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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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14 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Dynamic sensing of 6-axis external force and moment applied to a robot end

A dynamic force sensing method is proposed for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. A mathematical model is derived for the force sensing process and the separation of the force and moment as a nonlinear optimal state estimation problem formulated. Then an approximate solution is given using extended Kalman filtering techniques.

Yokota, Masaru Uchiyama↗
NASA NTRS1989

Performance evaluation of a 6 axis high fidelity generalized force reflecting teleoperator

A few of the results of a major study of over 100 hours of experimental teleoperation are presented. Force and torque data recorded from the robot wrist is a rich source of information on the performance of tasks. Performance measures can be computed for whole tasks, or for specific task segments. As a general principle, the performance increases as manipulation capability is increased although the effects may depend on task and performance measure. This study has laid the groundwork for much future work. Further reports will detail additional results which could not be presented here due to lack of space as well as follow-on experiments investigating manipulation under time delay and shared control conditions.

Hannaford, Blake↗
NASA NTRS1992

Microgravity isolation mounts based upon Piezoelectric film

The topics are presented in viewgraph form and include the following: a polyvinylidene fluoride (PVDF) actuator; a semi-active soft mount; a 3-axis experiment; low frequency disturbance attenuation; the control problem; and a 6-axis laboratory prototype.

Vonflotow, Andreas↗
NASA NTRS1991

Gripper for truss structure assembly

The CIRSSE two-finger gripper is designed to be used with a 6-axis wrist-mounted force-torque sensor as part of an experimental testbed for cooperative robotic manipulation. The gripper system consists of a dedicated controller and a pneumatic powered gripper that is servoed in position or grasping force. The gripper also has a between fingertip light beam sensor. The major features of this new design are: high grasping force to weight ratio (25::1) and compactness (14 cm base-fingertip, 0.8 kilograms); low cost dedicated slave controller; and simple host-controller communications protocol to minimize command interpretation delay. Shared software functions between the host and the controller processor permit the host to select servo mode, servo gain-parameter values, and calibration offsets. Hidden primitive self-test, calibration and servo confidence functions are included.

Kelley, Robert B.↗
NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗
NASA NTRS1993

The Personal Motion Platform

The Neutral Body Posture experienced in microgravity creates a biomechanical equilibrium by enabling the internal forces within the body to find their own balance. A patented reclining chair based on this posture provides a minimal stress environment for interfacing with computer systems for extended periods. When the chair is mounted on a 3 or 6 axis motion platform, a generic motion simulator for simulated digital environments is created. The Personal Motion Platform provides motional feedback to the occupant in synchronization with their movements inside the digital world which enhances the simulation experience. Existing HMD based simulation systems can be integrated to the turnkey system. Future developments are discussed.

Park, Brian Vandellyn↗
NASA NTRS1997

Nineteenth Space Simulation Conference Cost Effective Testing for the 21st Century

The Nineteenth Space Simulation Conference was hosted by the Institute of Environmental Sciences (IES) and was supported by the American Institute of Aeronautics and Astronautics (AIAA), the American Society for Testing and Materials (ASTM), the National Aeronautics and Space Administration (NASA), and the Canadian Space Agency (CSA). These proceedings attest to the scope of the conference; papers were presented on topics as diverse as shuttle payload contamination effects, simulating Martian environment for testing, to state-of-the-art 6-axis hydraulic shaker testing system. A good cross section of the international aerospace community took advantage of the opportunity to get together, to share their experiences, and to participate in the technical sessions. The two invited keynote speakers were Lieutenant General Malcolm O'Neill (USA, Ret.), past Director of BMDO, and Mr. Thomas Coughlin, Space Programs Manager at the Johns Hopkins University Applied Physics Laboratory. Their most informative and thought provoking talks were on cost effective testing approaches in Defense Department programs for the 21st Century and what part testing plays in the faster, better, cheaper approach for the NEAR and APL programs, respectively. The preceding tutorial and the tour of the Garber Facility of the Air and Space Museum rounded out a comprehensive conference contributing to the knowledge base vital to cost effective testing for successful missions into the 21st Century.

