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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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This paper presents the concept of methanol decomposition using engine exhaust heat, and examines its potential for use in the operation of passenger cars, diesel trucks, and diesel-electric locomotives. Energy economy improvements of 10-20% are calculated over the representative driving cycles without a net loss in power. Some reductions in exhaust emissions are also projected.
Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.
Results of measurements of food uptake and body weight changes occurring in rats suspended from a harness so that the antigravity muscles were not used for locomotion are presented. The rats were tested in pairs, with both in a harness but only one suspended off its hind legs; this section lasted 7 days. A second phase of the experiment involved feeding the nonsuspended rat the same amount of food the experimental rat had consumed the previous day. All rats experienced decreased in body weight and food intake in the first stage, while in the second stage the suspended rat lost more weight. The total oxygen uptake, CO2 output, and rate of C-14O2 production were depressed in the suspended rats, then returned to normal levels once the rats were back on the ground. It is concluded that the gross metabolic processes are unaffected by simulated weightlessness.
A number of applications of elastohydrodynamic film thickness expressions were considered. The motion of a steel ball over steel surfaces presenting varying degrees of conformity was examined. The equation for minimum film thickness in elliptical conjunctions under elastohydrodynamic conditions was applied to roller and ball bearings. An involute gear was also introduced, it was again found that the elliptical conjunction expression yielded a conservative estimate of the minimum film thickness. Continuously variable-speed drives like the Perbury gear, which present truly elliptical elastohydrodynamic conjunctions, are favored increasingly in mobile and static machinery. A representative elastohydrodynamic condition for this class of machinery is considered for power transmission equipment. The possibility of elastohydrodynamic films of water or oil forming between locomotive wheels and rails is examined. The important subject of traction on the railways is attracting considerable attention in various countries at the present time. The final example of a synovial joint introduced the equation developed for isoviscous-elastic regimes of lubrication.
A catalog of energy management models for heavy duty transport systems powered by diesel engines is presented. The catalog results from a literature survey, supplemented by telephone interviews and mailed questionnaires to discover the major computer models currently used in the transportation industry in the following categories: heavy duty transport systems, which consist of highway (vehicle simulation), marine (ship simulation), rail (locomotive simulation), and pipeline (pumping station simulation); and heavy duty diesel engines, which involve models that match the intake/exhaust system to the engine, fuel efficiency, emissions, combustion chamber shape, fuel injection system, heat transfer, intake/exhaust system, operating performance, and waste heat utilization devices, i.e., turbocharger, bottoming cycle.
Overall Space Station architecture is presented in schematic outlines and plans. How the customer and mission needs influence this design is studied. The uses, occupants, activities, interfaces, utilities, locomotion, environments, and technological costs are all factors which influence the architecture. User and system functions are profiled, interfaces are characterized and functions are grouped. These lead to packaging of functions into modules and the design of system and user accommodations.
The potential of utilizing fluidized bed heat exchangers in place of conventional counter-flow heat exchangers for heat recovery from adiabatic diesel engine exhaust gas streams was studied. Fluidized bed heat recovery systems were evaluated in three different heavy duty transport applications: (1) heavy duty diesel truck; (2) diesel locomotives; and (3) diesel marine pushboat. The three applications are characterized by differences in overall power output and annual utilization. For each application, the exhaust gas source is a turbocharged-adiabatic diesel core. Representative subposed exhaust gas heat utilization power cycles were selected for conceptual design efforts including design layouts and performance estimates for the fluidized bed heat recovery heat exchangers. The selected power cycles were: organic rankine with RC-1 working fluid, turbocompound power turbine with steam injection, and stirling engine. Fuel economy improvement predictions are used in conjunction with capital cost estimates and fuel price data to determine payback times for the various cases.
Simulation of spacecraft on-orbit operations is discussed in reference to Martin Marietta's Space Operations Simulation laboratory's use of computer software models to drive a six-degree-of-freedom moving base carriage and two target gimbal systems. In particular, key simulation issues and related computer software models associated with providing real-time, man-in-the-loop simulations of the Manned Maneuvering Unit (MMU) are addressed with special attention given to how effectively these models and motion systems simulate the MMU's actual on-orbit operations. The weightless effects of the space environment require the development of entirely new devices for locomotion. Since the access to space is very limited, it is necessary to design, build, and test these new devices within the physical constraints of earth using simulators. The simulation method that is discussed here is the technique of using computer software models to drive a Moving Base Carriage (MBC) that is capable of providing simultaneous six-degree-of-freedom motions. This method, utilized at Martin Marietta's Space Operations Simulation (SOS) laboratory, provides the ability to simulate the operation of manned spacecraft, provides the pilot with proper three-dimensional visual cues, and allows training of on-orbit operations. The purpose here is to discuss significant MMU simulation issues, the related models that were developed in response to these issues and how effectively these models simulate the MMU's actual on-orbiter operations.
The study of an Advanced Technology Space Station which would utilize the capabilities of subsystems projected for the time frame of the years 2000 to 2025 is discussed. The study includes tradeoffs of nuclear versus solar dynamic power systems that produce power outputs of 2.5 megawatts and analyses of the dynamics of the spacecraft of which portions are rotated for artificial gravity. The design considerations for the support of a manned Mars mission from low Earth orbit are addressed. The studies extend to on-board manufacturing, internal gas composition effects, and locomotion and material transfer under artificial gravity forces. The report concludes with an assessment of technology requirements for the Advanced Technology Space Station.
To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented.
