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At least 271 records · Page 15

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NASA NTRS2022

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots with-out substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables.

Tendon/wire mechanism↗

NASA NTRS1973

Nonlinear response of boron/aluminum angleplied laminates under cyclic tensile loading: Contributing mechanisms and their effects

The nonlinear response of boron/aluminum angleplied laminates subjected to cyclic loads was investigated. A procedure is outlined and criteria are proposed which can be used to assess the nonlinear response. The procedure consists of testing strategically selected laminate configurations and analyzing the results using composite mechanics. Results from the investigation show the contributions to nonlinear behavior are from: premature random fiber breaks where the ply orientation angle is small relative to the load direction, ply relative rotation at intermediate values of the ply orientation angle, and nonlinear aluminum matrix behavior at large values of the orientation angle. Premature fiber breaks result in progressively more compliant material; large ply relative rotations result in progressively stiffer material; and pronounced matrix nonlinear behavior results in no significant change in the stiffness of the initial load portion.

Chamis, C. C.↗

NASA NTRS1974

A general review of concepts for reducing skin friction, including recommendations for future studies

Four main concepts which have significantly reduced skin friction in experimental studies are discussed; suction, gaseous injection, particle additives, and compliant wall. It is considered possible that each of these concepts could be developed and applied in viable skin friction reduction systems for aircraft application. Problem areas with each concept are discussed, and recommendations for future studies are made.

Fischer, M. C.↗

NASA NTRS1974

Passive suppression of pogo on the space shuttle

A qualitative assessment of the tendency for pogo instability of the shuttle vehicle in the absence of suppression devices, and the effectiveness of two passive suppressors (the compliant accumulator and the resistive accumulator) in counteracting any tendency toward instability is provided. In addition, the relative effectiveness of three suppressor locations (the low pressure pump (LWOP) inlet and discharge and the high pressure pump (HPOP) inlet) is also evaluated. The primary conclusion of the study is that effective pogo suppression, with passive devices, can be accomplished at the HPOP inlet location but not at the LPOP locations. Other conclusions are drawn regarding the relative effectiveness of the two accumulator types and with respect to tentative accumulator design requirements. Finally, a number of recommendations are made regarding future studies.

Lock, M. H.↗

NASA NTRS1973

Nonlinear response of boron/aluminum angleplied laminates under cyclic tensile loading - Contributing mechanisms and their effects

Chamis, C. C.↗

NASA NTRS1974

Renal parameter estimates in unrestrained dogs

A mathematical formulation has been developed to describe the hemodynamic parameters of a conceptualized kidney model. The model was developed by considering regional pressure drops and regional storage capacities within the renal vasculature. Estimation of renal artery compliance, pre- and postglomerular resistance, and glomerular filtration pressure is feasible by considering mean levels and time derivatives of abdominal aortic pressure and renal artery flow. Changes in the smooth muscle tone of the renal vessels induced by exogenous angiotensin amide, acetylcholine, and by the anaesthetic agent halothane were estimated by use of the model. By employing totally implanted telemetry, the technique was applied on unrestrained dogs to measure renal resistive and compliant parameters while the dogs were being subjected to obedience training, to avoidance reaction, and to unrestrained caging.

Rader, R. D.↗

NASA NTRS1975

The relationship between reliability and bonding techniques in hybrid microcircuits

Differential thermal expansion was shown to be responsible for many observed failures in ceramic chip capacitors mounted on alumina substrates. It is shown that the mounting techniques used in bonding the capacitors have a marked effect upon the thermally induced mechanical stress and thus the failure rate. A mathematical analysis was conducted of a composite model of the capacitor-substrate system to predict the magnitude of thermally induced stresses. It was experimentally observed that the stresses in more compliant bonding systems such as soft lead tin and indium solders are significantly lower than those in hard solder and epoxy systems. The marked dependence upon heating and cooling rate was proven to be a determining factor in the prediction of failure solder systems. It was found that the harder or higher melting solders are less susceptible to thermal cycling effects but that they are more likely to fail during initial processing operations. Strain gage techniques were used to determine thermally induced expansion stresses of the capacitors and the alumina substrates. The compliance of the different bonding mediums was determined. From the data obtained, several recommendations are made concerning the optimum bonding system for the achievement of maximum reliability.

Caruso, S. V.↗

NASA NTRS1975

The relationship between reliability and bonding techniques in hybrid systems

Differential thermal expansion has been shown to be responsible for many observed failures in ceramic chip capacitors mounted on alumina substrates. The present work has shown that the mounting techniques used in bonding the capacitors have a marked effect upon the thermally induced mechanical stress and thus the failure rate. A mathematical analysis of a composite model of the capacitor-substrate system to predict the magnitude of thermally induced stresses have been conducted. It has been experimentally observed that the stresses in more compliant bonding systems such as soft lead/tin and indium solders are significantly lower than those in hard solder and epoxy systems. From the data obtained, several recommendations are made concerning the optimum bonding system for the achievement of maximum reliability.

Kinser, D. L.↗

NASA NTRS1976

Myocardial wall-thickness transducer

Device consists of highly compliant circular beam attached to piezoresistive strain gage and barbed needle. Radial deflection of myocardium is measured with minimal disturbance of normal heart functions.

