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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

JWST ISIM Primary Structure and Kinematic Mount Configuration

In this presentation we will review the evolution of the ISIM primary structure tube topology and kinematic mount configuration to the current baseline concept. We will also show optimization procedures used and challenges resulting from complex joints under launch loads. Two additional key ISIM structure challenges of meeting thermal distortion and stability requirements and metal-composite bonded joint survivability at cryogenic temperatures are covered in other presentations.

Bartoszyk, Andrew↗
NASA NTRS2006

Modification of a Limbed Robot to Favor Climbing

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.

Okon, Avi↗
NASA NTRS2019

Effect of Loading Configuration on Kinematics and Kinetics for Deadlift and Squat Exercises: Case Study in Modeling Exercise Countermeasure Device for Astronauts

This study compares squat and deadlift exercises performed with two different loading configurations: 1) on a novel single-cable resistance exercise countermeasure device (ECD) for spaceflight and 2) with free weights. The results compare joint kinematics and kinetics between different loading configurations for each exercise, and also between the two exercises for each loading configuration. Single-cable versions of the squat (using a harness) and deadlift (using a T-bar) performed on the Hybrid Ultimate Lifting Kit (HULK) ECD have significantly different sagittal plane joint angle kinematics (both peak angle and range of motion) as well as joint kinetics (both peak joint moment and joint impulse) vs. their free weight equivalents at the same load. Differences also exist in hip abduction and rotation. Overall, the single-cable configurations tend to reduce peak joint angles, ranges of motion, peak joint moment and joint impulse vs. free weights. A notable exception is the lumbar joint, which is more heavily loaded for single-cable squats vs. free weight squats. This may have implications for both training benefit and possible risk of injury. Deadlift and squat exercises work the lower body musculature in different ways, with the deadlift emphasizing hip and lumbar extension and the squat emphasizing knee extension. Based on these findings, we would advocate the use of both movements in the exercise prescriptions of astronaut crews on deep-space missions.

Resistance Exercise↗
NASA NTRS2020

Robotics System Process and Concept for On-orbit Assembly for Potential Mars Sample Return

Proposed Mars Sample Return (MSR) missions would require on-orbit assembly of containment vessels to meet backward Planetary Protection requirements and transfer of the sample container through various stations and positions. Some operations would have to be performed autonomously, and others would require ground-in-loop decision-making stages and verification processes. One concept design for an Earth Return Orbiter (ERO) Capture, Contain, and Return System (CCRS) Transfer Mechanism (TM) is a multi-Degree of Freedom (DOF) manipulator that utilizes a passive End Effector (EE) to assist in containment vessel assembly. To converge on a feasible design, a robotic system process has been instantiated. This process is composed of three main phases: robotic problem definition (operating environment, operations/functions, system goals), robotic solution selection (trade studies on the number of degrees of freedom, number of mechanisms, types of mechanisms), robotic solution design, implementation, and verification and validation (kinematic configuration, robotic and kinematic analysis and topology optimization of components). As a final product of this process, a half-scale functional prototype of the TM was developed to demonstrate the end-to-end operation capability.

Strahle, Jackson W↗
NASA NTRS1982

A conceptual study of the potential for automotive-derived and free-piston Stirling engines in 30- to 400-kilowatt stationary power applications

The technical feasibility of applying automotive-derived kinematic and free-piston Stirling engine concepts for stationary applications was explored. Automotive-derived engines offer cost advantages by providing a mature and developd engine technology base with downrating and parts commonality options for specific applications. Two engine sizes (30 and 400 kW), two Stirling engine configurations (kinematic and free-piston), and two output systems (crankshaft and hydraulic pump) were studied. The study includes the influences of using either hydrogen or helium as the working gas. The first kinematic configuration selects an existing Stirling engine design from an automotive application and adapts it to stationary requirements. A 50,000-hour life requirement was established by downrating the engine to 40 kW and reducing auxiliary loads. Efficiency improvements were gained by selective material and geometric variations and peak brake efficiency of 36.8 percent using helium gas was achieved. The second design was a four-cylinder, 400 kW engine, utilizing a new output drive system known as the z-crank, which provides lower friction losses and variable stroke power control. Three different material and working gas combinations were considered. Brake efficiency levels varied from 40.5 percent to 45.6 percent. A 37.5 kW single-cycle, free-piston hydraulic output design was generated by scaling one cylinder of the original automotive engine and mating it to a counterbalanced reciprocal hydraulic pump. Metallic diaphragms were utilized to transmit power.

