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At least 217 records · Page 12

All sources NASA NTRS DOE OSTI

NASA NTRS1985

Kinematic rate control of simulated robot hand at or near wrist singularity

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.

Barker, K.↗

NASA NTRS1991

Fuzzy logic in autonomous orbital operations

Fuzzy logic can be used advantageously in autonomous orbital operations that require the capability of handling imprecise measurements from sensors. Several applications are underway to investigate fuzzy logic approaches and develop guidance and control algorithms for autonomous orbital operations. Translational as well as rotational control of a spacecraft have been demonstrated using space shuttle simulations. An approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Pattern recognition and object identification algorithms currently under development will become part of this camera system at an appropriate level in the future. A concept to control environment and life support systems for large Lunar based crew quarters is also under development. Investigations in the area of reinforcement learning, utilizing neural networks, combined with a fuzzy logic controller, are planned as a joint project with the Ames Research Center.

Lea, Robert N.↗

NASA NTRS1984

Conceptual design of a mobile remote manipulator system

A mobile remote manipulator system has been identified as a necessary device for space station. A conceptual design for an MRMS is presented which features (1) tracks on the MRMS and guide pins only on the truss structure, (2) a push/pull drive mechanism which rotates to permit movement in four directions, and (3) spacecrane and mobile foot restraint manipulators (or arms). Operational and design features of the MRMS elements are described and illustrated. Concepts are also presented which permit rotating the operational plane of the MRMS through 90 deg. Such a system has been found to have great utility for initial space station construction, maintenance and repair, and to provide a construction capability for future station growth or large spacecraft assembly and/or servicing.

Bush, H. G.↗

NASA NTRS1991

A row-by-row off-design performance calculation method for turbines

The turbine component of a gas turbine engine is frequently subjected to extreme operation conditions associated with significant changes in mass flow, turbine inlet temperature, pressure and rotational speed. These off-design operation conditions significantly affect the flow deflection within the turbine stage, which consists of individual stator and rotor rows. As a result, the stage parameters representing the velocity diagram will change and affect the efficiency and performance of the stage and, thus, the turbine. A row-by-row calculation method is presented for predicting the performance behavior of turbines under extreme off-design conditions. The method is applied to a multistage turbine for which the off-design performance is calculated and compared with the measurement.

Schobeiri, T.↗

NASA NTRS1989

User's guide to PMESH: A grid-generation program for single-rotation and counterrotation advanced turboprops

A detailed operating manual is presented for a grid generating program that produces 3-D meshes for advanced turboprops. The code uses both algebraic and elliptic partial differential equation methods to generate single rotation and counterrotation, H or C type meshes for the z - r planes and H type for the z - theta planes. The code allows easy specification of geometrical constraints (such as blade angle, location of bounding surfaces, etc.), mesh control parameters (point distribution near blades and nacelle, number of grid points desired, etc.), and it has good runtime diagnostics. An overview is provided of the mesh generation procedure, sample input dataset with detailed explanation of all input, and example meshes.

Warsi, Saif A.↗

NASA NTRS1981

Open ended tubing cutters

A self clamping cutting tool which includes a handle attached to a C-shaped housing is described. Rotatably mounted within the housing is a C-shaped tool body carrying a set of clamping rolls, two support rolls, and an edged cutting roll (64). The support rolls are disposed to one side of the axis of a pipe and the cutting roll is disposed to the other side of a pipe axis so that these rolls contact a pipe at three circumferential points. Cutter advancing apparatus advance the cutting roll toward the support rollers. The support rolls and cutting roll are rotatable independently of the C-shaped housing. A one way ratchet mechanism disposed between the C-shaped housing and the C-shaped tool body permits operation by movement in one rotational direction about the pipe axis.

Girala, A. S.↗

NASA NTRS1999

Screw-released roller brake

A screw-released roller brake including an input drive assembly, an output drive assembly, a plurality of locking sprags, a mechanical tripper nut for unlocking the sprags, and a casing therefor. The sprags consist of three dimensional (3-D) sprag members having pairs of contact surface regions which engage respective pairs of contact surface regions included in angular grooves or slots formed in the casing and the output drive assembly. The sprags operate to lock the output drive assembly to the casing to prevent rotation thereof in an idle mode of operation. In a drive mode of operation, the tripper is either self actuated or motor driven and is translated linearly up and down against a spline and at the limit of its travel rotates the sprags which unlock while coupling the input drive assembly to the output drive assembly so as to impart a turning motion thereto in either a clockwise or counterclockwise direction.

