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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 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

Williams, Robert L., II↗
NASA NTRS1990

Real time visual tracking of targets in six dimensions

Six dimensional target information is produced by a target tracking vision system for use in real time target tracking by a robotic system. The vision system described in this paper produces three axes of position data and three axes of orientation data using a single camera which views a three dimensional target. The system performs target detection, target discrimination and determines the target position and orientation relative to the camera. As the target information is determined, it is communicated to a computer which is controlling the robot motion in real time. Details of the image processing algorithms and image processing hardware used in the vision system are discussed in the paper.

Walsh, Peter M.↗
NASA NTRS1992

A six degree-of-freedom magnetic bearing for microgravity vibration isolation

A design for a magnetic bearing, proposed as the fine stage of a coarse-fine actuator for microgravity vibration isolation, is presented. The bearing is novel in that it uses a geometry that has just three independent flux path systems. This contrasts the twelve flux path systems (six bidirectional thrust bearings) used in conventional designs. The design results in compactness, light weight, and high performance when compared with the published designs. A control system is proposed to reject disturbances caused by an umbilical connection to the experiment.

Allan, A. Peter↗
NASA NTRS1992

A six degree-of-freedom Lorentz vibration isolator with nonlinear controller

The results of a phase 2 Small Business Innovation Research Program sponsored by MSFC are presented. Technology is developed for isolating acceleration sensitive microgravity experiments from structural vibration of a spacecraft, such as a space station. Two hardware articles are constructed: a six degree of freedom Lorentz force isolation and a one degree of freedom low acceleration testbed capable of tests at typical experiment accelerations.

Fenn, Ralph C.↗
NASA NTRS1991

A six-legged rover for planetary exploration

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

Simmons, Reid↗
NASA NTRS1992

A six-degree-of-freedom guidance and control analysis of Mars aerocapture

A six-degree-of-freedom (6DOF) simulation is developed to investigate the control and guidance issues of a Mars aerobraking vehicle. The guidance algorithm used is a predictor-corrector guidance formulation designed to control the exit orbital apoapsis and wedge angle using bank-angle modulation. Major features of this predictor-corrector guidance algorithm include: (1) integration of the 3DOF equations of motion within an inner-loop simulation; (2) load-relief logic; (3) finite roll rates; and (4) an aerodynamic feedback multiplier. The algorithm is capable of successfully guiding the vehicle through combinations of atmospheric density dispersions, aerodynamic mispredictions, and off-nominal atmospheric interface conditions. This study demonstrated that the addition of vehicle dynamics to the Mars aerobraking simulation does not significantly impact mission feasibility. That is, a robust control system design coupled with an adaptive guidance algorithm can assure mission success in the presence of numerous off-nominal conditions.

Powell, Richard W.↗
NASA NTRS1991

Changes in marsh soils for six months after a fire

An examination is conducted of changes in soil-nutrient levels in marsh systems after a fire, in conjunction with studies of particulates and gases generated by such biomass combustion. Attention is given to data covering six months after the fire. It is noted that changes in soil property occur at different times after the fire, and persist for different intervals; this implies a need for long-term postfire observations. The marshes studied were representative of a variety of graminoid wetlands in the southeastern U.S. which periodically burn either naturally or upon prescription. Nitrogen transformations in flooded soils differ from those in well-drained ones.

