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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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Vapor-deposited sintering technique increases the feasible temperature range of transpiration-cooled structural members in combustion chambers. This technique produces a porous mass of refractory metal wires around a combustion chamber structural member. This mass acts as a transpiration-cooled surface for a thick-walled tube.
Program provides accurate analytical tool for development of optimum diffuser design for wide range of applications.
Previously cited in issue 10, p. 1378, Accession no. A83-25957
High moduli of elasticity potentially achievable. Suited for application in large diameter antennas on orbiting spacecraft. Fabrication process can accurately place dry graphite fibers and overwrap them with aluminum foil, resulting in straight, slender graphite tubes. Graphite fibers pulled out of creeled spools and fed through ceramic eyelets. Spools of aluminum foil mounted on rotating ring and capture graphite fiber as vertical winding machine carriage moves upward. Epoxy resin applied by mechanically spreading epoxy on tetrafluoroethylene mandrel by means of doctor blade attached to carriage.
Presented are the primary characteristics of the 5-meter erectable truss designated for the space station. The relatively large 5-meter truss dimension was chosen to provide a deep beam for high bending stiffness yet provide convenient mounting locations for space shuttle cargo bay size payloads which are 14.5 ft. (4.4 m) in diameter. Truss nodes and quick-attachment erectable joints are described which provide for evolutionary three-dimensional growth and for simple maintenance and repair. A mobile remote manipulator system is described which is provided to assist in station construction and maintenance. A discussion is also presented of the construction of the space station and the associated EVA time.
The primary characteristics of the 5-meter erectable truss is presented, which was baselined for the Space Station. The relatively large 5-meter truss dimension was chosen to provide a deep beam for high bending stiffness yet provide convenient mounting locations for space shuttle cargo bay size payloads which are approx. 14.5 ft (4.4 m) in diameter. Truss nodes and quick attachment erectable joints are described which provide for evolutionary three dimensional growth and for simple maintenance and repair. A mobile remote manipulator system is described which is provided to assist in station construction and maintenance. A discussion is also presented of the construction of the Space Station and the associated extravehicular active (EVA) time.
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A path planning method with collision avoidance for a general single chain nonredundant or redundant robot is proposed. Joint range boundary overruns are also avoided. The result is a sequence of joint vectors which are passed to a trajectory planner. A potential field algorithm in joint space computes incremental joint vectors delta-q = delta-q(sub a) + delta-q(sub c) + delta-q(sub r). Adding delta-q to the robot's current joint vector leads to the next step in the path. Delta-q(sub a) is obtained by computing the minimum norm solution of the underdetermined linear system J delta-q(sub a) = x(sub a) where x(sub a) is a translational and rotational force vector that attracts the robot to its goal position and orientation. J is the manipulator Jacobian. Delta-q(sub c) is a collision avoidance term encompassing collisions between the robot (links and payload) and obstacles in the environment as well as collisions among links and payload of the robot themselves. It is obtained in joint space directly. Delta-q(sub r) is a function of the current joint vector and avoids joint range overruns. A higher level discrete search over candidate safe positions is used to provide alternatives in case the potential field algorithm encounters a local minimum and thus fails to reach the goal. The best first search algorithm A* is used for graph search. Symmetry properties of the payload and equivalent rotations are exploited to further enlarge the number of alternatives passed to the potential field algorithm.
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