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The results of the analysis and the evaluation of flight data obtained from the horizon sensor test project are described. The rotary mechanism of the scanning earth sensor composed of direct drive motor and bearings using solid lubricant is operated satisfactorily. The transmitted flight data from Engineering Test Satellite IV was evaluated in comparison with the design value.
This paper describes the design and operation of a fraction collector used to direct flow of separated biological materials from 197 capillary tubes to either a collection tray or to a waste tank. This mechanism uses a 28-volt dc gear motor driving twin cams to force 197 needles through a self-sealing silicone rubber septum, where they inject the material in 197 separate pockets in a collection tray. The position of the collector tray is sensed by two optical limit switches. The time sequences are controlled automatically by an electronics control monitoring module.
A long lifetime Stirling cycle cryogenic cooler particularly adapted for space applications is described. It consists of a compressor section centrally aligned end to end with an expansion section, and respectively includes a reciprocating compressor piston and displacer radially suspended in interconnecting cylindrical housings by active magnetic bearings and has adjacent reduced clearance regions so as to be in noncontacting relationship therewith and wherein one or more of these regions operate as clearance seals. The piston and displacer are reciprocated in their housings by linear drive motors to vary the volume of respectively adjacent compression and expansion spaces which contain a gaseous working fluid and a thermal regenerator to effect Stirling cycle cryogenic cooling.
Astronomical progress with the MMT telescope, which attains high-resolution imaging by partial compensation for atmospheric distortion, is discussed. The small tertiary and beam combiner mirrors at the MMT bring six images to a common focus, where there is a TV system for acquisition and guiding. Individual image positions can be controlled by stepper motors driving actuators on the secondaries, each step moving an image 0.05 arc seconds in the focal plane. The instrument's correction for image jiggle due to atmospheric turbulence and drift of the relative positions of the images due to gravitational and thermal effects on the structure are described. A scheme for correcting residual structural errors is discussed. It appears that the telescope can work to about the 17th visual magnitude. For faint sky limited objects comparable performance would require a perfectly rigid single mirror of the same aperture to have 50 percent more collecting area and cost at least 1.5 times more.
Flow survey instrumentation integral part of model support system. Drive motor, limit switches, and position transducer contained within streamlined housing and operable in near vacuum wing-tunnel environment. Sting-mounted system has advantages over conventional wall-mounted flow-field survey equipment, include more efficiently utilized run time, higher position accuracy, and fewer runs to map flow field.
The open test section of the NASA-Ames 7- by 10- ft wind tunnel was used for an acoustic test of a propeller mounted behind an airplane empennage. The empennage was attached to a model fuselage and the propeller with its electric motor drive was mounted separately so that the relative positions of empennage and propeller could be varied. A single vertical fin, and a V-tail with, and without, a dorsal fin configurations were used the model propeller had four blades (SR-1). Data were recorded at several locations for two tunnel flow speeds (45.7) and 62.5 m/s) and propeller speeds in the range 4000 to 8200 rpm. Data reduction was performed in narrowband and one-third octave band spectra, with emphasis on harmonics of the passage frequency blade. The influence of flow speed, propeller rpm, empennage configuration, axial and vertical separation between propeller axis and empennage centerline, and empennage angle of incidence on propeller harmonic levels and acoustic field directivity are studied.
A 3.25 cm (1.28 in.) two plane balance and eight channel slip ring assembly has been designed to measure and transmit the thrust (667-N;150-lb) and torque (135-N-m;100-lb-ft) components produced by wind tunnel model turboprops and drive motors operating at 300 Hz.
The present low power CMOS microprocessor controller for photovoltaic power systems possesses three programs, which are respectively intended for (1) conventional battery-charging systems with state-of-charge estimation and sequential shedding of subarrays and loads, (2) maximum power-controlled battery-charging systems, and (3) variable speed dc motor drives. Attention is presently given to the development of this terrestrial equipment for spacecraft use.
A method and apparatus for testing the tensile strength and bonding strength of sprayed-on foam insulation attached to metal cryogenic fuel tanks is described. A circular cutter is used to cut the insulation down to the surface of the metal tank to form plugs of the insulation for testing in situ on the tank. The apparatus comprises an electromechanical pulling device powered by a belt battery pack. The pulling device comprises a motor driving a mechanical pulling structure comprising a horizontal shaft connected to two bell cracks which are connected to a central member. When the lower end of member is attached to a fitting, which in turn is bonded to a plug, a pulling force is exerted on the plug sufficient to rupture it. The force necessary to rupture the plug or pull it loose is displayed as a digital read-out.
A test rig designed to generate heat exchanger pressure drop information under oscillating flow conditions is described. This oscillating flow rig is based on a variable stroke and variable frequency linear drive motor. A frequency capability of 120 hertz and a mean test pressure up to 15 mPA (2200 psi) allows for testing at flow conditions found in modern high specific power Stirling engines. An important design feature of this rig is that it utilizes a single close coupled dynamic pressure transducer to measure the pressure drop across the test sample. This eliminates instrumentation difficulties associated with the pressure sensing lines common to differential pressure transducers. Another feature of the rig is that it utilizes a single displacement piston. This allows for testing of different sample lengths and configurations without hardware modifications. All data acquisition and reduction for the rig is performed with a dedicated personal computer. Thus the overall system design efficiently integrates the testing and data reduction procedures. The design methodology and details of the test rig is described.
