SEARCH · Engineering Papers
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
The design and development of an in-draft wind tunnel test section which will be used to study the dynamic stall of airfoils oscillating in pitch is described. The hardware developed comprises a spanned airfoil between schleiren windows, a four bar linkage, flywheels, a drive system and a test section structure.
Space Station operations and maintenance are expected to make unprecedented demands on astronaut EVA. With Space Station expected to operate with an 8 to 10 psi atmosphere (4 psi for Shuttle operations), the effectivness of pressurized gloves is called into doubt at the same time that EVA activity levels are to be increased. To address the need for more frequent and complex EVA missions and also to extend the dexterity, duration, and safety of EVA astronauts, NASA Ames and Stanford University have an ongoing cooperative agreement to explore and compare alternatives. This is the final Stanford/Ames report on manually powered Prehensors, each of which consists of a shroud forming a pressure enclosure around the astronaut's hand, and a linkage system to transfer the motions and forces of the hand to mechanical digits attached to the shroud. All prehensors are intended for attachment to a standard wrist coupling, as found on the AX-5 hard suit prototype, so that realistic tests can be performed under normal and reduced gravity as simulated by water flotation.
Four tasks in manipulator kinematic calibration are summarized. Calibration of a seven degree of freedom manipulator was simulated. A calibration model is presented that can be applied on a closed-loop robot. It is an expansion of open-loop kinematic calibration algorithms subject to constraints. A closed-loop robot with a five-bar linkage transmission was tested. Results show that the algorithm converges within a few iterations. The concept of model differences is formalized. Differences are categorized as structural and numerical, with emphasis on the structural. The work demonstrates that geometric manipulators can be visualized as points in a vector space with the dimension of the space depending solely on the number and type of manipulator joint. Visualizing parameters in a kinematic model as the coordinates locating the manipulator in vector space enables a standard evaluation of the models. Key results include a derivation of the maximum number of parameters necessary for models, a formal discussion on the inclusion of extra parameters, and a method to predetermine a minimum model structure for a kinematic manipulator. A technique is presented that enables single point sensors to gather sufficient information to complete a calibration.
Carbon films were deposited on silicon, quartz, and potassium bromide substrates from an ion beam. Growth rates were approximately 0.3 micron/hour. The films were featureless and amorphous and contained only carbon and hydrogen in significant amounts. The density and carbon/hydrogen ratio indicate the film is a hydrogen deficient polymer. One possible structure, consistent with the data, is a random network of methylene linkages and tetrahedrally coordinated carbon atoms.
This paper discusses the utility of expert systems techniques for Hubble Space Telescope (HST) planning and scheduling and describes a plan for development of expert system tools which will augment the existing ground system. Additional capabilities provided by these tools will include graphics-oriented plan evaluation, long-range analysis of the observation pool, analysis of optimal scheduling time intervals, constructing sequences of spacecraft activities which minimize operational overhead, and optimization of linkages between observations. Initial prototyping of a scheduler used the Automated Reasoning Tool running on a LISP workstation.
The feasibility of transforming a commercial linear perfluoroalkylether fluid into a material stable in the presence of metals and metal alloys in oxidizing atmospheres at 300 C without the loss of the desirable viscosity temperature characteristics was determined. The approach consisted of thermal oxidative treatment in the presence of catalyst to remove weak links, followed by transformation of the created functional groups into phospha-s-triazine linkages. It is found that the experimental material obtained in 66 percent yield from the commercial fluid exhibits, over an 8 hr period at 300 C in the presence of Ti(4Al, 4Mn) alloy, thermal oxidative stability better by a factor of 2.6 x 1000 based on volatiles evolved than the commercial product. The viscosity and molecular weight of the developed fluid are unchanged and are essentially identical with the commercial material. No metal corrosion occurs with the experimental fluid at 300 C.
An account is given of tough, thermally stable linear polyimides containing amide linkages that recommend themselves for use in high temperature-resistant films and coatings as well as matrix resins for graphite-reinforced structures. Four such polymers were synthesized from unsubstituted amide diamines, and two others from N-substituted amide diamines. High inherent viscosities and glass transition temperatures were obtained. The films exhibit good resistance to organic solvents. Films of the 4,4-prime-isomer polyamide-imide yielded exceptionally high modulus and toughness during impact evaluation.
Abrupt change in load/deflection response controllable and predictable. Structurally-tailorable, nonlinear, snap-through spring (STNSTS) exhibits controllable and predictable abrupt change in load/deflection response and based upon known phenomenon of snap-through structural response. Composed of pin-connected two-bar linkage which depicts combined tension/compression springs. As load applied to STNSTS, stiffness is function of internal spring and bending stiffness of pin-connected bars. As load increases, bars deform laterally until they collapse and snap through. Has application in passively-tailored rotor-blade flap, pitch, and lag response, to improve aerodynamic performance and stability characteristics of rotors; in aerodynamically- and aeroelastically-tailored wing spars and ribs, to produce tailored deformation state for improved effectiveness in maneuvering, aerodynamic performance, and stability characteristics; and in energy absorbers for automobile bumpers and aircraft land
Rotation partly free and partly restrained by resilience and damping. Joint includes U-shaped x- and y-axis frames joined by cables that cross in at center piece. The y-axis frame rotates about y-axis on roller bearing within predetermined angular range. The y-axis frame rotates slightly farther when arm strikes stop, because cables can twist. This mimics compliant resistance of knee joint reaching limit of its forward or backward motion. Used in prosthetic device to replace diseased or damage human joint, or in robot linkage to limit movement and cushion overloads.
