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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 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Probe for Sampling of Interstitial Fluid From Bone

An apparatus characterized as both a membrane probe and a bone ultrafiltration probe has been developed to enable in vivo sampling of interstitial fluid in bone. The probe makes it possible to measure the concentration of calcium and other constituents of the fluid that may be relevant to bone physiology. The probe could be especially helpful in experimental studies of microgravitational bone loss and of terrestrial bone-loss disease states, including osteoporosis. The probe can be implanted in the bone tissue of a living animal and can be used to extract samples of the interstitial bone fluid from time to time during a long-term study. The probe includes three 12-cm-long polyacrylonitrile fibers configured in a loop form and attached to polyurethane tubing [inside diameter 0.025 in. (0.64 mm), outside diameter 0.040 in. (1 mm)]; the attachment is made by use of a 1-cm-long connecting piece of polyurethane tubing [inside diameter 0.035 0.003 in. (0.89 0.08 mm), outside diameter 0.060 0.003 in. (1.52 0.08 mm)]. At the distal end, a 2-cm-long piece of polyurethane tubing of the same inner and outer diameters serves as a connector to a hub. A 1-cm long piece of expanded poly (tetrafluoroethylene) tubing over the joint between the fibers and the connecting tubing serves as a tissue-in-growth site.

Janle, Elsa M.↗
NASA NTRS1983

Transducer Joint for Kidney-Stone Ultrasonics

Ultrasonic therapy for kidney stones improved by new way of connecting wire-probe ultrasonic waveguide to transducer. Improved mounting allows joint to last long enough for effective treatment. Sheath and rubber dampers constrain lateral vibration of wire waveguide. Combination of V-shaped mounting groove, sheath, and rubber dampers increases life expectancy of wire 15 times or more.

Angulo, E. D.↗
NASA NTRS1991

A universal computer control system for motors

A control system for a multi-motor system such as a space telerobot, having a remote computational node and a local computational node interconnected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus, and including at least one command processor. The command processor communicates over the bus with a plurality of joint controller cards. A plurality of direct current torque motors, of the type used in telerobot joints and telerobot hand-held controllers, are connected to the controller cards and responds to digital control signals from the command processor. Essential motor operating parameters are sensed by analog sensing circuits and the sensed analog signals are converted to digital signals for storage at the controller cards where such signals can be read during an address read/write cycle of the command processing processor.

Szakaly, Zoltan F.↗
NASA NTRS2001

Advanced Methods for Aircraft Engine Thrust and Noise Benefits: Nozzle-Inlet Flow Analysis

The Fluid Mechanics and Acoustics Laboratory at Hampton University (HU/FM&AL) jointly with the NASA Glenn Research Center has conducted four connected subprojects under the reporting project. Basically, the HU/FM&AL Team has been involved in joint research with the purpose of theoretical explanation of experimental facts and creation of accurate numerical simulation techniques and prediction theory for solution of current problems in propulsion systems of interest to the NAVY and NASA agencies. This work is also supported by joint research between the NASA GRC and the Institute of Mechanics at Moscow State University (IM/MSU) in Russia under a CRDF grant. The research is focused on a wide regime of problems in the propulsion field as well as in experimental testing and theoretical and numerical simulation analyses for advanced aircraft and rocket engines. The FM&AL Team uses analytical methods, numerical simulations and possible experimental tests at the Hampton University campus. The fundamental idea uniting these subprojects is to use nontraditional 3D corrugated and composite nozzle and inlet designs and additional methods for exhaust jet noise reduction without essential thrust loss and even with thrust augmentation. These subprojects are: (1) Aeroperformance and acoustics of Bluebell-shaped and Telescope-shaped designs; (2) An analysis of sharp-edged nozzle exit designs for effective fuel injection into the flow stream in air-breathing engines: triangular-round, diamond-round and other nozzles; (3) Measurement technique improvement for the HU Low Speed Wind Tunnel; a new course in the field of aerodynamics, teaching and training of HU students; experimental tests of Mobius-shaped screws: research and training; (4) Supersonic inlet shape optimization. The main outcomes during this reporting period are: (l) Publications: The AIAA Paper #00-3170 was presented at the 36th AIAA/ASME/SAE/ASEE Joint Propulsion Conference, 17-19 June, 2000, Huntsville, AL. The AIAA Paper #01-1893 has been accepted for the AIAA/NAL-NASDA-ISAS 10th International Space Planes and Hypersonic Systems and Technologies Conference, 24-27 April 2001, Kyoto, Japan. The AIAA Paper #01 -3204 has been accepted for presentation at the 37th AIAA/ASME/SAE/ASEE Joint Propulsion Conference, being held on 08-11 July, in Salt Lake City, UT; (2) A U.S. patent #6,082,635 was granted on July 4, 2000; (3) Grants and proposals: The H U/ FM&AL was awarded the NASA grant NAG-3-2495 in October 2000 and the laboratory is a primary U.S. research team in a joint project under the CRDF award granted to the NASA GRC and IM/MSU (Russia) in July 2000; (4) Theory and numerical simulations: Analytical theory, numerical simulation, comparison of theoretical with experimental results, and modification of theoretical approaches, models, grids, etc., have been conducted for several complicated 2D and 3D nozzle and inlet designs using NASA, ICASE, and IM/MSU codes based on full Euler and Navier-Stokes solvers: CFL3D, FLUENT, and GODUNOV, and others; (5) Experimental Tests: (a) A new course: "Advanced Aerodynamics and Aircraft Performance" presented in spring semester, 2001; training and experimental test research using the HU LSWT. (b) Small-scale M6bius-shaped screws were tested in different conditions and their application has shown essential benefits by comparison with traditional designs; (6) Installation in the FM&AL computer system: second software TECPLOT 8.0 for the UNIX SGI workstation and free TECPLOT 7.5 for the PC Dell computer, and 2D and 3D GRIDGEN (version 9) for the UNIX SGI as well as installation of two free NASA codes, 3D MAG and VULCAN; (7) Student Research Activity: Involvement of two undergraduate students as research assistants in the current research project.

