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At least 235 records · Page 13

All sources NASA NTRS DOE OSTI

NASA NTRS2013

Phase Change Material for Temperature Control of Imager or Sounder on GOES Type Satellites in GEO

An imager or sounder on satellites, such as the Geostationary Operational Environmental Satellite (GOES), in geostationary orbit (GEO) has a scan mirror and motor in the scan cavity. The GEO orbit is 24 hours long. During part of the orbit, direct sunlight enters the scan aperture and adds heat to components in the scan cavity. Solar heating also increases the scan motor temperature. Overheating of the scan motor could reduce its reliability. For GOES-N to P, a radiator with a thermal louver rejects the solar heat absorbed to keep the scan cavity cool. A sunshield shields the radiator/louver from the Sun. This innovation uses phase change material (PCM) in the scan cavity to maintain the temperature stability of the scan mirror and motor. When sunlight enters the scan aperture, solar heating causes the PCM to melt. When sunlight stops entering the scan aperture, the PCM releases the thermal energy stored to keep the components in the scan cavity warm. It reduces the heater power required to make up the heat lost by radiation to space through the aperture. This is a major advantage when compared to a radiator/ louver. PCM is compact because it has a high solid-to-liquid enthalpy. Also, it could be spread out in the scan cavity. This is another advantage. Paraffin wax is a good PCM candidate, with high solid-to-liquid enthalpy, which is about 225 kJ/kg. For GOES-N to P, a radiator with a louver rejects the solar heat that enters the aperture to keep the scan cavity cool. For the remainder of the orbit, sunlight does not enter the scan aperture. However, the radiator/louver continues radiating heat to space because the louver effective emittance is about 0.12, even if the louver is fully closed. This requires makeup heater power to maintain the temperature within the stability range.

Choi, Michael↗

DOE OSTI2022

Identification of therapeutic targets in a murine model of severe exertional heat stroke

Exertional heat stroke (EHS) is a potentially lethal condition resulting from high core body temperatures (T C ) in combination with a systemic inflammatory response syndrome (SIRS) with varying degrees of severity across victims, and limited understanding of the underlying mechanism(s). We established a mouse model of severe EHS to identify mechanisms of hyperthermia/inflammation that may be responsible for organ damage. Mice were forced to run on a motorized wheel in a 37.5°C chamber until loss of consciousness and were either removed immediately (exertional heat injury or EHI; T CMax = 42.4 ± 0.2°C) or remained in the chamber an additional 20 min (EHS; T CMax = 42.5 ± 0.4°C). Exercise control mice (ExC) experienced identical procedures to EHS at 25°C. At 3 h post-EHS, there was evidence for an immune/inflammatory response as elevated blood chemokine [interferon γ-induced protein 10 (IP-10), keratinocytes-derived chemokine (KC), macrophage inflammatory proteins (MIP-1α), MIP-1β, MIP-2] and cytokine [granulocyte colony-stimulating factor (G-CSF), interleukins (IL-10), IL-6] levels peaked and were highest in EHS mice compared with EHI and ExC mice. Immunoblotting of organs susceptible to EHS damage indicated that several kinases were sensitive to stress associated with heat/inflammation and exercise; specifically, phosphorylation of liver c-Jun NH 2 -terminal kinase (JNK) at threonine 183/tyrosine 185 immediately (0 h) postheating related to heat illness severity. We have established a mouse EHS model, and JNK [or its downstream target(s)] could underlie EHS symptomatology, allowing the identification of molecular pathways or countermeasure targets to mitigate heat illness severity, enable complete recovery, and decrease overall EHS-related fatalities.

Physiology↗

NASA NTRS2010

PIV Measurements of the CEV Hot Abort Motor Plume for CFD Validation

NASA s next manned launch platform for missions to the moon and Mars are the Orion and Ares systems. Many critical aspects of the launch system performance are being verified using computational fluid dynamics (CFD) predictions. The Orion Launch Abort Vehicle (LAV) consists of a tower mounted tractor rocket tasked with carrying the Crew Module (CM) safely away from the launch vehicle in the event of a catastrophic failure during the vehicle s ascent. Some of the predictions involving the launch abort system flow fields produced conflicting results, which required further investigation through ground test experiments. Ground tests were performed to acquire data from a hot supersonic jet in cross-flow for the purpose of validating CFD turbulence modeling relevant to the Orion Launch Abort Vehicle (LAV). Both 2-component axial plane Particle Image Velocimetry (PIV) and 3-component cross-stream Stereo Particle Image Velocimetry (SPIV) measurements were obtained on a model of an Abort Motor (AM). Actual flight conditions could not be simulated on the ground, so the highest temperature and pressure conditions that could be safely used in the test facility (nozzle pressure ratio 28.5 and a nozzle temperature ratio of 3) were used for the validation tests. These conditions are significantly different from those of the flight vehicle, but were sufficiently high enough to begin addressing turbulence modeling issues that predicated the need for the validation tests.

