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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 NTRS1984

Design and implementation of a compliant robot with force feedback and strategy planning software

Force-feedback robotics techniques are being developed for automated precision assembly and servicing of NASA space flight equipment. Design and implementation of a prototype robot which provides compliance and monitors forces is in progress. Computer software to specify assembly steps and makes force feedback adjustments during assembly are coded and tested for three generically different precision mating problems. A model program demonstrates that a suitably autonomous robot can plan its own strategy.

Premack, T.↗
NASA NTRS1985

Compliant hydrodynamic fluid journal bearing

An air bearing structure is described that prevents destructive bending moments within the top foil. Welds are eliminated by mounting the top bearing foil in the bearing cartridge sleeve without using a space block. Tabs or pins at the end of the top bearing foil are restrained by slots or stops formed in the cartridge sleeve. These structural members are free to move in a direction normal to the shaft while being restrained from movement in the direction of shaft rotation.

Warren, E. L.↗
NASA NTRS1987

Cable applications in robot compliant devices

Robotic systems need compliance to connect the robot to the work object. The cable system illustrated offers compliance for mating but can be changed in space to become quite stiff. Thus the same system can do both tasks, even in environments where the work object or robot are moving at different frequencies and different amplitudes. The adjustment can be made in all six degrees of freedom, translated in or rotated in any plane and still make a good contact and control.

Kerley, James J.↗
NASA NTRS1989

Force-reflective teleoperated system with shared and compliant control capabilities

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Szakaly, Z.↗
NASA NTRS1991

Summary of compliant and multi-arm control at NASA. Langley Research Center

The topics are presented in viewgraph form and include the: single arm system, single arm axis system, single arm control systems, single arm hand controller axis system, single arm position axis system, single arm vision axis system, single arm force axis system, multi-arm system, multi-arm axis system, and the dual arm hand control axis system with control signals.

Fenton W Harrison↗
NASA NTRS1990

Design of a compliant passive magnetic bearing for use in SIRTF's Tertiary Mirror Assembly

A proposed baseline design for the Space Infrared Telescope Facility includes a Tertiary Mirror Assembly (TMA) which selectively redirects the telescope's converging science beam to each of several instruments. The TMA's mirror rotates on an axis coincident with the beam's axis, and is held steady during observation by a kinematic mount. A bearing has been designed whose compliance causes minimal interference with the precision of the kinematic mount, and which is well suited to the particular requirements of a cryogenic satellite such as SIRTF. The bearing suspends its rotor by taking advantage of the repulsion between a superconductor and a magnet. It potentially eliminates problems associated with mechanical bearings that arise in similar applications, such as lubricant loss or failure, bearing wear, and sensitivity to particulates, and does so without imposing the thermal load of a bearing heater or active magnetic bearing. The bearing shows promise of offering an alternative to ball bearings in cryogenic applications where some compliance is acceptable or advantageous.

Cannon, David M.↗
NASA NTRS1993

Testing of ROMPS robot mechanical interfaces and compliant device

The Robot Operated Materials Processing System (ROMPS) has been developed at Goddard Space Flight Center (GSFC) under a flight project to investigate commercially promising in-space material processes and to design reflyable robot automated systems to be used in the above processes for low-cost operations. The ROMPS is currently scheduled for flight in 1994 as a Hitchhiker payload in a Get Away Special (GAS) can. An important component of the ROMPS is a three degree-of-freedom (DOF) robot which will be responsible for carrying out the required tasks of in-space processing of selected materials. This report deals with testing of the mating capability of the ROMPS robot fingers with its various mechanical interfaces. In particular, the test plan will focus on studying the capability of a compliance mechanism mounted on the robot fingers in accommodating misalignments between the robot fingers and the interfaces during the mating. The report is organized as follows: Section 2 represents the main components of the ROMPS robot and briefly describes its operations. Section 3 presents the objectives of the test and outlines the test plan. The testbed comprising a Steward Platform-based high precision manipulator and associated data acquisition and control systems is described in Section 4. Section 5 presents results of numerous experiments conducted to study the mating capability of the robot fingers with its various interfaces under misalignments. The report is concluded with observations and recommendations based on the test results.

Nguyen, Charles C.↗
NASA NTRS1994

Generalized compliant motion primitive

This invention relates to a general primitive for controlling a telerobot with a set of input parameters. The primitive includes a trajectory generator; a teleoperation sensor; a joint limit generator; a force setpoint generator; a dither function generator, which produces telerobot motion inputs in a common coordinate frame for simultaneous combination in sensor summers. Virtual return spring motion input is provided by a restoration spring subsystem. The novel features of this invention include use of a single general motion primitive at a remote site to permit the shared and supervisory control of the robot manipulator to perform tasks via a remotely transferred input parameter set.

Backes, Paul G.↗
NASA NTRS1995

Adaptive Force Control For Compliant Motion Of A Robot

Two adaptive control schemes offer robust solutions to problem of stable control of forces of contact between robotic manipulator and objects in its environment. They are called "adaptive admittance control" and "adaptive compliance control." Both schemes involve use of force-and torque sensors that indicate contact forces. These schemes performed well when tested in computational simulations in which they were used to control seven-degree-of-freedom robot arm in executing contact tasks. Choice between admittance or compliance control is dictated by requirements of the application at hand.

Seraji, Homayoun↗
NASA NTRS1996

RAID-S Technical Overview: Raid 4 and 5-Compliant Hardware and Software Functionality Improves Data Availability Through Use of XOR-Capable Disks in an Integrated Cached Disk Array

The purpose of this paper is to provide a technical description of redundant array of independent disks - Symmetrix (RAID-S). It is intended to give the reader an understanding of how RAID-S is architected and implemented in the EMC Symmetrix 3000/5000 series integrated cached disk array. Topics include RAID-S taxonomy, configuration considerations, operational characteristics, performance, and implementation guidelines.