Gilinsky, Mikhail↗
NASA NTRS2005

Biomimetic mechanism for micro aircraft

A biomimetic pitching and flapping mechanism including a support member, at least two blade joints for holding blades and operatively connected to the support member. An outer shaft member is concentric with the support member, and an inner shaft member is concentric with the outer shaft member. The mechanism allows the blades of a small-scale rotor to be actuated in the flap and pitch degrees of freedom. The pitching and the flapping are completely independent from and uncoupled to each other. As such, the rotor can independently flap, or independently pitch, or flap and pitch simultaneously with different amplitudes and/or frequencies. The mechanism can also be used in a non-rotary wing configuration, such as an ornithopter, in which case the rotational degree of freedom would be suppressed.

Pines, Darryll J.↗
NASA NTRS2012

Rotary series elastic actuator

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Ihrke, Chris A.↗
NASA NTRS2013

Rotary Series Elastic Actuator

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Ihrke, Chris A.↗
NASA NTRS2013

Rotary Series Elastic Actuator

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

Ihrke, Chris A.↗
NASA NTRS2018

Surrogate: A Body-Dexterous Mobile Manipulation Robot with a Tracked Base

Robotics platforms in accordance with various embodiments of the invention can be utilized to implement highly dexterous robots capable of whole body motion. Robotics platforms in accordance with one embodiment of the invention include: a memory containing a whole body motion application; a spine, where the spine has seven degrees of freedom and comprises a spine actuator and three spine elbow joints that each include two spine joint actuators; at least one limb, where the at least one limb comprises a limb actuator and three limb elbow joints that each include two limb joint actuators; a tracked base; a connecting structure that connects the at least one limb to the spine; a second connecting structure that connects the spine to the tracked base; wherein the processor is configured by the whole body motion application to move the at least one limb and the spine to perform whole body motion.

Kennedy, Brett A.↗
NASA NTRS2024

Derivation of Equations of Motion and Model-based Control for 3D Rigid Body Approximation of LUVOIR

The Large UV/Optical/IR Surveyor (LUVOIR) is a conceptual space observatory under development by NASA Goddard Space Flight Center for the Astronomy and Astrophysics Decadal Survey. As with similar space telescopes, e.g., James Webb, this spacecraft will have ultra-stringent pointing stability requirements, i.e., on the order of miliarcseconds. Thus, the design of the LUVOIR attitude control system (ACS) may benefit from a model-based approach. In this document, we present an approximate model of the LUVOIR composed of two 3D rigid bodies connected by a 1-DOF rotary joint. From this model, we derive the nonlinear equations of motion, following the approach of Eric T. Stoneking [1], and linearize them about an arbitrary reference orientation. Using the subsequent state space representation, it is straightforward to compute a set of control gains (e.g., via the ”lqr” or ”place” commands in MATLAB). We conclude this memo with a comparison of our LQR approach with the existing PID slew controller designed by a former NASA intern.

William Bentz↗
DOE OSTI2020

The Sensitivity of Joint Inversions of Seismic and Geodynamic Data to Mantle Viscosity

Seismic tomography has revealed the existence of large-scale velocity heterogeneities in the mantle. The interpretation of seismic velocity anomalies in terms of temperature and chemical composition is nonunique. We use geodynamic observations including gravity, plate motions, dynamic topography, and excess ellipticity of the core-mantle boundary combined with seismic observations to investigate the thermo-chemical structure of the mantle through joint inversions. An outstanding issue, however, is the physical connection between mantle density anomalies and the surface geodynamic observations, which requires knowledge of the mantle viscosity structure. Here we perform joint inversions assuming different viscosity profiles and examine the dependence of the results on the viscosity. We first assume that mantle heterogeneity is due to thermal variations, which places a constraint on the relation between seismic velocity and density, and we subsequently relax the constraint to allow for potential nonthermal effects. In all of our joint inversions, a nonthermal origin of density anomalies is required to explain the geodynamic data, though the amount varies with the assumed viscosity structure. A common observation is a high-density chemical signal in the center of the large low-shear-velocity provinces at the base of the mantle resulting in a near neutral or slightly dense overall buoyancy there. Using the derived density models and their corresponding viscosity profiles, we also calculate instantaneous mantle flow fields. The predicted flow fields derived from joint inversions are generally similar but are quite different from flow fields using density models derived from a posteriori scaling of pure seismic tomography models.