Wernet, Mark↗

NASA NTRSDate not supplied

DC Performance Testing of MgB2 Superconducting Straight Wire Samples

To enable turboelectric aircraft that utilize fully superconducting motors and generators, testing of high-current, low-AC-loss superconducting wires and coils must be performed. A preliminary investigation was conducted on the critical current capabilityof a magnesium diboride sample and on the complications that arise from testing the sample with a cryocooler. While a cryocooler provides the benefit of a wide and continuous operating temperature range, cooling a sample by conduction through solid media without a heat-exchange gas is difficult. This paper outlines the hardware and software used to conduct the first DC performance tests on magnesium diboride superconducting samples, along with several check-out tests and mitigation steps needed to produce quality superconducting data using a cryocooler rather than a cryogen

Superconductor↗

DOE OSTI2025

Real-Time Lifetime Prediction of Semiconductor Devices Using Hardware-in-the-Loop

This paper presents a unique approach to enable real-time lifespan prediction of semiconductor power modules using a Hardware-in-the-Loop (HIL) system. By integrating the module's overall loss characteristics-specifically switching and conduction losses-with a thermoelectric model of the thermal management system, this research demonstrates that the model can dynamically estimates the junction temperature profile of the semiconductor devices in response to a changing torque demand profile for the motor drive system. This capability enables continuous monitoring of the module's operational time and cumulative stress induced on the devices to compute accumulated remaining lifetime or time-to-failure (TTF). This study provides an architectural framework for the HIL system with high-fidelity component models of multiple physical domains, allowing simulation of dynamic behaviors of a closely-coupled motor drive system. The advanced real-time computation and measurement functionalities of the HIL system allow for both dynamic lifetime calculations based on simulated data and aggregate lifetime predictions utilizing historical data. Moreover, this paper details an algorithm that not only computes cumulative damage but also synthesizes these data into a comprehensive aggregated lifetime metric. This methodology can enhance the maintenance scheduling strategies and operational reliability of semiconductor devices in critical applications, ultimately extending their service life while optimizing performance.

