze historical land cover and forecast future change. This study examined soil carbon stocks and land cover change to estimate avoided soil carbon loss. We also predicted farmland vulnerability. We completed these analyses using European Space Agency (ESA) and NASA Earth observations that include Landsat 5 Thematic Mapper (TM), Landsat 8 Operational Land Imager (OLI), Landsat 9 OLI-2, Sentinel-2 Multispectral Instrument (MSI), and Suomi National Polar-Orbiting Partnership (NPP) Visible Infrared Imaging Radiometer Suite (VIIRS) for nighttime lights data that aided in the land change model analysis. We determined that the conversion of agriculture to development from 1990 to 2022 occurred at rates of 0.91% (Finger Lakes) and 7% (Saratoga). Urban development is predicted to increase surrounding urban centers through 2030 and 2050. We also estimate that between 26.5 and 348,101 kilotons (Finger Lakes) and 3.7 and 58,006 kilotons (Saratoga) of soil carbon losses have been avoided through agricultural easements. Findings from this study will support our partners in determining agricultural conservation easement benefits and prioritizing the acquisition of future easement sites.

Agriculture↗
NASA NTRS2023

Transformable Linkage-Based Gripper for Multi-Mode Grasping and Manipulation

Gripper hardware design often involves a trade-off between distinct and sometimes opposing goals (e.g., high grasping force vs. gentleness). To address this trade-off within a single device, we present a multi-mode gripper with fingers that are scissor linkages, that can actively transform between three distinct modes by varying the number and locations of mechanical singularities. Each of these modes has properties that are suitable for specific needs. Mode 1 provides high grip strength, using a short lever arm and rigid structure. Mode 2 allows precise finger positioning and in-hand manipulation, using two independently controlled DOFs per finger. Mode 3 provides underactuated grasping that can passively adapt to delicate or irregularly shaped objects, with four DOFs per finger. The kinematic relationships, joint torques, and fingertip forces are derived analytically for each of the three modes. Gripper performance and the kinematic model are verified experimentally.

Junghan Kwon↗
NASA NTRS2004

Comparison of different cooling regimes within a shortened liquid cooling/warming garment on physiological and psychological comfort during exercise

The aim of this study was to compare the effectiveness of different cooling regime intensities to maintain physiological and subjective comfort during physical exertion levels comparable to that engaged in during extravehicular activities (EVA) in space. We studied eight subjects (six males, two females) donned in our newly developed physiologically based shortened liquid cooling/warming garment (SLCWG). Rigorous (condition 1) and mild (condition 2) water temperature cooling regimes were compared at physical exertion levels comparable to that performed during EVA to ascertain the effectiveness of a lesser intensity of cooling in maintaining thermal comfort, thus reducing energy consumption in the portable life support system. Exercise intensity was varied across stages of the session. Finger temperature, rectal temperature, and subjective perception of overall body and hand comfort were assessed. Finger temperature was significantly higher in the rigorous cooling condition and showed a consistent increase across exercise stages, likely due to the restriction of heat extraction because of the intensive cold. In the mild cooling condition, finger temperature exhibited an overall decline with cooling, indicating greater heat extraction from the body. Rectal temperature was not significantly different between conditions, and showed a steady increase over exercise stages in both rigorous and mild cooling conditions. Ratings of overall comfort were 30% higher (more positive) and more stable in mild cooling (p<0.001). The mild cooling regime was more effective than rigorous cooling in allowing the process of heat exchange to occur, thus maintaining thermal homeostasis and subjective comfort during physical exertion.

NASA Discipline Life Sciences Technologies↗
DOE OSTI2025

Low-Cost, Screen-Printed Silver Metal Complex Inks for Silicon Heterojunction Solar Cells

Screen printing using metal particle pastes, the current photovoltaic industry metallization standard, provides fast and reliable metal grids for silicon solar cells. Recently, metal complex or reactive metal inks are attracting research interest due to their significantly low cost and higher performance compared to traditional nanoparticle silver pastes. In this work, we demonstrate, for the first time, screen-printed high-efficiency silicon heterojunction solar cells metallized by silver metal complex inks on industrial G1-size (158.75 x 158.75 mm2) wafers. We demonstrate screen-printed Ag metal complex ink grid patterns with continuous fingers ~100-120 ..mu..m wide. The printed Ag grid is very thin (~1 ..mu..m), which is an order of magnitude thinner than the current ~20-30 ..mu..m fingers printed with low-temperature nanoparticle-based pastes. Double printing allows silicon heterojunction devices with efficiencies >20%. This is the highest efficiency so far, to our knowledge, of industrial solar cell precursors using this metallization technology. Simulation results suggested that increasing the thickness of the metal film does not significantly improve efficiency due to the dense, highly conductive films. So, a single print of ~1 ..mu..m finger would be enough to produce cells that perform similarly to a ~20 ..mu..m thick nanoparticle paste printed cells. Additionally, solar cells printed on G1 wafers with silver metal complex ink required more than 10 times less silver (~0.03 g) compared to those using silver/copper nanoparticle paste (~0.4 g of Ag). These results indicate that metal complex inks are a very promising replacement for silver nanoparticle pastes for industrial-scale metallization in an age of resource scarcity and high costs of noble metals.

14 SOLAR ENERGY↗
NASA NTRS1976

Optimized metallization patterns for large-area silicon solar cells

Design criteria is presented for optimizing the front-surface metallization pattern of large-area silicon solar cells. A computer program calculates the spacing of metal fingers which minimizes resistive and shadowing losses. Finger spacing and efficiency for the optimum design are presented as a function of finger width and cell size. It is shown that quantitative evaluation of metallization pattern options can be made without cell fabrication.

Matzen, W. T.↗
NASA NTRS1987

Apparatus and method of capturing an orbiting spacecraft

Apparatus and a method of capturing an orbiting spacecraft by attaching a grapple fixture are discussed. A probe is inserted into an opening, such as a rocket nozzle, in the spacecraft until a stop on the prove mechanism contacts the spacecraft. A lever is actuated releasing a spring loaded rod which moves axially along the probe removing a covering sleeve to expose spring loaded toffle fingers which pivot open engaging the side of the opening. The probe is shortened and tensioned by turning a screw thread, pressing the fingers inside of the opening to compress the spacecraft between the toggle fingers and the stop. A grapple fixture attached to the probe, which is thus secured to the spacecraft, is engaged by appropriate retrieval means such as a remote manipulator arm.

Harwell, William D.↗