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Lamp envelope protected against breakage. Old and new mounts for halide arc lamp sealed in housing with parabolic refector and quartz window. New version supports lamp with compliant garters instead of rigid brazed joint at top and dimensionally unstable finger stock at bottom.
Described are recently completed and current advanced liner research applicable to advanced small gas turbine engines. Research relating to the evolution of fuel efficient small gas turbine engines capable of meeting future commercial and military aviation needs is currently under way at NASA Lewis Research Center. As part of this research, a reverse-flow combustor geometry was maintained while different advanced liner wall cooling techniques were investigated and compared to a baseline combustor. The performance of the combustors featuring counterflow film-cooled (CFFC) panels, transpiration cooled liner walls (TRANS), and compliant metal/ceramic (CMC) walls was obtained over a range of simulated flight conditions of a 16:1 pressure ratio gas turbine engine and fuel/air ratios up to 0.034. All the combustors featured an identical fuel injection system, identical geometric configuration outline, and similar designed internal aerothermodynamics.
A test program to determine the optimum composition of chromium carbide based solid lubricant coatings for compliant gas bearings is described. The friction and wear properties of the coatings are evaluated using a foil gas bearing test apparatus. The various coatings were prepared by powder blending, then plasma sprayed onto Inconel 718 test journals and diamond ground to the desired coating thickness and surface finish. The journals were operated against preoxidized nickel-chromium alloy foils. The test bearings were subjected to repeated start/stop cycles under a 14 kPa (2 psi) bearing unit load. The bearings were tested for 9000 start/stop cycles or until the specimen wear reached a predetermined failure level. In general, the addition of silver and eutectic to the chromium carbide base stock significantly reduced foil wear and increased journal coating wear. The optimum coating composition, PS212 (70 wt% metal bonded Cr3C2, 15 wt% Ag, 15% BaF2/CaF2 eutectic), reduced foil wear by a factor of two and displayed coating wear well within acceptable limits. The load capacity of the bearing using the plasma-sprayed coating prior to and after a run-in period was ascertained and compared to polished Inconel 718 specimens.
Conductively coupling the thermoelectric converter to the heat source and the radiator maximizes the utilization of the reactor and radiator temperatures and thereby minimizes the power system weight. This paper presents the design for the converter and the individual thermoelectric cells that are the building block modules for the converter. It also summarizes progress on the fabrication of initial cells and the results obtained from the preparation of a manufacturing plan. The design developed for the SP-100 system utilizes thermally conductive compliant pads that can absorb the displacement and distortion caused by the combinations of temperatures and thermal expansion coefficients. The converter and cell designs provided a 100 kWe system which met the system requirements. Initial cells were fabricated and tested.
Described are recently completed and current advanced liner research applicable to advanced small gas turbine engines. Research relating to the evolution of fuel efficient small gas turbine engines capable of meeting future commercial and military aviation needs is currently under way at NASA Lewis Research Center. As part of this research, a reverse-flow combustor geometry was maintained while different advanced liner wall cooling techniques were investigated and compared to a baseline combustor. The performance of the combustors featuring counterflow film-cooled (CFFC) panels, transpiration cooled liner walls (TRANS), and compliant metal/ceramic (CMC) walls was obtained over a range of simulated flight conditions of a 16:1 pressure ratio gas turbine engine and fuel/air ratios up to 0.034. All the combustors featured an identical fuel injection system, identical geometric configuration outline, and similar designed internal aerothermodynamics.
Device measures time-averaged component of absolute blood pressure in artery. Includes compliant cuff around artery and external monitoring unit. Ceramic construction in monitoring unit suppresses ebb and flow of pressure-transmitting fluid in sensor chamber. Transducer measures only static component of blood pressure.
To meet NASA's space station's needs and growth, a modular and generic approach to robotic control which provides near-term implementation with low development cost and capability for growth into more autonomous systems was developed. The method uses a vision based robotic controller and compliant hand integrated with the Remote Manipulator System arm on the Orbiter. A description of the hardware and its system integration is presented.
The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.
A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.
A series of ballistic impact tests on several different instrumented targets was performed to characterize the dynamic contact force history resulting from the impact of a compliant projectile. The results show that the variation of contact force history with impact velocity does not follow the trends predicted by classical impact models. An empirical model was therefore developed to describe this behavior. This model was then used in a finite-element analysis to estimate the force history and calculate the resulting dynamic strain response in a transversely impacted composite laminate.
A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.
In experimental technique, living cells and other biological materials encapsulated within submillimeter-diameter liquid-filled spheres. Sphere material biocompatible, tough, and compliant. Semipermeable, permitting relatively small molecules to move into and out of sphere core but preventing passage of large molecules. New technique promises to make such spherical capsules at high rates and in uniform, controllable sizes. Capsules injected into patient through ordinary hypodermic needle. Promising application for technique in treatment of diabetes. Also used to encapsulate pituitary cells and thyroid hormone adrenocortical cells for treatment of other hormonal disorders, to encapsulate other secreting cells for transplantation, and to package variety of pharmaceutical products and agricultural chemicals for controlled release.
Plasma sprayed ceramic coatings are used in gas turbine engines to improve component temperature capability and cooling air efficiency. A compliant metal fiber strain isolator between a plasma sprayed ceramic coating and a metal substrate improves ceramic durability while allowing thicker coatings for better insulation. Development of strain isolated coatings has concentrated on design and fabrication of coatings and coating evaluation via thermal shock testing. In thermal shock testing, five types of failure are possible: buckling failure im compression on heat up, bimetal type failure, isothermal expansion mismatch failure, mudflat cracking during cool down, and long term fatigue. A primary failure mode for thermally cycled coatings is designated bimetal type failure. Bimetal failure is tensile failure in the ceramic near the ceramic-metal interface. One of the significant benefits of the strain isolator is an insulating layer protecting the metal substrate from heat deformation and thereby preventing bimetal type failure.
A review is made of the selection and tribological testing of materials for high-temperature bearings and seals. The goal is to achieve good tribological properties over a wide range of temperatures because bearings and seals must be functional from low temperature start-up conditions on up to the maximum temperatures encountered during engine operation. Plasma sprayed composite coatings with favorable tribological properties from 25 to 900 C are discussed. The performance of these coatings in simple tribological bench tests is described. Examples are also given of their performance in high-speed sliding contact seals and as Stirling cylinder liner materials, and as back up lubricants for compliant foil gas bearings.
Vacuum bubbles are new acoustic elements which are dynamically more compliant than the gas volume they replace, but which are statically robust. They are made of a thin metallic shell with vacuum in their cavity. Consequently, they pose no danger in terms of contamination or fire hazard. The potential of the vacuum bubble concept for noise and vibration control was assessed with special emphases on spacecraft and aircraft applications. The following potential uses were identified: (1) as a cladding, to reduce sound radiation of vibrating surfaces and the sound excitation of structures, (2) as a screen, to reflect or absorb an incident sound wave, and (3) as a liner, to increase low frequency sound transmission loss of double walls and to increase the low frequency sound attenuation of muffler baffles. It was found that geometric and material parameters must be controlled to a very high accuracy to obtain optimal performance and that performance is highly sensitive to variations in static pressure. Consequently, it was concluded that vacuum bubbles have more potential in spacecraft applications where static pressure is controlled more than in aircraft applications where large fluctuations in static pressure are common.
A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.
The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.
The design of a joint-space adaptive control scheme is presented 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 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Lyapunov direct method, an adatation algorithm is derived which 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 need the computation of the 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 payloads while tracking various test trajectories such as ramp or sinusoids with negligible position errors.