hardware-in-the-loop (HIL)↗

DOE OSTI2022

Production of Fischer-Tropsch Synfuels at Nuclear Plants

A case study analysis was performed to evaluate nuclear-powered synthetic fuel production in the midwestern United States (U.S.). A Fischer-Tropsch (FT) fuel synthesis plant design was used as the basis for the analysis. The FT plant design was configured to produce a product slate consisting of diesel fuel, jet fuel, and motor gasoline blend stocks from carbon dioxide (CO 2 ) and hydrogen (H 2 ) feedstocks. The CO 2 feedstock for the FT plant was assumed to be sourced from biorefineries in the region around a Midwest light water reactor (LWR) nuclear power plant (NPP). The analysis specifies that power from the LWR is used to produce H 2 via high-temperature steam electrolysis and to operate the FT synfuel production plant. Capital costs were estimated for the FT plant while capital costs for the electrolysis plant were based on previous Idaho National Laboratory (INL) studies. In addition to labor and maintenance costs for the FT and electrolysis plants, operating costs also include the costs for CO 2 feedstock transport. An analysis was performed to determine the cost of transporting CO 2 from the distributed biorefinery sources to the centralized fuel synthesis plant as a function of the synfuel plant capacity and corresponding CO 2 demand. The primary revenue streams are associated with sales of the synthetic fuel products. The synthetic fuel products will likely follow the same market trends as the conventional fuel products. The synfuel price data was thus based on projections made by the U.S. Energy Information Administration (EIA) 2021 Annual Energy Outlook (AEO) for conventional fuel products minus federal and state taxes, as well as marketing and distribution costs. The economic analysis also considered cases that included and excluded revenues from the 2022 Inflation Reduction Act (IRA) clean hydrogen production tax credit (PTC) of $\$ $3.00/kg for the first ten years of operation. The economic analysis calculated the net present value (NPV) for cases involving steady-state synfuel production for comparison with the NPV for a business-as-usual case in which NPP continues to sell only electric power to the grid. A synfuel production “Reference Case” was considered in addition to sensitivity cases in which the plant capacity, electricity price, and synthetic fuel product prices were perturbed. The synfuel production Reference Case considered a scenario in which the electrolysis and synfuel plants utilized a combined electrical load of 1000 megawatt electrical (MWe) from the LWR with the balance of the LWR power output being sold to the electric grid. The economic analysis suggests that the synfuel production Reference Case evaluated in this analysis would lead to considerable economic potential for near-term deployment of a nuclear-based synfuel production plant. Specifically, the economic analysis suggests that the deployment of a 1000 megawatt (MW) nuclear-powered synfuel plant could result in a NPV increase of approximately $\$ $1.7 billion for a case with no clean synfuel price premium relative to conventional petroleum fuels when accounting for the additional revenues from the 2022 IRA clean hydrogen PTCs of $\$ $3/kg. Sensitivity analysis was performed to evaluate the effect of perturbation of selected model input parameters on the NPV for the synfuel production Reference Case. The sensitivity analysis indicates that the plant capacity has the largest impact on the differential NPV, with a smaller synfuel production capacity resulting in a decrease in revenue when a larger fraction of the power from the NPP is sold to the grid and a smaller fraction of the power is used to produce synthetic fuel products. The synfuel product pricing has the next largest impact on the differential NPV, with lower synfuel prices resulting in decreased NPV from decreased synfuel sales revenue while higher synfuel prices result in increased NPV from increased synfuel sales revenue. Electricity pricing has a smaller effect on the NPV than the fuel sales price since, in the Reference Case, most of the energy from the NPP is used for synfuel production and a smaller amount of the system revenues are associated with electrical power sales. However, the electricity price sensitivity does indicate that the Synfuel Integrated Energy System (IES) would have a greater NPV than the business-as-usual case (e.g., grid power sales only) when electricity market prices are low, suggesting that synfuel production could provide a strategy for decreasing the economic risks to NPPs posed by a loss of revenues attributed to falling electricity market prices.

10 SYNTHETIC FUELS↗

DOE OSTI2021

Octane Index Applicability over the Pressure-Temperature Domain

Modern boosted spark-ignition (SI) engines and emerging advanced compression ignition (ACI) engines operate under conditions that deviate substantially from the conditions of conventional autoignition metrics, namely the research and motor octane numbers (RON and MON). The octane index (OI) is an emerging autoignition metric based on RON and MON which was developed to better describe fuel knock resistance over a broader range of engine conditions. Prior research at Oak Ridge National Laboratory (ORNL) identified that OI performs reasonably well under stoichiometric boosted conditions, but inconsistencies exist in the ability of OI to predict autoignition behavior under ACI strategies. Instead, the autoignition behavior under ACI operation was found to correlate more closely to fuel composition, suggesting fuel chemistry differences that are insensitive to the conditions of the RON and MON tests may become the dominant factor under these high efficiency operating conditions. This investigation builds on earlier work to study autoignition behavior over six pressure-temperature (PT) trajectories that correspond to a wide range of operating conditions, including boosted SI operation, partial fuel stratification (PFS), and spark-assisted compression ignition (SACI). A total of 12 different fuels were investigated, including the Co-Optima core fuels and five fuels that represent refinery-relevant blending streams. It was found that, for the ACI operating modes investigated here, the low temperature reactions dominate reactivity, similar to boosted SI operating conditions because their PT trajectories lay close to the RON trajectory. Additionally, the OI metric was found to adequately predict autoignition resistance over the PT domain, for the ACI conditions investigated here, and for fuels from different chemical families. This finding is in contrast with the prior study using a different type of ACI operation with different thermodynamic conditions, specifically a significantly higher temperature at the start of compression, illustrating that fuel response depends highly on the ACI strategy being used.

