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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Noble metal abundances in an early Archean impact deposit

Detailed analyses are reported on the concentrations of the noble metals Pd, Os, Ir, Pt, and Au in an early Archean spherule bed (S4) of probably impact origin from the lower Fig Tree Group, Barberton Greenstone Belt, South Africa. Compared to other sedimentary deposits of known or suspected impact origin, some noble metals are present in exceptionally high concentrations. Noble metal abundances are fractionated relative to abundances in chondrites with ratios of Os/Ir, Pt/Ir, Pd/Ir, and Au/Ir at only 80, 80, 41, and 2 percent of these values on CI chondrites. Although an extraterrestrial source is favored for the noble metal enrichment, the most plausible cause of the fractionation is by regional hydrothermal/metasomatic alteration.

Kyte, Frank T.↗
NASA NTRS1990

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1992

Determination of parameters of a new method for predicting alloy properties

Recently, a semiempirical method for alloys based on equivalent crystal theory was introduced. The method successfully predicts the concentration dependence of the heat of formation and lattice parameter of binary alloys. A study of the parameters of the method is presented, along with new results for (gamma)Fe-Pd and (gamma)Fe-Ni alloys.

Bozzolo, Guillermo↗
NASA NTRS1992

High-temperature strain measurement techniques: Current developments and challenges

Since 1987, a very substantial amount of R&D has been conducted in an attempt to develop reliable strain sensors for the measurements of structural strains during ground testing and hypersonic flight, at temperatures up to at least 2000 deg F. Much of the effort has been focused on requirements of the NASP Program. This presentation is limited to the current sensor development work and characterization studies carried out within that program. It is basically an assessment as to where we are now and what remains to be done in the way of technical accomplishments to meet the technical challenges posed by the requirements and constraints established for the NASP Program. The approach for meeting those requirements and constraints has been multi-disciplinary in nature. It was recognized early on that no one sensor could meet all these requirements and constraints, largely because of the large temperature range (cryogenic to at least 2000 deg F) and many other factors, including the most challenging requirement that the sensor system be capable of obtaining valid 'first cycle data'. Present candidate alloys for resistance-type strain gages include Fe-Cr-Al and Pd-Cr. Although they have superior properties regarding withstanding very high temperatures, they exhibit large apparent strains that must either be accounted for or cancelled out by various techniques, including the use of a dual-element, half-bridge dummy gage, or electrical compensation networks. A significant effort is being devoted to developing, refining, and evaluating the effectiveness of those techniques over a broad range in temperature and time. In the quest to obtain first-cycle data, ways must be found to eliminate the need to prestabilize or precondition the strain gage, before it is attached to the test article. It should be noted that present NASP constraints do not permit prestabilization of the sensor, in situ. Gages are currently being 'heat treated' during manufacture in both the wire- and foil-type resistance strain gages, and evaluation is in progress. In addition, the 'gage-on-shim' concept is being revisited. That concept will permit heat treatment of the gage during manufacture, before attachment on the test article. Also, it may permit the individual calibration of each gage regarding gage factor and apparent strain. Candidate alloys for the NASP include titanium metal-matrix and carbon-carbon composites. Although those materials have very attractive properties at elevated temperatures in terms of strength and weight, they pose significant attachment problems. Methods for making reliable strain gage and thermocouple attachments to them are currently under development. Experience to date indicates that Rokide attachment of the sensor directly to the protective coating is easier than to the base material itself. However, interpreting strain data from gages attached in this way may prove difficult because of possible cracks in the coating that form 'islands' and the mobility of those 'islands'. It is concluded, therefore, that major technical challenges lie ahead as we proceed to meet the stringent strain sensor requirements and constraints of the NASP Program.

Lemcoe, M. M.↗
NASA NTRS1993

CSI related dynamics and control issues in space robotics

The research addressed includes: (1) CSI issues in space robotics; (2) control of elastic payloads, which includes 1-DOF example, and 3-DOF harmonic drive arm with elastic beam; and (3) control of large space arms with elastic links, which includes testbed description, modeling, and experimental implementation of colocated PD and end-point tip position controllers.