58 GEOSCIENCES↗
NASA NTRS1987

Deployable geodesic truss structure

A deployable geodesic truss structure which can be deployed from a stowed state to an erected state is described. The truss structure includes a series of bays, each bay having sets of battens connected by longitudinal cross members which give the bay its axial and torsional stiffness. The cross members are hinged at their mid point by a joint so that the cross members are foldable for deployment or collapsing. The bays are deployed and stabilized by actuator means connected between the mid point joints of the cross members. Hinged longerons may be provided to also connect the sets of battens and to collapse for stowing with the rest of the truss structure.

Mikulas, Martin M., Jr.↗
NASA NTRS1986

Structural behavior of the space shuttle SRM Tang-Clevis joint

The space shuttle Challenger accident investigation focused on the failure of a tang-clevis joint on the right solid rocket motor. The existence of relative motion between the inner arm of the clevis and the O-ring sealing surface on the tang has been identified as a potential contributor to this failure. This motion can cause the O-rings to become unseated and therefore lose their sealing capability. Finite element structural analyses have been performed to predict both deflections and stresses in the joint under the primary, pressure loading condition. These analyses have demonstrated the difficulty of accurately predicting the structural behavior of the tang-clevis joint. Stresses in the vicinity of the connecting pins, obtained from elastic analyses, considerably exceed the material yield allowables indicating that inelastic analyses are probably necessary. Two modifications have been proposed to control the relative motion between the inner clevis arm and the tang at the O-ring sealing surface. One modification, referred to as the capture feature, uses additional material on the inside of the tang to restrict motion of the inner clevis arm. The other modification uses external stiffening rings above and below the joint to control the local bending in the shell near the joint. Both of these modifications are shown to be effective in controlling the relative motion in the joint.

Greene, W. H.↗
NASA NTRS1988

Structural behavior of the space shuttle SRM tang-clevis joint

The space shuttle Challenger accident investigation focused on the failure of a tang-clevis joint on the right solid rocket motor. The existence of relative motion between the inner arm of the clevis and the O-ring sealing surface on the tang has been identified as a potential contributor to this failure. This motion can cause the O-rings to become unseated and therefore lose their sealing capability. Finite element structural analyses have been performed to predict both deflections and stresses in the joint under the primary, pressure loading condition. These analyses have demonstrated the difficulty of accurately predicting the structural behavior of the tang-clevis joint. Stresses in the vicinity of the connecting pins, obtained from elastic analyses, considerably exceed the material yield allowables indicating that inelastic analyses are probably necessary. Two modifications have been proposed to control the relative motion between the inner clevis arm and the tang at the O-ring sealing surface. One modification, referred to as the capture feature, uses additional material on the inside of the tang to restrict motion of the inner clevis arm. The other modification uses external stiffening rings above and below the joint to control the local bending in the shell near the joint. Both of these modifications are shown to be effective in controlling the relative motion in the joint.

Greene, William H.↗
NASA NTRS2017

Strength Variation of Parachute Joints

A parachute joint is defined as a location where a component is sewn or connected to another component. During the design and developmental phase of a parachute system, the joints for each structural component are isolated and tested through a process called seam and joint testing. The objective of seam and joint testing is to determine the degradation on a single component due to interaction with other components; this data is then used when calculating the margin of safety for that component. During the engineering developmental phase of CPAS (Capsule Parachute Assembly System), the parachute system for the NASA Orion Crew Module, testing was completed for every joint of the six subsystems: the four parachutes (main, drogue, pilot, and FBCP [forward bay cover parachute]), the retention release bridle, and the retention panels. The number of joint tests for these subsystems totaled 92, which provides a plethora of data and results for further analysis. In this paper, the data and results of these seam and joint tests are examined to determine the effects, if any, of different operators and sewing machines on the strength of parachute joints. Other variables are also studied to determine their effect on joint strength, such as joint complexity, joint strength magnitude, material type, and material construction. Findings reveal that an optimally-run seam and joint test program could result in an increased understanding of the structure of the parachute; this should lead to a parachute built with optimal components, potentially saving system weight and volume.

Mollmann, Catherine↗
NASA NTRS1990

Robot cable-compliant devices

A cable compliant robotic joint includes two U configuration cross section brackets with their U cross sections lying in different planes, one of their brackets being connected to a robot arm and the other to a tool. Additional angle brackets are displaced from the other brackets at corners of the robotic joint. All the brackets are connected by cable segments which lie in one or more planes which are perpendicular to the direction of tool travel as it approaches a work object. The compliance of the joint is determined by the cable segment characteristics, such as their length, material, angle, stranding, pretwisting, and prestressing.

Kerley, James J., Jr.↗