02 PETROLEUM↗

NASA NTRS1998

"Long life" DC brush motor for use on the Mars surveyor program

DC brush motors have several qualities which make them very attractive for space flight applications. Their mechanical commutation is simple and lightweight, requiring no external sensing and control in order to function properly. They are extremely efficient in converting electrical energy into mechanical energy. Efficiencies over 80% are not uncommon, resulting in high power throughput to weight ratios. However, the inherent unreliability and short life of sliding electrical contacts, especially in vacuum, have driven previous programs to utilize complex brushless DC or the less efficient stepper motors. The Mars Surveyor Program (MSP'98) and the Shuttle Radar Topography Mission (SRTM) have developed a reliable "long life" brush type DC motor for operation in low temperature, low pressure CO2 and N2, utilizing silver-graphite brushes. The original intent was to utilize this same motor for SRTM's space operation, but the results thus far have been unsatisfactory in vacuum. This paper describes the design, test, and results of this development.

Braun, David↗

NASA NTRS2004

Reproducible Growth of High-Quality Cubic-SiC Layers

Semiconductor electronic devices and circuits based on silicon carbide (SiC) are being developed for use in high-temperature, high-power, and/or high-radiation conditions under which devices made from conventional semiconductors cannot adequately perform. The ability of SiC-based devices to function under such extreme conditions is expected to enable significant improvements in a variety of applications and systems. These include greatly improved high-voltage switching for saving energy in public electric power distribution and electric motor drives; more powerful microwave electronic circuits for radar and communications; and sensors and controls for cleaner-burning, more fuel-efficient jet aircraft and automobile engines.

Neudeck, Philip G.↗

NASA NTRS2015

Embedded Systems Hardware Integration and Code Development for Maraia Capsule and E-MIST

The cost of sending large spacecraft to orbit makes them undesirable for carrying out smaller scientific missions. Small spacecraft are more economical and can be tailored for missions where specific tasks need to be carried out, the Maraia capsule is such a spacecraft. Maraia will allow for samples of experiments conducted on the International Space Station to be returned to earth. The use of balloons to conduct experiments at the edge of space is a practical approach to reducing the large expense of using rockets. E-MIST is a payload designed to fly on a high altitude balloon. It can maintain science experiments in a controlled manner at the edge of space. The work covered here entails the integration of hardware onto each of the mentioned systems and the code associated with such work. In particular, the resistance temperature detector, pressure transducers, cameras, and thrusters for Maraia are discussed. The integration of the resistance temperature detectors and motor controllers to E-MIST is described. Several issues associated with sensor accuracy, code lock-up, and in-flight reset issues are mentioned. The solutions and proposed solutions to these issues are explained.

capsule↗

NASA NTRSDate not supplied

Mars Ascent Vehicle Hybrid PropulsionEffort

A technology development program was undertaken to determine if the benefits of hybrid rocket propulsion could be realized for a Mars Ascent Vehicle (MAV) application. Specifically, the goal of this program was to increase the Technology Readiness Level (TRL) of a hybrid propulsion system such that it could be considered for a potential Mars Sample Return Campaign. Over the course of approximately five years, a new, wax-based fuel was developed, characterized and tested with Mixed Oxides of Nitrogen (from MON-3 to MON-25). Various ignition mechanisms were tested and solid hypergolic additives were evaluated for their potential to ignite the hybrid motor. Several hot-fire test campaigns were completed at both sub- and full-scale. The technology development program was born out of a JPL study documented by Shotwell and Karp that identified the Single Stage to Orbit (SSTO) hybrid propulsion system for a potential Mars Ascent Vehicle to be the lowest Gross Lift Off Mass option from the ten configurations evaluated. Benefits of the hybrid option included its predicted favorable low temperature storage and operation behavior, high performance and ability to restart (enabling the SSTO). The main disadvantage of the hybrid option was its low TRL,as it essentially started as a blank sheet design with a new fuel development. Near the end of the technology development program, a Preliminary Architecture Assessment (PAA) was completed to evaluate a single-stage hybrid propulsion system and a two-stage solid propulsion system for a potential MAV. The solid propulsion system was selected for further study in 2019, primarily because of its flight heritage. While the hybrid technology development program made many strides, there was still a list of challenges to overcome. This paper will discuss the substantial progress and remaining challenges from the technology development effort from 2015 through 2019. This includes fuel development and reformulation, sub- and full-scale testing at Space Propulsion Group, full scale testing at Parabilis, full scale testing at Whittinghill Aerospace, hypergolic additive testing at Purdue and Penn State and the evaluation of adding hypergolic additives to a full-scale grain. It also includes a discussion of the design that resulted from the Preliminary Architecture Assessment.

hybrid rocket↗

NASA NTRS2003

High Temperature Fusion Reactor Cooling Using Brayton Cycle Based Partial Energy Conversion