Vatsky, A.↗
NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗
DOE OSTI2024

Massive twistor worldline in electromagnetic fields

We study the (ambi-)twistor model for spinning particles interacting via electromagnetic field, as a toy model for studying classical dynamics of gravitating bodies including effects of both spins to all orders. We compute the momentum kick and spin kick up to one-loop order and show precisely how they are encoded in the classical eikonal. The all-orders-in-spin effects are encoded as a dynamical implementation of the Newman-Janis shift, and we find that the expansion in both spins can be resummed to simple expressions in special kinematic configurations, at least up to one-loop order. We confirm that the classical eikonal can be understood as the generator of canonical transformations that map the in-states of a scattering process to the out-states. We also remark that cut contributions for converting worldline propagators from time-symmetric to retarded amount to the iterated action of the leading eikonal at one-loop order.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
NASA NTRS1978

Surface temperature measurements in rolling and sliding EHD contacts

In this study, moving surface temperature measurements in rolling and sliding EHD point contacts were made using an available infrared technique. Film thickness and traction have also been measured. Slide-to-roll ratios of -2 to +2 have been studied. By using a different kinematic configuration, stationary surface temperatures have also been measured. It has been shown that, while surface temperature rises in the low slip region are relatively small, stationary surface temperatures are significantly higher than the moving surface temperatures. Flash temperature theory has been extended to cover the combined rolling and sliding conditions. Correlation between the predicted and the measured values has also been performed.

Nagaraj, H. S.↗
NASA NTRS1981

Neutral buoyancy test results of a deployable space beam

Large erectable and deployable space structures have been studied extensively in the past few years with a view toward usage in the near future for space platforms. The paper covers in particular the operational testing of a double-cell, double-folding cubic aluminum module at the Marshall Space Flight Center Neutral Buoyancy Simulator. Joining methods, deployment kinematics, configurations and operation time lines were analyzed using the Shuttle Remote Manipulator System (RMS) and EVA crewmen. Results of the test were considered successful, with crew tasks accomplished and the structural design adequate for flight design.

Stokes, J. W.↗
NASA NTRS1989

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Karlen, James P.↗
NASA NTRS1993

Mobility analysis, simulation, and scale model testing for the design of wheeled planetary rovers

The use of computer based techniques to model and simulate wheeled rovers on rough natural terrains is considered. Physical models of a prototype vehicle can be used to test the correlation of the simulations in scaled testing. The computer approaches include a quasi-static planar or two dimensional analysis and design tool based on the traction necessary for the vehicle to have imminent mobility. The computer program modeled a six by six wheel drive vehicle of original kinematic configuration, called the Rocker Bogie. The Rocker Bogie was optimized using the quasi-static software with respect to its articulation parameters prior to fabrication of a prototype. In another approach used, the dynamics of the Rocker Bogie vehicle in 3-D space was modeled on an engineering workstation using commercial software. The model included the complex and nonlinear interaction of the tire and terrain. The results of the investigation yielded numerical and graphical results of the rover traversing rough terrain on the earth, moon, and Mars. In addition, animations of the rover excursions were also generated. A prototype vehicle was then used in a series of testbed and field experiments. Correspondence was then established between the computer models and the physical model. The results indicated the utility of the quasi-static tool for configurational design, as well as the predictive ability of the 3-D simulation to model the dynamic behavior of the vehicle over short traverses.

Lindemann, Randel A.↗
NASA NTRS2006

Development and Sizing of the JWST Integrated Science Instrument Module (ISIM) Metering Structure

The JWST Integrated Science Instrument Module (ISIM) includes a large metering structure (approx. 2m x 2m x 1.5m) that houses the science instruments and guider. Stringent dimensional stability and repeatability requirements combined with mass limitations led to the selection of a composite bonded frame design comprised of biased laminate tubes. Even with the superb material specific stiffness, achieving the required frequency for the given mass allocations in conjunction with severe spatial limitations imposed by the instrument complement has proven challenging. In response to the challenge, the ISIM structure team considered literally over 100 primary structure topology and kinematic mount configurations, and settled on a concept comprised of over 70 m of tubes, over 50 bonded joint assemblies, and a "split bi-pod" kinematic mount configuration. In this paper, we review the evolution of the ISIM primary structure topology and kinematic mount configuration to the current baseline concept.