Vranish, John M.↗

NASA NTRS1942

Wind-Tunnel Tests of Four- and Six-Blade Single- and Dual-Rotating Tractor Propellers

Test of 10-foot diameter, four and six blade single-rotating and dual-rotating propellers were conducted in the NACA propeller-research tunnel. The propellers were mounted at the front end of a streamline body incorporating spinners to house the hub portions. The effect of a symmetrical wing mounted in the slipstream ranged from 20 degrees to 65 degrees setting corresponds to airplane speeds greater than 500 miles per hour. The results indicate that dual-rotating propellers were from 0 to 6 percent more efficient than single-rotating ones; but, when the propellers operated in the presence of a wing, the gain was reduced by about one-half. Other advantages of dual-rotating propellers were found to include greater power absorption and greater efficiency at the low V/nD operating range of high-pitch propellers.

Biermann, David↗

NASA NTRS1970

Manually operated elastomer heat pump

Device consisting of a rotating mechanism, a frame with multiple wide bands of rubber, and a fluid bath, demonstrates the feasibility of a human operated device capable of cooling or producing heat. This invention utilizes the basic thermodynamic properties of natural rubber.

Hutchinson, W. D.↗

NASA NTRS1985

Rotor instability due to loose rotating part

Loosening of a rotating part from its fixed position on the shaft or a part of the stator which comes loose and begins to turn with the rotor very frequently represents machinery malfunction. The loose part becomes involved in rotative motion mostly due to dry or fluid friction, and thus its motion is very erratic. The loose part can also move axially along the shaft. Detachment of the rotating part causes changes in the rotor balance state. Most often this results in higher unbalance. During steady-state operation the effect of a loose rotating part can manifest itself through heat vibration. It can be diagnosed by observing periodic changes of amplitude and phase of the synchronous response. During start-up (or shutdown) a loose rotating part carrying some amount of unbalance may manifest its dynamic action in the form of subsynchronous vibrations, very similar to those of other instabilities. The objective of this demonstration is to observe the effect of a loose rotating part (fixed, however, in the axial direction) under both steady-state (rotor constant speed) and transient (rotor start-up or shutdown) operation. The dynamic response depends very much on the amount of damping in the system: lubrication of the loose part/shaft surfaces and addition/elimination of aerodynamic drag blades, mounted on the loose disk, significantly change the rotor response.

Muszynska, A.↗

NASA NTRS1995

Polarization Rotator For LCTV Spatial Light Modulator

Polarization varies electronically to select complex-amplitude operating curve. Curve best suited to specific optical-correlator task selected rapidly and repeatedly by use of simple electronic command. Operating curves adjusted only with difficulty, by mechanical rotation of polarizer. Contains electronically-variable polarization-rotating device in place of fixed polarizer, and possibly additional device in place of fixed analyzer.

Juday, Richard↗

NASA NTRS1972

Effects of simulated artificial gravity on human performance

The ability of test subjects to perform operational type tasks was evaluated at rotational rates to 6 rpm and radii to 78 ft (24 m). The tasks included fine motor activity, mental operations, postural equilibrium, cargo handling, radial and tangential locomotion. Performance data indicate that 6 rpm presents a physiological limit at radii to 75 ft (23 m). Radial locomotion was not found to produce excessive adverse stimuli, and tangential locomotion was readily accomplished at walking rates of 2 of 4.8 ft/s (.6 to 1.4 m/s). The absence of vision dramatically reduced an individual's postural equilibrium during rotation. The use of selected anti-motion pharmaceuticals had, generally, a positive effect upon psychomotor performance at 6 rpm, but did not prove to be a panacea for the adverse effects of rotation at this rate.