For some future space power systems using high temperature nuclear heat sources most of the output energy will be used in other than electrical form, and only a fraction of the total thermal energy generated will need to be converted to electrical work. The paper describes the conceptual design of such a partial energy conversion system, consisting of a high temperature fusion reactor operating in series with a high temperature radiator and in parallel with dual closed cycle gas turbine (CCGT) power systems, also referred to as closed Brayton cycle (CBC) systems, which are supplied with a fraction of the reactor thermal energy for conversion to electric power. Most of the fusion reactor's output is in the form of charged plasma which is expanded through a magnetic nozzle of the interplanetary propulsion system. Reactor heat energy is ducted to the high temperature series radiator utilizing the electric power generated to drive a helium gas circulation fan. In addition to discussing the thermodynamic aspects of the system design the authors include a brief overview of the gas turbine and fan rotor-dynamics and proposed bearing support technology along with performance characteristics of the three phase AC electric power generator and fan drive motor.

Juhasz, Albert J.↗

NASA NTRSDate not supplied

Mars Ascent Vehicle Hybrid Propulsion Effort

A technology development program was undertaken to determine if the benefits of hybrid rocket propulsion could be realized for a Mars Ascent Vehicle (MAV) application. Specifically, the goal of this program was to increase the Technology Readiness Level (TRL) of a hybrid propulsion system such that it could be considered for a potential Mars Sample Return Campaign. Over the course of approximately five years, a new, wax-based fuel was developed, characterized and tested with Mixed Oxides of Nitrogen (from MON-3 to MON-25). Various ignition mechanisms were tested and solid hypergolic additives were evaluated for their potential to ignite the hybrid motor. Several hot-fire test campaigns were completed at both sub- and full-scale. The technology development program was born out of a JPL study documented by Shotwell and Karp that identified the Single Stage to Orbit (SSTO) hybrid propulsion system for a potential Mars Ascent Vehicle to be the lowest Gross Lift Off Mass option from the ten configurations evaluated. Benefits of the hybrid option included its predicted favorable low temperature storage and operation behavior, high performance and ability to restart (enabling the SSTO). The main disadvantage of the hybrid option was its low TRL, as it essentially started as a blank sheet design with a new fuel development. Near the end of the technology development program, a Preliminary Architecture Assessment (PAA) was completed to evaluate a single-stage hybrid propulsion system and a two-stage solid propulsion system for a potential MAV. The solid propulsion system was selected for further study in 2019, primarily because of its flight heritage. While the hybrid technology development program made many strides, there was still a list of challenges to overcome. This paper will discuss the substantial progress and remaining challenges from the technology development effort from 2015 through 2019. This includes fuel development and reformulation, sub- and full-scale testing at Space Propulsion Group, full scale testing at Parabilis, full scale testing at Whittinghill Aerospace, hypergolic additive testing at Purdue and Penn State and the evaluation of adding hypergolic additives to a fullscale grain. It also includes a discussion of the design that resulted from the Preliminary Architecture Assessment.

hybrid rocket↗

NASA NTRS2017

Arc Jet Test and Analysis of Asbestos Free Solid Rocket Motor Nozzle Dome Ablative Materials

Asbestos free solid motor internal insulation samples were recently tested at the MSFC Hyperthermal Arc Jet Facility. Objectives of the test were to gather data for solid rocket motor analog characterization of ablative and in-depth thermal performance of rubber materials subject to high enthalpy/pressure flow conditions. Tests were conducted over a range of convective heat fluxes for both inert and chemically reactive sub-sonic free stream gas flow. Active instrumentation included use of total calorimeters, in-depth thermocouples, and a surface pyrometer for in-situ surface temperature measurement. Post-test sample forensics involved determination of eroded depth, charred depth, total sample weight loss, and documentation of the general condition of the eroded profile. A complete Charring Material Ablator (CMA) style aero thermal analysis was conducted for the test matrix and results compared to the measured data. In general, comparisons were possible for a number of the cases and the results show a limited predictive ability to model accurately both the ablative response and the in-depth temperature profiles. Lessons learned and modeling recommendations are made regarding future testing and modeling improvements that will increase understanding of the basic chemistry/physics associated with the complicated material ablation process of rubber materials.