A test rig designed to generate heat exchanger pressure drop information under oscillating flow conditions is described. This oscillating flow rig is based on a variable stroke and variable frequency linear drive motor. A frequency capability of 120 hertz and a mean test pressure up to 15 mPA (2200 psi) allows for testing at flow conditions found in modern high specific power Stirling engines. An important design feature of this rig is that it utilizes a single close coupled dynamic pressure transducer to measure the pressure drop across the test sample. This eliminates instrumentation difficulties associated with the pressure sensing lines common to differential pressure transducers. Another feature of the rig is that it utilizes a single displacement piston. This allows for testing of different sample lengths and configurations without hardware modifications. All data acquisition and reduction for the rig is performed with a dedicated personal computer. Thus the overall system design efficiently integrates the testing and data reduction procedures. The design methodology and details of the test rig are described.
Improved version of developmental "smart" robot hand equipped with bidirectional, wide-band optical-fiber link for transmission of digitized strain-gauge force- and torque-sensor signals from hand and for transmission of command signals to motor drive unit on hand. Collection of sensor data speeded hundredfold. Higher data-collection speed makes possible to perform advanced processing of sensor data in host processor.
The design of a two wheel bulk material transport vehicle is described in detail. The design consists of a modified cylindrical bowl, two independently controlled direct drive motors, and two deformable wheels. The bowl has a carrying capacity of 2.8 m (100 ft) and is constructed of aluminum. The low speed, high HP motors are directly connected to the wheels, thus yielding only two moving parts. The wheels, specifically designed for lunar applications, utilize the chevron tread pattern for optimum traction. The vehicle is maneuvered by varying the relative angular velocities of the wheels. The bulk material being transported is unloaded by utilizing the motors to oscillate the bowl back and forth to a height at which dumping is achieved. The analytical models were tested using a scaled prototype of the lunar transport vehicle. The experimental data correlated well with theoretical predictions. Thus, the design established provides a feasible alternative for the handling of bulk material on the moon.
In order to prepare a site for a manned lunar base, an autonomously operated construction vehicle is necessary. A Lunar Construction Utility Vehicle (LCUV), which utilizes interchangeable construction implements, was designed conceptually. Some elements of the machine were studied in greater detail. Design of an elastic loop track system has advanced to the testing stage. A standard coupling device was designed to insure a proper connection between the different construction tools and the LCUV. Autonomous control of the track drive motors was simulated successfully through the use of a joystick and computer interface. A study of hydrogen-oxygen fuel cells has produced estimates of reactant and product size requirements and identified multi-layer insulation techniques. Research on a 100 kW heat rejection system has determined that it is necessary to house a radiator panel on a utility trailer. The impact of a 720 hr use cycle has produced a very large logistical support lien which requires further study.
The design, construction, control and application of a three fingered robot hand with nine degrees of freedom and built-in multi-component force sensors is described. The adopted gripper kinematics are justified and optimized with respect to grasping and manipulation flexibility. The hand was constructed with miniature motor drive systems imbedded into the fingers. The control is hierarchically structured and is implemented on a simple PC-AT computer. The hand's dexterity and intelligence are demonstrated with some experiments.
Computer simulations of robotic mechanisms have traditionally solved the dynamic equations of motion for an N degree of freedom manipulator by formulating an N dimensional matrix equation combining the accelerations and torques (forces) for all joints. The use of an alternative formulation that is strictly recursive is described. The dynamic solution proceeds on a joint by joint basis, so it is possible to perform inverse dynamics at arbitrary joints. The dynamic formulation is generalized with respect to both rotational and translational joints, and it is also directly extendable to branched manipulator chains. A hardware substitution test is described in which a servo drive motor was integrated with a simulated manipulator arm. The form of the dynamic equation permits calculation of acceleration given torque or vice versa. Computing torque as a function of acceleration is required for the hybrid software/hardware simulation test described. For this test, a joint servo motor is controlled in conjunction with the simulation, and the dynamic torque on the servo motor is provided by a load motor on a common driveshaft.
An analytical study of the vibration control capabilities of three configurations of an active truss is presented. The truss studied is composed of two bays of an octahedral-octahedral configuration. The three configurations of the active truss studies are: all six battens activated (6 DOF), the top three battens activated (3 DOF), and the bottom three battens activated (3 DOF). The closed-loop vibration control response of these three configurations are studied with respect to: vibration attenuation, energy utilized, and the effects of motor drive amplifier saturation non-linearities.
The effects that nonlinear devices such as ac/dc converters, HVDC transmission links, and motor drives have on spacecraft power systems are discussed. The nonsinusoidal currents, along with the corresponding voltages, are calculated by a harmonic power flow which decouples and solves for each harmonic component individually using an iterative Newton-Raphson algorithm. The sparsity of the harmonic equations and the overall Jacobian matrix is used to an advantage in terms of saving computer memory space and in terms of reducing computation time. The algorithm could also be modified to analyze each harmonic separately instead of all at the same time.