Stecher, Joseph L., III↗
NASA NTRS1997

High Resolution X-Ray Explorer (HIREX)

SAO is involved in a study to determine the feasibility of building an orbiting telescope capable of resolving 7 km structure on the Sun. In order to achieve the required imaging the telescope must have a resolution 0.01 arcsec. This fact challenges the state of the art of orbiting telescopes in several areas: Mirror Figuring; Optical Metrology; Optical Mounting; Mirror Figure Control; System Alignment; Optical Stability; Observatory Pointing; and Image Stability. The telescope design concept is based on a 0.6 m Gregorian-style telescope with a 240 meter effective focal length. This is achieved with 2 mirrors supported at opposite ends of a 35 m space-deployable boom. The telescope mirrors are coated with multilayers designed to reflect a broad XUV passband. A third, small mirror, near the focal plane performs the function of selecting the narrow band that is finally imaged. Image stabilization to the 0.005 arcsec level is achieved by active control of the secondary mirror. The primary mirror is held unadjustably to the spacecraft, its pointing set by the spacecraft orientation. The secondary mirror is mounted on a 6-axis stage that permits its position to be changed to align the telescope in space. The stage is intended for intermittent adjustment, both because of its speed of travel, and the TBD alignment procedure. The third mirror is called the TXI (Tuneable X-ray Imager). It is mounted on a gimbal that permits it to be tipped over a 60 degree range, selecting between the individual wavelengths in the initial bandpass. It can also rotated completely out of the way to allow the full, broadband EUV flux to strike the focal plane. Finally, the focal plane assembly is designed to rotate on the outer edge of a circle centered on the TXI mirror rotation axis. This permits the focal plane to move to the location that the TXI redirects the light once it has been set to a given wavelength response. The Engineering Study is divided into the following areas: Mirror Fabrication and Metrology; Optical Layout-Trade Study between On-axis and Off-axis; Overall System Design; and Pointing Control/Image Stabilization. The observational goals of the mission are described in the Mission Requirements document. The work is being performed to the requirements called out in the Science Requirements document.

Goulb, Leon↗
NASA NTRS1999

High Resolution X-Ray Explorer (HIREX)

SAO has carried out a study to determine the feasibility of building an orbiting telescope capable of resolving 7 km structure on the Sun. In order to achieve the required imaging the telescope must have a resolution 0.01 arcsec. This fact challenges the state of the art of orbiting telescopes in several areas: mirror figuring; optical metrology; optical mounting; mirror figure control; system alignment; optical stability; observatory pointing; and image stability image stability. The telescope design concept is based on a 0.6m Cassegrain-style telescope with a 240 meter effective focal length. This is achieved with 2 mirrors supported at opposite ends of a 27 m space-deployable boom. The telescope mirrors are coated with multilayers designed to reflect a broad XUV passband. A third, small mirror, near the focal plane performs the function of selecting the narrow band that is finally imaged. Image stabilization to the 0.005 a,rcsec level is achieved by active control of the secondary mirror. The primary mirror is held unadjustably to the spacecraft, its pointing set by the space- craft orientation. The secondary mirror is mounted on a 6-axis stage that permits its position to be changed to align the telescope in space. The stage is intended for intermittent adjustment, both because of its speed of travel, and the TBD alignment procedure. The third mirror is called the TXI (Tuneable X-ray Imager). It is mounted on a gimbal that permits it to be tipped over a 60 degree range, selecting between the individual wavelengths in the initial bandpass. It can also rotated completely out of the way to allow the full, broadband EUV flux to strike the focal plane.

Golub, Leon↗
NASA NTRS2008

Design and Calibration of Custom Flowfield/Rake for the F-15B Propulsion Flight Test Fixture

The Propulsion Flight Test Fixture (PFTF) system at NASA Dryden Flight Research Center (DFRC) provides an innovative and cost effective method of flight testing advanced propulsion concepts and components in a relevant environment using DFRC's F-15B #836. The PFTF attaches to the centerline pylon of the aircraft and Has an integrated 6 axis force balance for flight testing of propulsion experiments The PTFF has undergone two previous flight validation test phases: (1)The Local Mach Investigation (LMT) flights, in which an air data boom was attached to a cylinder with a conical nose cap . This flight test phase quantified the local Mach number and the local flow angle at a single point under the F-155B/PFTF. (2) The Cone Drag Experiment (CDE), in which the cylinder / nosecap assembly was tested in order to validate the PFTF's integral 6-component force balance. The next test phase with the PFTF is the flight test of the channeled centerbody axisymmetric inlet. However, for the flight data from this test to be valid, more information must be gathered concerning the quality of the flow through the aerodynamic interface plane of the inlet. The flow angularity and Mach number must be known at multiple locations on the interface plane. Flight data will be gathered using a custom-design flowfield rake to probe the flow underneath the F-15B at the design flight conditions.