Schmitz, Eric↗
NASA NTRS1993

Fuzzy control of small servo motors

To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

Maor, Ron↗
NASA NTRS1991

Palladium-chromium static strain gage for high temperature propulsion systems

The present electrical strain gage for high temperature static strain measurements is in its fine-wire and thin-film forms designed to be temperature-compensated on any substrate material. The gage element is of Pd-Cr alloy, while the compensator is of Pt. Because the thermally-induced apparent strain of this compensated wire strain gage is sufficiently small, with good reproducibility between thermal cycles to 800 C, output figures can be corrected within a reasonable margin of error.

Lei, Jih-Fen↗
NASA NTRS1992

Method for calculating alloy energetics

A semiempirical method for the computation of alloy energies is introduced. It is based on the equivalent-crystal theory of defect-formation energies in elemental solids. The method is both simple and accurate. Heats of formation as a function of composition are computed for some binary alloys of Cu, Ni, Al, Ag, Pd, Pt, and Au using the heats of solution in the dilute limit as experimental input. The separation of heats into strain and chemical components helps in understanding the energetics. In addition, lattice-parameter contractions seen in solid solutions of Ag and Au are accurately predicted. Good agreement with experiment is obtained in all cases.

Bozzolo, Guillermo↗
NASA NTRS1992

Improved computed torque control for industrial robots

The authors examine the computed torque control problem for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators due to the dynamics introduced by the joint drive systems. The proposed approach overcomes this problem by combining a novel computed torque algorithm with simple torque controllers at each joint of the robot. The control scheme is applied to a seven degree-of-freedom industrial manipulator, and the system performance in standard tasks is evaluated using both dynamic simulation and actual experiments. The results show that the proposed controller leads to improved tracking performance over a conventional PD (proportional plus derivative) controller.

Uebel, Mark↗
NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1993

Rhenium-osmium isotope systematics of Group 2A and Group 4A iron meteorites

We are investigating the Re-Os isotope systematics of two groups of magmatic iron meteorites (2A, 4A) in an attempt to establish precise 'total rock' isochrons by the Re-Os system. The Re-187/Os-187 isotope system is recognized as a method by which the ages of iron meteorites can be directly determined and that can provide information on the timing of FeNi segregation and core formation in planetesimals. The Re-Os isotope system permits the direct absolute dating of the metal phase in iron meteorites. Indirect dating of iron meteorites has been achieved in the past through the Rb-Sr, K-Ar, and most recently, Sm-Nd for silicate inclusions, where present. Relative dating has been obtained directly by extensive studies of the short-lived system Pd-107/Ag-107 for the metal and sulfide phases and indirectly using I-129/Xe-129 in silicate and sulfide inclusions.

Creaser, R. A.↗
NASA NTRS1993

Research on chemical vapor deposition processes for advanced ceramic coatings

Our interdisciplinary background and fundamentally-oriented studies of the laws governing multi-component chemical vapor deposition (VD), particle deposition (PD), and their interactions, put the Yale University HTCRE Laboratory in a unique position to significantly advance the 'state-of-the-art' of chemical vapor deposition (CVD) R&D. With NASA-Lewis RC financial support, we initiated a program in March of 1988 that has led to the advances described in this report (Section 2) in predicting chemical vapor transport in high temperature systems relevant to the fabrication of refractory ceramic coatings for turbine engine components. This Final Report covers our principal results and activities for the total NASA grant of $190,000. over the 4.67 year period: 1 March 1988-1 November 1992. Since our methods and the technical details are contained in the publications listed (9 Abstracts are given as Appendices) our emphasis here is on broad conclusions/implications and administrative data, including personnel, talks, interactions with industry, and some known applications of our work.