Green, J. A.↗

NASA NTRS2010

Ultrasonic/Sonic Rotary-Hammer Drills

Ultrasonic/sonic rotary-hammer drill (USRoHD) is a recent addition to the collection of apparatuses based on ultrasonic/sonic drill corer (USDC). As described below, the USRoHD has several features, not present in a basic USDC, that increase efficiency and provide some redundancy against partial failure. USDCs and related apparatuses were conceived for boring into, and/or acquiring samples of, rock or other hard, brittle materials of geological interest. They have been described in numerous previous NASA Tech Briefs articles. To recapitulate: A USDC can be characterized as a lightweight, lowpower, piezoelectrically driven jackhammer in which ultrasonic and sonic vibrations are generated and coupled to a tool bit. A basic USDC includes a piezoelectric stack, an ultrasonic transducer horn connected to the stack, a free mass ( free in the sense that it can bounce axially a short distance between hard stops on the horn and the bit), and a tool bit. The piezoelectric stack creates ultrasonic vibrations that are mechanically amplified by the horn. The bouncing of the free mass between the hard stops generates the sonic vibrations. The combination of ultrasonic and sonic vibrations gives rise to a hammering action (and a resulting chiseling action at the tip of the tool bit) that is more effective for drilling than is the microhammering action of ultrasonic vibrations alone. The hammering and chiseling actions are so effective that unlike in conventional twist drilling, little applied axial force is needed to make the apparatus advance into the material of interest. There are numerous potential applications for USDCs and related apparatuses in geological exploration on Earth and on remote planets. In early USDC experiments, it was observed that accumulation of cuttings in a drilled hole causes the rate of penetration of the USDC to decrease steeply with depth, and that the rate of penetration can be increased by removing the cuttings. The USRoHD concept provides for removal of cuttings in the same manner as that of a twist drill: An USRoHD includes a USDC and a motor with gearhead (see figure). The USDC provides the bit hammering and the motor provides the bit rotation. Like a twist drill bit, the shank of the tool bit of the USRoHD is fluted. As in the operation of a twist drill, the rotation of the fluted drill bit removes cuttings from the drilled hole. The USRoHD tool bit is tipped with a replaceable crown having cutting teeth on its front surface. The teeth are shaped to promote fracturing of the rock face through a combination of hammering and rotation of the tool bit. Helical channels on the outer cylindrical surface of the crown serve as a continuation of the fluted surface of the shank, helping to remove cuttings. In the event of a failure of the USDC, the USRoHD can continue to operate with reduced efficiency as a twist drill. Similarly, in the event of a failure of the gearmotor, the USRoHD can continue to operate with reduced efficiency as a USDC.

Badescu, Mircea↗

NASA NTRS2004

Inducer Hydrodynamic Forces in a Cavitating Environment

Marshall Space Flight Center has developed and demonstrated a measurement device for sensing and resolving the hydrodynamic loads on fluid machinery. The device - a derivative of the six-component wind tunnel balance - senses the forces and moments on the rotating device through a weakened shaft section instrumented with a series of strain gauges. This rotating balance was designed to directly measure the steady and unsteady hydrodynamic loads on an inducer, thereby defining the amplitude and frequency content associated with operating in various cavitation modes. The rotating balance was calibrated statically using a dead-weight load system in order to generate the 6 x 12 calibration matrix later used to convert measured voltages to engineering units. Structural modeling suggested that the rotating assembly first bending mode would be significantly reduced with the balance s inclusion. This reduction in structural stiffness was later confirmed experimentally with a hammer-impact test. This effect, coupled with the relatively large damping associated with the rotating balance waterproofing material, limited the device s bandwidth to approximately 50 Hertz Other pre-test validations included sensing the test article rotating assembly built-in imbalance for two configurations and directly measuring the assembly mass and buoyancy while submerged under water. Both tests matched predictions and confirmed the device s sensitivity while stationary and rotating. The rotating balance was then demonstrated in a water test of a full-scale Space Shuttle Main Engine high-pressure liquid oxygen pump inducer. Experimental data was collected a scaled operating conditions at three flow coefficients across a range of cavitation numbers for the single inducer geometry and radial clearance. Two distinct cavitation modes were observed symmetric tip vortex cavitation and alternate-blade cavitation. Although previous experimental tests on the same inducer demonstrated two additional cavitation modes at lower inlet pressures, these conditions proved unreachable with the rotating balance installed due to the intense dynamic environment. The sensed radial load was less influenced by flow coefficient than by cavitation number or cavitation mode although the flow coefficient range was relatively narrow. Transition from symmetric tip vortex to alternate-blade cavitation corresponded to changes in both radial load magnitude and radial load orientation relative to the inducer. Sensed moments indicated that the effective load center moved downstream during this change in cavitation mode. An occurrence of "higher+rdex cavitation" was also detected in both the stationary pressures and the rotating balance data although the frequency of the phenomena was well above the reliable bandwidth of the rotating balance. In summary the experimental tests proved both the concept and device s capability despite the limitations and confirmed that hydrodynamically-induced forces and moments develop in response to the unbalanced pressure field, which is, in turn, a product of the cavitation environment.