Feldstein, C.↗

NASA NTRS1975

The relationship between reliability and bonding techniques in hybrid systems

Differential thermal expansion has been shown to be responsible for many observed failures in ceramic chip capacitors mounted on alumina substrates. The present work has shown that the mounting techniques used in bonding the capacitors have a marked effect upon the thermally induced mechanical stress and thus the failure rate. A mathematical analysis of a composite model of the capacitor-substrate system to predict the magnitude of thermally induced stresses has been conducted. It has been observed that the stresses in more compliant bonding systems such as soft lead/tin and indium solders are significantly lower than those in hard solder and epoxy systems. The marked dependence upon heating and cooling rate has proven to be a determining factor in the prediction of failure in both the indium and tin/lead solder systems. This study has shown that the harder or higher melting solders are less susceptible to thermal cycling effects but that they are more likely to fail during initial processing operations. Recommendations are made concerning the optimum bonding system for the achievement of maximum reliability.

Kinser, D. L.↗

NASA NTRS1976

A multi-modal solution for the transmission of sound in nonuniform ducts

The method of weighted residuals in the form of a modified Galerkin method with boundary residuals is developed for the study of the transmission of sound in nonuniform ducts carrying a steady compressible flow. In this formulation the steady flow is modeled as essentially one-dimensional but with a kinematic modification to force tangency of the flow at the duct walls. Good agreement has been obtained with known results for transmission and reflection coefficients in hard walled ducts up to near sonic velocities. In ducts with acoustically compliant boundaries good comparisons have been more difficult to achieve except at low Mach numbers. The problem of transmission in a straight, acoustically treated duct with a uniform flow has been formulated and the Galerkin method used with basis functions derived from the case when flow is absent. Results indicate that favorable comparisons with exact computations can be obtained if care is taken in choosing the basis functions.

Eversman, W.↗

NASA NTRS1976

Liquid cooled brassiere and method of diagnosing malignant tumors therewith

A device for enhancing the detection of malignant tissue in the breasts of a woman was described. A brassiere-like garment which is fitted with a pair of liquid-perfused cooling panels which completely and compliantly cover the breasts and upper torso was studied. The garment is connected by plastic tubing to a liquid cooling system comprising a fluid pump, a solenoid control valve for controlling the flow of fluid to either the cooling unit or the heating unit, a fluid reservoir, a temperature sensor in the reservoir, and a restrictor valve to control the pressure in the garment inlet cooling line.

Elkins, W.↗

NASA NTRS1978

Friction and wear of several compressor gas-path seal movements

Rub interaction experiments were conducted on a series of sintered and plasma sprayed compressor gas path seal materials in contact with Ti-6Al-4V blade tip and knife edge rotors. The most rub tolerant materials investigated were sintered Nichrome and plasma sprayed nickel 25 percent graphite. The effectiveness of providing a compliant substrate for dense seal material coatings was also demonstrated. In general, it was observed that rotor wear and high frictional energy generation rates accompanied smearing or surface densification of the materials investigated. The onset of smearing was sensitive to rub interaction parameters and seal geometry. Two complementary models were proposed to account for the smearing trends. One is based on thermal effects, the other on particulate escape effects. They were shown to be consistent with the experimental evidence at hand, and together they predict that smearing, with the onset of high energy rub conditions, is favored when incursion rates (radial motion) are low, incursion depths are high, the seal geometry is of a knife-edge character, and the seal particle size is small.

Bill, R. C.↗

NASA NTRS1979

Fastener for easy installation and removal of tiles

Mating strips, one with metal hooks and one with metal loops, allow convenient mounting and removal on many kinds of modules. Principle is adaptable to applications where shear-resistant, compliants, removable fastening is needed in hard-to-reach places, especially when attached part is lightly loaded or fragile.

Maletz, L. H.↗

NASA NTRS1979

Design, fabrication and spin testing of ceramic blade metal disk attachment

A ceramic turbine blade-metal disk attachment was designed for small, non man-rated turbine engine applications. The selected design consisted of a hot pressed silicon nitride blade having a skewed dovetail attachment with a compliant interlayer between the disk and the blade. Two-dimensional and three-dimensional analyses predicted that life goals could be achieved, considering both NDE limitations and crack growth rates for the ceramic material. Twenty ceramic blades were fabricated to closely-held manufacturing tolerances. New fracture mechanics data at elevated temperature are presented.

Calvert, G.↗

NASA NTRS1978

Ceramic blade attachments

Studies under way on two concepts for producing a turbine rotor with ceramic blades and superalloy disks are discussed. One concept employs hot-pressed silicon nitride blades and a compliant interlayer at the blade root end fitting whereas the second concept relies on a superplastic plastic forging technique to attach ceramic blades to the metal disk. This latter concept has been hot spin tested at 2250 F and 45,000 RPM for 50 hours in a vacuum spin pit. The fully bladed (30 blades) rotor survived this major test.

Calvert, G. S.↗

NASA NTRS1979

Engineering risk reduction in satellite programs

Methods developed in planning and executing system safety engineering programs for Lockheed satellite integration contracts are presented. These procedures establish the applicable safety design criteria, document design compliance and assess the residual risks where non-compliant design is proposed, and provide for hazard analysis of system level test, handling and launch preparations. Operations hazard analysis identifies product protection and product liability hazards prior to the preparation of operational procedures and provides safety requirements for inclusion in them. The method developed for documenting all residual hazards for the attention of program management assures an acceptable minimum level of risk prior to program deployment. The results are significant for persons responsible for managing or engineering the deployment and production of complex high cost equipment under current product liability law and cost/time constraints, have a responsibility to minimize the possibility of an accident, and should have documentation to provide a defense in a product liability suit.

Dean, E. S., Jr.↗

NASA NTRS1979

Gas path seal

A gas path seal suitable for use with a turbine engine or compressor is described. A shroud wearable or abradable by the abrasion of the rotor blades of the turbine or compressor shrouds the rotor bades. A compliant backing surrounds the shroud. The backing is a yieldingly deformable porous material covered with a thin ductile layer. A mounting fixture surrounds the backing.

Bill, R. C.↗