Quinn, Brett↗
NASA NTRS1997

Development of Statistical Process Control Methodology for an Environmentally Compliant Surface Cleaning Process in a Bonding Laboratory

Bonding labs at both MSFC and the northern Utah production plant prepare bond test specimens which simulate or witness the production of NASA's Reusable Solid Rocket Motor (RSRM). The current process for preparing the bonding surfaces employs 1,1,1-trichloroethane vapor degreasing, which simulates the current RSRM process. Government regulations (e.g., the 1990 Amendments to the Clean Air Act) have mandated a production phase-out of a number of ozone depleting compounds (ODC) including 1,1,1-trichloroethane. In order to comply with these regulations, the RSRM Program is qualifying a spray-in-air (SIA) precision cleaning process using Brulin 1990, an aqueous blend of surfactants. Accordingly, surface preparation prior to bonding process simulation test specimens must reflect the new production cleaning process. The Bonding Lab Statistical Process Control (SPC) program monitors the progress of the lab and its capabilities, as well as certifies the bonding technicians, by periodically preparing D6AC steel tensile adhesion panels with EA-91 3NA epoxy adhesive using a standardized process. SPC methods are then used to ensure the process is statistically in control, thus producing reliable data for bonding studies, and identify any problems which might develop. Since the specimen cleaning process is being changed, new SPC limits must be established. This report summarizes side-by-side testing of D6AC steel tensile adhesion witness panels and tapered double cantilevered beams (TDCBs) using both the current baseline vapor degreasing process and a lab-scale spray-in-air process. A Proceco 26 inches Typhoon dishwasher cleaned both tensile adhesion witness panels and TDCBs in a process which simulates the new production process. The tests were performed six times during 1995, subsequent statistical analysis of the data established new upper control limits (UCL) and lower control limits (LCL). The data also demonstrated that the new process was equivalent to the vapor degreasing process.

Hutchens, Dale E.↗
NASA NTRS2000

Environmentally Compliant Disposal Method for Heavy Metal Containing Propellants

ABSTRACT An environmentally friendly, cost effective technology has been developed and demonstrated by a team of Naval Air Warfare Center and Lockheed Martin personnel to dispose of Shillelagh solid rocket motor propellants. The Shillelagh is a surface to surface anti-tank weapon approaching the end of its service life. The current demilitarization process employs open detonation, but the presence of lead stearate in the N5 propellant grain motivated the need for the development of an environmentally friendly disposal method. Contained burning of the propellant followed by propellant exhaust processing was chosen as the disposal methodology. The developmental test bed, completed in February 1998, is inexpensive and transportable. Contained burning of Shillelagh propellants posed two technical hurdles: 1) removal of the sub micron lead and cadmium particulate generated during combustion, and 2) secondary combustion of the significant quantifies of carbon monoxide and hydrogen. A firing chamber with a stepped nozzle, air injection, and active ignition was developed to combust the carbon monoxide and hydrogen in real time. The hot gases and particulates from the combustion process are completely contained within a gas holder. The gases are subsequently cooled and routed through a treatment facility to remove the heavy metal particulate. Results indicate that the lead and cadmium particulates are removed below their respective detection limits (2 micro-g/cu m & 0.2 micro-g/cu m) of the analytical procedures employed and that the carbon monoxide and hydrogen levels have been reduced well below the lower flammability limits. Organic concentrations, principally benzene, are I ppm or less. A semi-automated machine has been developed which can rapidly prepare Shillelagh missiles for the contained burn facility. This machine allows the contained burn technology to be more competitive with current open bum open detonation disposal rates.

Decker, M. W.↗
NASA NTRS2002

Non-Contacting Compliant Foil Seal for Gas Turbine Engine

The program is aimed at enhancing the existing analysis to include the turbulence effect. Several manufacturing methods are being investigated in order to apply our know-how in building the seal hardware. The contents include: 1) Test Facilities; 2) Analysis Enhancements; 3) Accomplishments/Status; and 4) Materials Study.

Salehi, Mohsen↗
NASA NTRS2000

Category V Compliant Container for Mars Sample Return Missions

A novel containerization technique that satisfies Planetary Protection (PP) Category V requirements has been developed and demonstrated on the mock-up of the Mars Sample Return Container. The proposed approach uses explosive welding with a sacrificial layer and cut-through-the-seam techniques. The technology produces a container that is free from Martian contaminants on an atomic level. The containerization technique can be used on any celestial body that may support life. A major advantage of the proposed technology is the possibility of very fast (less than an hour) verification of both containment and cleanliness with typical metallurgical laboratory equipment. No separate biological verification is required. In addition to Category V requirements, the proposed container presents a surface that is clean from any, even nonviable organisms, and any molecular fragments of biological origin that are unique to Mars or any other celestial body other than Earth.

Containers↗
NASA NTRS1996

Verification of IEEE Compliant Subtractive Division Algorithms

A parameterized definition of subtractive floating point division algorithms is presented and verified using PVS. The general algorithm is proven to satisfy a formal definition of an IEEE standard for floating point arithmetic. The utility of the general specification is illustrated using a number of different instances of the general algorithm.

Miner, Paul S.↗
NASA NTRS2004

Compliant Foil Seal Investigations

Room temperature testing of an 8.5 inch diameter foil seal was conducted in the High Speed, High Temperature Turbine Seal Test Rig at the NASA Glenn Research Center. The seal was operated at speeds up to 30,000 rpm and pressure differentials up to 75 psid. Seal leakage and power loss data will be presented and compared to brush seal performance. The failure of the seal and rotor coating at 30,000 rpm and 15 psid will be presented and future development needs discussed.

Proctor, Margaret↗