Johnston, John↗
NASA NTRS2013

Estimated Probability of a Cervical Spine Injury During an ISS Mission

Introduction: The Integrated Medical Model (IMM) utilizes historical data, cohort data, and external simulations as input factors to provide estimates of crew health, resource utilization and mission outcomes. The Cervical Spine Injury Module (CSIM) is an external simulation designed to provide the IMM with parameter estimates for 1) a probability distribution function (PDF) of the incidence rate, 2) the mean incidence rate, and 3) the standard deviation associated with the mean resulting from injury/trauma of the neck. Methods: An injury mechanism based on an idealized low-velocity blunt impact to the superior posterior thorax of an ISS crewmember was used as the simulated mission environment. As a result of this impact, the cervical spine is inertially loaded from the mass of the head producing an extension-flexion motion deforming the soft tissues of the neck. A multibody biomechanical model was developed to estimate the kinematic and dynamic response of the head-neck system from a prescribed acceleration profile. Logistic regression was performed on a dataset containing AIS1 soft tissue neck injuries from rear-end automobile collisions with published Neck Injury Criterion values producing an injury transfer function (ITF). An injury event scenario (IES) was constructed such that crew 1 is moving through a primary or standard translation path transferring large volume equipment impacting stationary crew 2. The incidence rate for this IES was estimated from in-flight data and used to calculate the probability of occurrence. The uncertainty in the model input factors were estimated from representative datasets and expressed in terms of probability distributions. A Monte Carlo Method utilizing simple random sampling was employed to propagate both aleatory and epistemic uncertain factors. Scatterplots and partial correlation coefficients (PCC) were generated to determine input factor sensitivity. CSIM was developed in the SimMechanics/Simulink environment with a Monte Carlo wrapper (MATLAB) used to integrate the components of the module. Results: The probability of generating an AIS1 soft tissue neck injury from the extension/flexion motion induced by a low-velocity blunt impact to the superior posterior thorax was fitted with a lognormal PDF with mean 0.26409, standard deviation 0.11353, standard error of mean 0.00114, and 95% confidence interval [0.26186, 0.26631]. Combining the probability of an AIS1 injury with the probability of IES occurrence was fitted with a Johnson SI PDF with mean 0.02772, standard deviation 0.02012, standard error of mean 0.00020, and 95% confidence interval [0.02733, 0.02812]. The input factor sensitivity analysis in descending order was IES incidence rate, ITF regression coefficient 1, impactor initial velocity, ITF regression coefficient 2, and all others (equipment mass, crew 1 body mass, crew 2 body mass) insignificant. Verification and Validation (V&V): The IMM V&V, based upon NASA STD 7009, was implemented which included an assessment of the data sets used to build CSIM. The documentation maintained includes source code comments and a technical report. The software code and documentation is under Subversion configuration management. Kinematic validation was performed by comparing the biomechanical model output to established corridors.

Brooker, John E.↗
NASA NTRS1987

Design of Software for Design of Finite Element for Structural Analysis

The concepts of software engineering which allow a user of the finite element method to describe a model, to collect and to check the model data in a data base as well as to form the matrices required for a finite element calculation are examined. Next the components of the model description are conceived including the mesh tree, the topology, the configuration, the kinematic boundary conditions, the data for each element, and the loads. The possibilities for description and review of the data are considered. The concept of the segments for the modularization of the programs follows the components of the model description. The significance of the mesh tree as a globular guiding structure will be understood in view of the principle of the unity of the model, the mesh tree, and the data base. The user-friendly aspects of the software system will be summarized: the principle of language communication, the data generators, error processing, and data security.

Helfrich, Reinhard↗
NASA NTRS1990

Kinematic analysis of 7 DOF anthropomorphic arms

A kinematic analysis of anthropomorphic seven-degree-of-freedom serial link spatial manipulators with revolute joints is presented. To uniquely determine joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable which corresponds to the angle between the arm plane and a reference plane. The forward kinematic mappings from joint-space to end-effector coordinates and arm angle and the augmented Jacobian matrix which gives end-effector and arm angle rates as functions of joint rates are given. Conditions under which the augmented Jacobian becomes singular are given and are shown to correspond to the arm being either at a kinematically singular configuration or at a nonsingular configuration for which the arm angle ceases to parameterize the redundancy.

Kreutz-Delgado, K.↗
NASA NTRS1992

Kinematic analysis of 7-DOF manipulators

This article presents a kinematic analysis of seven-degree-of-freedom serial link spatial manipulators with revolute joints. To uniquely determine the joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable that defines the angle between the arm plane and a reference plane. The forward kinematic mappings from joint space to end-effector coordinates and arm angle and the augmented Jacobian matrix that gives end-effector and arm angle rates as functions of joint rates are presented. Conditions under which the augmented Jacobian becomes singular are also given and are shown to correspond to the arm being either at a kinematically singular configuration or at a nonsingular configuration for which the arm angle ceases to parameterize the redundancy.

Kreutz-Delgado, Kenneth↗