Flynn, Darin C.↗
NASA NTRS2004

Aligning Arrays of Lenses and Single-Mode Optical Fibers

A procedure now under development is intended to enable the precise alignment of sheet arrays of microscopic lenses with the end faces of a coherent bundle of as many as 1,000 single-mode optical fibers packed closely in a regular array (see Figure 1). In the original application that prompted this development, the precise assembly of lenses and optical fibers serves as a single-mode spatial filter for a visible-light nulling interferometer. The precision of alignment must be sufficient to limit any remaining wavefront error to a root-mean-square value of less than 1/10 of a wavelength of light. This wavefront-error limit translates to requirements to (1) ensure uniformity of both the lens and fiber arrays, (2) ensure that the lateral distance from the central axis of each lens and the corresponding optical fiber is no more than a fraction of a micron, (3) angularly align the lens-sheet planes and the fiber-bundle end faces to within a few arc seconds, and (4) axially align the lenses and the fiber-bundle end faces to within tens of microns of the focal distance. Figure 2 depicts the apparatus used in the alignment procedure. The beam of light from a Zygo (or equivalent) interferometer is first compressed by a ratio of 20:1 so that upon its return to the interferometer, the beam will be magnified enough to enable measurement of wavefront quality. The apparatus includes relay lenses that enable imaging of the arrays of microscopic lenses in a charge-coupled-device (CCD) camera that is part of the interferometer. One of the arrays of microscopic lenses is mounted on a 6-axis stage, in proximity to the front face of the bundle of optical fibers. The bundle is mounted on a separate stage. A mirror is attached to the back face of the bundle of optical fibers for retroreflection of light. When a microscopic lens and a fiber are aligned with each other, the affected portion of the light is reflected back by the mirror, recollimated by the microscopic lens, transmitted through the relay lenses and the beam compressor/expander, then split so that half goes to a detector and half to the interferometer. The output of the detector is used as a feedback control signal for the six-axis stage to effect alignment.

Liu, Duncan↗
NASA NTRS2009

Technology Innovation of Power Transmission Gearing in Aviation

An overview of rotary wing evolution and innovations over the last 20 years was presented. This overview is provided from a drive system perspective. Examples of technology innovations that have changed and advanced drive systems of rotary wing vehicles will be provided. These innovations include full 6-axis CNC gear manufacture, face gear development to aerospace standards, health and usage monitoring, and gear geometry and bearing improvements. Also, an overview of current state-of-the-art activities being conducted at NASA Glenn is presented with a short look to fixed and rotary wing aircraft and systems needed for the future.

Handschuh, Robert F.↗
NASA NTRSDate not supplied

Lower neck injury criteria for THOR and Hybrid III dummies in rear impact

The objectives of the study are to derive lower-neck-injury probability curves under rear impact loading from matched pair Hybrid III and THOR dummy tests. Methods: Twelve whole-body and 15 isolated head-neck rear-impact sled tests were conducted using the 2 dummies. They were positioned on a rigid seat that was attached to an acceleration sled. The dummies were positioned with the head parallel to the ground, torso against the seat back, and legs stretched such that there was no axial rotation. The acceleration pulse matched the previous in-house human cadaver tests. The 6-axis lower-neck load cell was used in both dummies. For the isolated rear-impact tests,the head-neck was excised from the dummies, and the lower-neck load cell was mounted to the top of the sled with the head parallel to the ground and such that the acceleration vector was in the rear impact mode. Lower-neck loads and lower-neck-injury criteria (LNij) were obtained using the load cell data and survival analysis to develop injury-assessment-risk values and curves for both dummies. The LNij criteria were determined for both dummies using the intercept value corresponding to the 90% probability level for the forces and moments. Results: The log normal and Weibull distributions were the optimal distributions for the Hybrid III and THOR devices. At the 50% risk level, the mean LNij of 1.1 and NCIS was 0.77 for the Hybrid III, and 1.5 NCIS was 0.30 for the THOR device. The quality indices were in the fair range and good range for the 2 dummies, respectively, at this risk level. Conclusions: The lower-neck-based IARCs and IARVs serve as the first dataset for injury assessments, and the THOR may be a better test device for assessing injures in rear impact environments.

Narayan Yoganandan↗