Skelley, Stephen E.↗

NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗

NASA NTRS1996

Molecular Dynamics Simulation of Carbon Nanotube Based Gears

We used molecular dynamics to investigate the properties and design space of molecular gears fashioned from carbon nanotubes with teeth added via a benzyne reaction known to occur with C60. A modified, parallelized version of Brenner's potential was used to model interatomic forces within each molecule. A Leonard-Jones 6-12 potential was used for forces between molecules. One gear was powered by forcing the atoms near the end of the buckytube to rotate, and a second gear was allowed.to rotate by keeping the atoms near the end of its buckytube on a cylinder. The meshing aromatic gear teeth transfer angular momentum from the powered gear to the driven gear. A number of gear and gear/shaft configurations were simulated. Cases in vacuum and with an inert atmosphere were examined. In an extension to molecular dynamics technology, some simulations used a thermostat on the atmosphere while the hydrocarbon gear's temperature was allowed to fluctuate. This models cooling the gears with an atmosphere. Results suggest that these gears can operate at up to 50-100 gigahertz in a vacuum or inert atmosphere at room temperature. The failure mode involves tooth slip, not bond breaking, so failed gears can be returned to operation by lowering temperature and/or rotation rate. Videos and atomic trajectory files in xyz format are presented.

Han, Jie↗

NASA NTRS2013

Pulsed ultrasonic stir welding system

An ultrasonic stir welding system includes a welding head assembly having a plate and a rod passing through the plate. The rod is rotatable about a longitudinal axis thereof. During a welding operation, ultrasonic pulses are applied to the rod as it rotates about its longitudinal axis. The ultrasonic pulses are applied in such a way that they propagate parallel to the longitudinal axis of the rod.

Ding, R. Jeffrey↗

NASA NTRS2010

A One-Dimensional Synthetic-Aperture Microwave Radiometer

A proposed one-dimensional synthetic- aperture microwave radiometer could serve as an alternative to either the two-dimensional synthetic-aperture radiometer described in the immediately preceding article or to a prior one-dimensional one, denoted the Electrically Scanned Thinned Array Radiometer (ESTAR), mentioned in that article. The proposed radiometer would operate in a pushbroom imaging mode, utilizing (1) interferometric cross-track scanning to obtain cross-track resolution and (2) the focusing property of a reflector for along-track resolution. The most novel aspect of the proposed system would be the antenna (see figure), which would include a cylindrical reflector of offset parabolic cross section. The reflector could be made of a lightweight, flexible material amenable to stowage and deployment. Other than a stowage/deployment mechanism, the antenna would not include moving parts, and cross-track scanning would not entail mechanical rotation of the antenna. During operation, the focal line, parallel to the cylindrical axis, would be oriented in the cross-track direction, so that placement of receiving/radiating elements at the focal line would afford the desired along-track resolution. The elements would be microwave feed horns sparsely arrayed along the focal line. The feed horns would be oriented with their short and long cross-sectional dimensions parallel and perpendicular, respectively, to the cylindrical axis to obtain fan-shaped beams having their broad and narrow cross-sectional dimensions parallel and perpendicular, respectively, to the cylindrical axis. The interference among the beams would be controlled in the same manner as in the ESTAR to obtain along-cylindrical- axis (cross-track) resolution and cross-track scanning.

Doiron, Terence↗