Schmalzer, Paul A.↗
NASA NTRS1992

Ambler - Performance of a six-legged planetary rover

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Krotkov, E. P.↗
NASA NTRS1991

Six-Degree-of-Freedom Test Facility

Shuttle to Space station docking has become an important issue in the last few years. Docking sensors have been proposed that will provide high precision measurements required for the fuel efficient rendezvous and docking of space vehicles. These sensors will also be used for satellite servicing and orbital assembly. The performance of the docking sensors must be tested before they are implemented in a space environment. A Six-Degree-of-Freedom (6-DOF) Test Facility has been developed at the Tracking & Communications Section, Johnson Space Center to test the static and dynamic accuracies of docking sensors. A candidate sensor is evaluated by comparing the sensor's static position and velocity measurements to the more accurate 6-DOF system. The 6-DOF Test Facility's hardware is fully integrated. Software has been developed in-house to support system operation. The system has been tested statically and the operational parameters verified. System accuracies remain to be determined. Dynamic testing of the facility is expected to begin shortly. Several companies such as McDonnell Douglas, Autonomous Technologies, and General Dynamics are scheduled to test sensors in the next few months. The 6-DOF facility will be available for use in November 1991. This presentation describes the subcomponents, operation, and capabilities of the 6-DOF Test Facility. Discussions will be held on system accuracies. Additional applications of the 6-DOF system will also be addressed.

Bittel, Michelle A.↗
NASA NTRS1993

Six degree of freedom active vibration damping for space application

Work performed during the period 1 Jan. - 31 Mar. 1993 on six degree of freedom active vibration damping for space application is presented. A performance and cost report is included. Topics covered include: actuator testing; mechanical amplifier design; and neural network control system development and experimental evaluation.

Haynes, Leonard S.↗
NASA NTRS1991

Comparison of straight and 15 degree vectored nozzles using a six component thrust stand

This project compared the forces and moments produced by straight and 15 degree vectored nozzles. Using the six component thrust stand in the engines laboratory at California Polytechnic State University, several trials were performed. This data was then reduced using first a computer program and then later an electronic spreadsheet. This reduced data was graphed and compared. As a result of these comparisons some unexpected forces were discovered. Several more tests were run including a zero thrust test and a statistical comparison were done to discover the source of these discrepancies. As a direct result several nozzle changes were made and significant revisions to the thrust stand are being made.

Carpenter, Thomas W.↗
NASA NTRS1992

0.7- to 23-micron photometric observations of P/Halley 2986 III and six recent bright comets

Infrared photometry over 0.7-23 micron range is presented for P/Halley 1986 III and six other recent bright comets. It is concluded that comets can be classified by their thermal infrared energy distributions. IR Type I comets have low continuum superheat and the 10-micron silicate emission is muted or absent. IR Type II comets have large continuum superheat and strong silicate emission features. Simultaneous measurements of P/Halley and Bradfield 1980 XV are generally consistent with the steady-state model for nuclear ablation. P/Halley's dust coma had an average albedo of 0.20 at a scattering angle of 130 deg. The correlation between superheat and 20-micron silicate excess, the flattened forward-scattering peak of the albedo curve, and the relatively low backscattering albedo are all consistent with laboratory and theoretical results for nonspherical and fluffy grains. The results appear to be especially consistent with core-mantle grain models such as those proposed by Greenberg and Hage (1989).

Gehrz, R. D.↗
NASA NTRS1992

Variation in energy balance components from six sites in a native prairie for three years

Six automatic stations were used to evaluate the surface energy and radiation balances on a native prairie near Manhattan, Kansas, using the Bowen ratio technique for a total of 300 days. Data were taken during the periods from May 26 to October 16, 1987, May 10 to September 18, 1988, and July 21 to August 13, 1989. The station site locations were selected to represent burned and unburned treatments on ridges, valley bottoms, and slopes with various aspects. The measured variables were (1) air and wet bulb temperatures at two heights, (2) net radiation, (3) solar radiation (up and down), (4) total hemispherical radiation (up and down), (5) diffuse radiation, (6) soil heat flow and soil temperature, (7) wind speed, (8) wind direction, and (9) precipitation. Energy balance components at the sites were compared for the 3 years. The variation between sites and years was small, even though some sites were as much as 10 km apart and the years had different rainfall amounts. The average values for the four summer intensive field campaigns (IFCs) were as follows: albedo, 0.2; ratio of net radiation to solar radiation, 62 percent; evaporation equivalent, 4 mm/d; Bowen ratio, 0.32; evaporation fraction, 70 percent; and the ratio of evaporation to solar energy, 40 percent. These values were different for the fall IFC. The latent and sensible heat fluxes were more variable than the radiation terms reflecting soil moisture differences between IFCs.