Rosner, Daniel E.↗
NASA NTRS1993

Systematic chemical variations in large 3AB iron meteorites: Clues to core crystallization

Analysis of numerous individual iron meteorites have shown that fractional crystallization of iron cores result in variations in chemical concentration of the solid core which span several orders of magnitude. The magnitude and direction of the resulting spatial gradients in the core can provide clues to the physical nature of the core crystallization process. We have analyzed suites of samples from three large 3AB irons (Cape York, 58t; Chupaderos, 24t; Morito, 10t) in order to estimate local chemical gradients. Initial results for the concentrations of Ge, Pd, Pt (Massey group), Ir, Au, As, Co, Os, and Rh (Dalhouse group), and P (Arizona group) show significant ranges among the Cape York and Chupaderos samples and marginally significant ranges among the Morito samples. Measurements of Au, Ir, Co, Ni, Cu, Ga, As, W, Re (from UCLA) and Ni and Co (Arizona group) are in progress. We find a spatial Ir gradient in Chupaderos with a magnitude similar to the one reported for Agpalilik (Cape York iron) by Esbensen et al.

Haack, H.↗
NASA NTRS1993

AGB stars as a source of short-lived radioactive nuclei in the solar nebula

The purpose is to estimate the possible contribution of some short-lived nuclei to the early solar nebula from asymptotic giant branch (AGB) sources. Low mass (1 to 3 solar mass) AGB stars appear to provide a site for synthesis of the main s process component for solar system material with an exponential distribution of neutron irradiations varies as exp(-tau/tau(sub 0)) (where tau is the time integrated neutron flux with a mean neutron exposure tau(sub 0)) for solar abundances with tau(sub 0) = 0.28 mb(sup -1). Previous workers estimated the synthesis of key short-lived nuclei which might be produced in AGB stars. While these calculations exhibit the basic characteristics of nuclei production by neutron exposure, there is need for a self-consistent calculation that follows AGB evolution and takes into account the net production from a star and dilution with the cloud medium. Many of the general approaches and the conclusions arrived at were presented earlier by Cameron. The production of nuclei for a star of 1.5 solar mass during the thermal pulsing of the AGB phase was evaluated. Calculations were done for a series of thermal pulses with tau(sub 0) = 0.12 and 0.28 mb(sup -1). These pulses involve s nucleosynthesis in the burning shell at the base of the He zone followed by the ignition of the H burning shell at the top of the He zone. After about 10-15 cycles the abundances of the various nuclei in the He zone become constant. Computations of the abundances of all nuclei in the He zone were made following Gallino. The mass of the solar nebula was considered to consist of some initial material of approximately solar composition plus some contributions from AGB stars. The ratios of the masses required from the AGB He burning zone to the ISM necessary to produce the observed value of Pd-107/Pd-108 in the early solar system were calculated and this dilution factor was applied to all other relevant nuclei.

Wasserburg, G. J.↗
NASA NTRS1993

Optical properties and emissivities of liquid metals and alloys

This paper presents the results from our on-going program to investigate the optical properties of liquid metals and alloys at elevated temperatures. Ellipsometric and polarimetric techniques have been used to investigate the optical properties of materials in the 1000 - 3000 K temperature range and in the 0.3 - 0.1 mu m wavelength range. The ellipsometric and polarimetric techniques are described and the characteristics of the instruments are presented. The measurements are conducted by reflecting a polarized laser beam from an electromagnetically levitated liquid metal or alloy specimen. A Rotating Analyzer Ellipsometer (RAE) or a four-detector Division-of-Amplitude Photopolarimeter (DOAP) is used to determine the polarimetric properties of the light reflected at an angle of incidence of approximately 68 deg. Optical properties of the specimen which are calculated from these measurements include the index of refraction, extinction coefficient, normal spectral emissivity, and spectral hemispherical emissivity. These properties have been determined at various wavelengths and temperatures for liquid Ag, Al, Au, Cu, Nb, Ni, Pd, Pt, Si, Ti, Ti-Al alloys, U, and Zr. We also describe new experiments using pulsed-dye laser spectroscopic ellipsometry for studies of the wavelength dependence of the emissivities and optical properties of materials at high temperature. Preliminary results are given for liquid Al. The application of four-detector polarimetry for rapid determination of surface emissivity and true temperature is also described. Characteristics of these devices are presented. An example of the accuracy of this instrument in measurements of the melting point of zirconium is illustrated.