Clayton, J. Louie↗

NASA NTRS2016

The Pilatus Unmanned Aircraft System for Lower Atmospheric Research

This paper presents details of the University of Colorado (CU) "Pilatus" unmanned research aircraft, assembled to provide measurements of aerosols, radiation and thermodynamics in the lower troposphere. This aircraft has a wingspan of 3.2 m and a maximum take-off weight of 25 kg, and it is powered by an electric motor to reduce engine exhaust and concerns about carburetor icing. It carries instrumentation to make measurements of broadband up- and downwelling shortwave and longwave radiation, aerosol particle size distribution, atmospheric temperature, relative humidity and pressure and to collect video of flights for subsequent analysis of atmospheric conditions during flight. In order to make the shortwave radiation measurements, care was taken to carefully position a high-quality compact inertial measurement unit (IMU) and characterize the attitude of the aircraft and its orientation to the upward-looking radiation sensor. Using measurements from both of these sensors, a correction is applied to the raw radiometer measurements to correct for aircraft attitude and sensor tilt relative to the sun. The data acquisition system was designed from scratch based on a set of key driving requirements to accommodate the variety of sensors deployed. Initial test flights completed in Colorado provide promising results with measurements from the radiation sensors agreeing with those from a nearby surface site. Additionally, estimates of surface albedo from onboard sensors were consistent with local surface conditions, including melting snow and bright runway surface. Aerosol size distributions collected are internally consistent and have previously been shown to agree well with larger, surface-based instrumentation. Finally the atmospheric state measurements evolve as expected, with the near-surface atmosphere warming over time as the day goes on, and the atmospheric relative humidity decreasing with increased temperature. No directional bias on measured temperature, as might be expected due to uneven heating of the sensor housing over the course of a racetrack pattern, was detected. The results from these flights indicate that the CU Pilatus platform is capable of performing research-grade lower tropospheric measurement missions.

de Boer, Gijs↗

NASA NTRS2018

Creating a Multifunctional Composite Stator Slot Material System to Enable High Power Density Electric Machines for Electrified Aircraft Applications

Increasing the power density and efficiency of electric machines (motors and generators) is integral to bringing Electrified Aircraft (EA) to commercial realization. However, power density and efficiency are not qualities that can be developed independently. At the heart of any electric machine are the conductors (usually copper) that carry current and generate magnetic fields. Increased power density means increased current density and increased joule heating in a smaller volume. To increase efficiency at the wire level means minimizing electrical resistance and hence power lost to joule heating. There are fundamental challenges with concomitantly increasing both power density and efficiency since the copper resistivity is very temperature sensitive at common electric machine operating conditions. Simple calculations of the linear increase in resistivity of copper as a function of temperature, reveals that a one degree Celsius increase in temperature results in a 0.39% decrease in efficiency. Conversely, a 20 degree Celsius decrease in copper temperature produces a 7.8% increase in efficiency. Therefore, improved thermal management concepts for electric machine building blocks such as stator winding are a priority for improving efficiency and power density. This paper proposing changing the view of component materials in the stator slots from individual components with singular functionality to a composite system where the components take on a multifunctional roles. In the composite framework, achievable material development goals are defined that together have maximum system impact on the thermal environment inside of high power density electric machines for aerospace applications.

thermal management↗

NASA NTRS1975

Solid-propellant rocket motor ballistic performance variation analyses

Results are presented of research aimed at improving the assessment of off-nominal internal ballistic performance including tailoff and thrust imbalance of two large solid-rocket motors (SRMs) firing in parallel. Previous analyses using the Monte Carlo technique were refined to permit evaluation of the effects of radial and circumferential propellant temperature gradients. Sample evaluations of the effect of the temperature gradients are presented. A separate theoretical investigation of the effect of strain rate on the burning rate of propellant indicates that the thermoelastic coupling may cause substantial variations in burning rate during highly transient operating conditions. The Monte Carlo approach was also modified to permit the effects on performance of variation in the characteristics between lots of propellants and other materials to be evaluated. This permits the variabilities for the total SRM population to be determined. A sample case shows, however, that the effect of these between-lot variations on thrust imbalances within pairs of SRMs is minor in compariosn to the effect of the within-lot variations. The revised Monte Carlo and design analysis computer programs along with instructions including format requirements for preparation of input data and illustrative examples are presented.

Sforzini, R. H.↗

NASA NTRS1991

A lightweight, high strength dexterous manipulator for commercial applications

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed.

Marzwell, Neville I.↗