Fritschen, Leo J.↗
NASA NTRS1992

A hybrid six degree-of-freedom tracking system

An optical/digital/mechanical six degree of freedom tracking system using an optical correlator for image processing is being constructed at NASA's Johnson Space Center. The degrees of freedom are expressed in sensor coordinates as azimuth, elevation, range, line-of-sight rotation, and the two out-of-plane object rotation angles. Hardware for an initial configuration has been assembled and various tracking algorithms and filtering techniques are being implemented and evaluated. The current correlator hardware is based on LCTV SLMs from a commercial television projector. Correlation peak detection and measurement are made using commercially available digital image processing boards. Out-of-plane object rotation, range, and line-of-sight rotation are tracked by various correlation filter techniques. Performance of the current system is presented, as are plans for future configurations.

Monroe, Stanley E., Jr.↗
NASA NTRS1992

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Krotkov, Eric↗
NASA NTRS1993

Recent experiences with implementing a video based six degree of freedom measurement system for airplane models in a 20 foot diameter vertical spin tunnel

A model space positioning system (MSPS), a state-of-the-art, real-time tracking system to provide the test engineer with on line model pitch and spin rate information, is described. It is noted that the six-degree-of-freedom post processor program will require additional programming effort both in the automated tracking mode for high spin rates and in accuracy to meet the measurement objectives. An independent multicamera system intended to augment the MSPS is studied using laboratory calibration methods based on photogrammetry to characterize the losses in various recording options. Data acquired to Super VHS tape encoded with Vertical Interval Time Code and transcribed to video disk are considered to be a reasonable priced choice for post editing and processing video data.

Snow, Walter L.↗
NASA NTRS1993

Six-degree-of-freedom active vibration isolation using a Stewart platform mechanism

The design and control problems of a class of multidegree-of-freedom vibration isolation systems (VISs) based on a Stewart platform mechanism are studied. A prototype of a six-degree-of-freedom VIS for precision control of a wide range of space-based structures implemented in Intelligent Automation, Inc. is described. The feasibility of using a Stewart platform to achieve 6-degree-of-freedom vibration control in space applications is shown. A new Terfenol-D actuator characterized by significantly longer stroke than any commercially available Terfenol-D actuator and direct flux and strain sensors integral to the actuator is described.

Geng, Zheng↗
NASA NTRS1993

ROSAT Position Sensitive Proportional Counter spectra of six Seyfert 1 galaxies

We present the results from ROSAT Position Sensitive Proportional Counter observations of six Seyfert 1 galaxies in the soft (0.1-2.0 keV) X-ray band. The sources (Mrk 335, ESO 198-G24, ESO 141-G55, Mrk 509, NGC 7469, and MCG-2-58-22) were chosen to have low absorbing column densities along the line of sight. As expected, it is found that all the sources possess significantly steeper spectra below about 1 keV than observed at higher X-ray energies. Assuming a simple absorbed power-law spectral model, the mean (photon) spectral index for the sample is Gamma = 2.38 +/- 0.25, compared to the canonical 1.7 typically observed in the 2-10 keV band. Furthermore, we find strong evidence for soft X-ray spectral features in half the sources. In NGC 7469 and ESO 198-G24, we find that the addition of a narrow emission line or an absorption edge to the underlying continuum is a significant improvement to the parameterization of the spectra. Mrk 335 also shows evidence for spectral complexity, but from these data it is not possible to unambiguously distinguish between an absorption edge and a steepening of the spectrum at low energies. We examine these results in the light of the accuracy of the PSPC spectral calibration.

Turner, T. J.↗