Krishnan, Shankar↗
NASA NTRS1994

He, Xe and Ne isotopes in a steady-state mass transport model and implications about terrestrial volatiles

We present a model of the steady-state transport assuming three reservoirs: a lower mantle (P) with a relatively undepleted inventory of U, Th, Pu, I, He, Ne, Xe, Ar; an upper mantle that has been extensively outgassed (D); and the atmosphere. There is mass transport at a rate M(sub PD) by plumes from the lower mantle, a fraction of which is outgassed directly into the atmosphere, while the remainder feeds matter and associated nuclei into D. D is well outgassed at spreading centers and has material containing atmospheric gases added to it by subduction. In the case of He, there is no subduction component. The approach follows the treatment of Kellogg and Wasserburg. A summary of the pertinent equations and constraints was reported earlier. The U, Th and Pu in P are estimated for Earth models from refractory element abundances in meteorites. In this model the inventory of rare gases in D is governed by the simple mixing of components from P (both radiogenic and original) with distinctive atmospheric components. In addition, alpha decay and spontaneous fission of U, and (alpha, n) reaction on oxygen from energetic alpha particles produce radiogenic/nuclear daughter products in D. These include (4)He, (136)Xe and (21)Ne. (40)K in D generates excess radiogenic (40)Ar.

Wasserburg, G. J.↗
NASA NTRS1994

The determination of interplanetary magnetic field polarities around sector boundaries using E greater than 2 keV electrons

The determination of the polarities of interplanetary magnetic fields (whether the field direction is outward from or inward toward the sun) has been based on a comparison of observed field directions with the nominal Parker spiral angle. These polarities can be mapped back to the solar source field polarities. This technique fails when field directions deviate substantially from the Parker angle or when fields are substantially kinked. We introduce a simple new technique to determine the polarities of interplanetary fields using E greater than 2 keV interplanetary electrons which stream along field lines away from the sun. Those electrons usually show distinct unidirectional pitch-angle anisotropies either parallel or anti-parallel to the field. Since the electron flow direction is known to be outward from the sun, the anisotropies parallel to the field indicate outward-pointing, positive-polarity fields, and those anti-parallel indicate inward-pointing, negative-polarity fields. We use data from the UC Berkeley electron experiment on the International Sun Earth Explorer 3 (ISSE-3) spacecraft to compare the field polarities deduced from the electron data, Pe (outward or inward), with the polarities inferred from field directions, Pd, around two sector boundaries in 1979. We show examples of large (greater than 100 deg) changes in azimuthal field direction Phi over short (less than 1 hr) time scales, some with and some without reversals in Pe. The latter cases indicate that such large directional changes can occur in unipolar structures. On the other hand, we found an example of a change in Pe during which the rotation in Phi was less than 30 deg, indicating polarity changes in nearly unidirectional structures. The field directions are poor guides to the polarities in these cases.

Kahler, S.↗
NASA NTRS1994

Fabrication of an electron multiplier utilizing diamond films

High secondary electron yields (sigma=14-27) from polycrystalline diamond films on Mo substrates have been reported previously. We observed that continuous exposure to an electron beam degraded the secondary yield in vacuum as a function of fluence owing to a loss of surface hydrogen. However, the hydrogen partial pressure could be adjusted such that the high secondary yield remained stable during beam exposure. We have constructed a prototype electron multiplier using these diamond films for use in ultrahigh vacuum. A gain of 0.9 times 10(exp 5) has been measured in a d.c. mode. Palladium, titanium and aluminum nitride have been studied for possible dynode substrate materials which might eliminate the need for hydrogen during operation. Total secondary yields as high as 50 were measured from diamond on palladium and sigma was stable at 25 during heating at 700 K in vacuum. Raman spectroscopy and scanning electron microscopy showed that variations in sigma from diamond films on Pd were due to differing concentrations of non-diamond carbon.

Mearini, G. T.↗