The focus of the work is to develop and perform a set of research projects using laboratory models of satellite robots. These devices use air cushion technology to simulate in two dimensions the drag-free, zero-g conditions of space. Five research areas are examined: cooperative manipulation on a fixed base; cooperative manipulation on a free-floating base; global navigation and control of a free-floating robot; an alternative transport mode call Locomotion Enhancement via Arm Push-Off (LEAP), and adaptive control of LEAP.
The technology development requirements for various Mars rover range capabilities are discussed, focusing on local navigation of the rover. The capabilities of two methods are compared. In one method, operators on the earth view stereo pictures sent by the rover and determine short traverse paths which the rover follows. The other method achieves more autonomous capability by using computer vision from orbital imagery with approximate long routes commanded from earth. The locomotion, navigation, ground operations, computation, power, thermal control, communications, sample acquisition, and analysis and preservation requirements are examined.
A major problem is currently felt to exist in the implementation of materials processing on a spacecraft. Crystal growers place requirements of one micro-g or less on the vehicle. Simple math produces startling figures for such a restriction e.g., for each ton of vehicle mass with 10(-6) g acceleration limit; Perturbing Force limit, F = .002 lb. For each 10(5) lbs F = 0.1 lb. For each 10(6) lbs F = 1.0 lb. Forces generated by normal human movement on spacecraft of 5x10(5) pounds weight are on an order-of-magnitude greater than allowed by this specification and forces generated by locomotion on a treadmill are more than two orders-of-magnitude greater. Other exercises and normal onboard functions generate forces in between. To accommodate many essential functions it is obvious that even on a vehicle as large as Space Station, a reduction of more than two orders of magnitude in force is required. Commonly used passive shock and vibration isolation devices are complex, heavy, and also would have difficulty meeting the requirements. However, by a new arrangement, adequate isolation can be obtained. Isolation of the treadmill will be treated since it is considered the most significant disturbance at this time.
Studies of rover mobility and surface rendezvous for a Mars Rover/Sample Return (MRSR) mission have been performed. The objective of these efforts has been to identify and address the most challenging issues and develop the most promising design options for the rover mobility and navigation subsystems. A series of trade studies culminated in three candidate design concepts: a large, but otherwise conventional four-wheel drive vehicle; a sophisticated and agile six-legged walking vehicle; and a greatly simplified legged vehicle. This paper summarizes the key design features for these three concepts. For each design, the approaches to vehicle locomotion, sensing and navigation are discussed first. Timelines are developed for the adopted concepts of operation which constrain the range of the remaining parameters. Estimates of rover mass, volume, and power are provided, and performance is projected for vehicle range, terrain traversibility and navigation accuracy.
A prototype legged vehicle is being developed for an exploratory mission on another planet, conceivably Mars, where it is to traverse uncharted areas and collect material samples. The rover can construct from range imagery a geometric terrain representation; i.e., elevation map that includes uncertainty, unknown areas, and local features. An algorithm for constructing an elevation map from a single range image is presented: by virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike algorithms that work in Cartesian space. Also presented is a two-stage matching technique (feature matching followed by iconic matching) that identifies the transformation T corresponding to the vehicle displacement between two viewing positions. To support legged locomotion over rough terrain, methods for evaluating regions of the constructed elevation maps as footholds are developed.
Comprehensive design requirements associated with designing habitats for humans in a partial gravity environment were investigated and then applied to a lunar base design. Other potential sites for application include planetary surfaces such as Mars, variable gravity research facilities, or a rotating spacecraft. Design requirements for partial gravity environments include: (1) locomotion changes in less than normal Earth gravity; (2) facility design issues, such as interior configuration, module diameter and geometry; and (3) volumetric requirements based on the previous as well as psychological issues involved in prolonged isolation. For application to a Lunar Base, it was necessary to study the exterior architecture and configuration to insure optimum circulation patterns while providing dual egress. Radiation protection issues were addressed to provide a safe and healthy environment for the crew, and finally, the overall site was studied to locate all associated facilities in context with the habitat. Mission planning was not the purpose of this study; therefore, a Lockheed scenario was used as an outline for the Lunar Base application, which was then modified to meet the project needs.
The scope of the current work is to develop practical sensing implementations for robots operating in complex, partially unstructured environments. A focus in this work is to develop object models and estimation techniques which are specific to requirements of robot locomotion, approach and avoidance, and grasp and manipulation. Such problems have to date received limited attention in either computer or human vision - in essence, asking not only how perception is in general modeled, but also what is the functional purpose of its underlying representations. As in the past, researchers are drawing on ideas from both the psychological and machine vision literature. Of particular interest is the development 3-D shape and motion estimates for complex objects when given only partial and uncertain information and when such information is incrementally accrued over time. Current studies consider the use of surface motion, contour, and texture information, with the longer range goal of developing a fused sensing strategy based on these sources and others.
The National Aeronautics and Space Administration is currently funding research into the design of a Mars rover vehicle. This unmanned rover will be used to explore a number of scientific and geologic sites on the Martian surface. Since the rover can not be driven from Earth in real-time, due to lengthy communication time delays, a locomotion strategy that optimizes vehicle range and minimizes potential risk must be developed. In order to assess the degree of on-board artificial intelligence (AI) required for a rover to carry out its' mission, researchers conducted an experiment to define a no AI baseline. In the experiment 24 subjects, divided into stereo and monoscopic groups, were shown video snapshots of four terrain scenes. The subjects' task was to choose a suitable path for the vehicle through each of the four scenes. Paths were scored based on distance travelled and hazard avoidance. Study results are presented with respect to: (1) risk versus range; (2) stereo versus monocular video; (3) vehicle camera height; and (4) camera field-of-view.