The utility of expert systems techniques for the Hubble Space Telescope (HST) planning and scheduling is discussed and a plan for development of expert system tools which will augment the existing ground system is described. Additional capabilities provided by these tools will include graphics-oriented plan evaluation, long-range analysis of the observation pool, analysis of optimal scheduling time intervals, constructing sequences of spacecraft activities which minimize operational overhead, and optimization of linkages between observations. Initial prototyping of a scheduler used the Automated Reasoning Tool running on a LISP workstation.
The literature on environmental color to enhance habitability in the design of Space Station interiors is reviewed. Some 200 studies were examined to determine the relative contributions of the three dimensions of color (hue, saturation, and brightness or lightness) to responses to environmental colorations. Implications of the study for color usage in novel settings and locales include: (1) There are no hard-wired linkages between environmental colors and particular judgmental or emotional states; (2) Perceptual impressions of color applications can, however, affect experiences and performances in settings; (3) Color behavior studies cannot yet specify an optimal color scheme, but instead must consider differing objectives, the relative importance of each, and design features such as the coordination of geometry, color, texture, etc.; (4) Some color-behavior effects are governed by low-level retinal and limbal mechanisms as well as by cognitive processes; and (5) Colors should first be specified in terms of what they are to do instead of what they are. Some exercise of choice is therefore needed to establish a sense of personal competence in the setting, since color must be ultimately be accepted by the people who are to live with it.
Degradation of three types of commercially available perfluoroalkyl polyethers (PFPE)-Demnum S200, Fomblin Z25, and Krytox 16256-by X-ray irradiation was studied by using X-ray photoemission spectroscopy (XPS) and a mass spectrometer under ultra-high-vacuum conditions. The carbons in the polymers were characterized by chemical shifts of Cls binding energies. Gaseous products containing COF2 and low-molecular-weight fluorocarbons were formed. From Fomblin Z25, which has acetal linkages (-OCF2O-), a large quantity of COF2 gas was evolved. Liquid products became tacky after a long irradiation time, and some did not dissolve in Freon. High-pressure liquid chromatography (HPLC) showed that molecular weight distribution became broader and that higher molecular weight polymers were formed from Demnum and Krytox. We concluded from these results that degradation and cross-linking took place simultaneously. Demnum crosslinked more easily than the other fluids. The time dependence of both XPS spectra of Cls and mass spectra showed that C-O-bonded carbons in PFPE'S were removed faster than other carbons. There was no substrate effect on the degradation reaction because the first-order rate constants calculated from the change of gaseous products were similar when stainless steel (440C) and gold-coated surfaces were used. Metal fluorides were formed on stainless steel during the reaction. A mechanism for the degradation of PFPE'S is discussed on the basis of their molecular structures.
The permeability to H2, O2, N2, CO2 and CH4 of three silicone-polyimide random copolymers and two polyimides containing silicon atoms in their backbone chains, was determined at 35.0 C and at pressures up to about 120 psig (approximately 8.2 atm). The copolymers contained different amounts of BPADA-m-PDA and amine-terminated poly (dimethyl siloxane) and also had different numbers of siloxane linkages in their silicone component. The polyimides containing silicon atoms (silicon-modified polyimides) were SiDA-4,4'-ODA and SiDA-p-PDA. The gas permeability and selectivity of the copolymers are more similar to those of their silicone component than of the polyimide component. By contrast, the permeability and selectivity of the silicon-modified polyimides are more similar to those of their parent polyimides, PMDA-4,4'-ODA and SiDA-p-PDA. The substitution of SiDA for the PMDA moiety in a polyimide appears to result in a significant increase in gas permeability, without a correspondingly large decrease in selectivity. The potential usefulness of the above polymers and copolymers as gas separation membranes is discussed.
Topics addressed include: transient dynamics; transient finite element method; transient analysis in impact and crash dynamic studies; multibody computer codes; dynamic analysis of space structures; multibody mechanics and manipulators; spatial and coplanar linkage systems; flexible body simulation; multibody dynamics; dynamical systems; and nonlinear characteristics of joints.
The problem is to develop analysis methods, modeling stategies, and simulation tools to predict with assurance the on-orbit performance and integrity of large complex space structures that cannot be verified on the ground. The problem must incorporate large reliable structural models, multi-body flexible dynamics, multi-tier controller interaction, environmental models including 1g and atmosphere, various on-board disturbances, and linkage to mission-level performance codes. All areas are in serious need of work, but the weakest link is multi-body flexible dynamics.
A topological analysis of a simple model magnetic field of a perturbation at the magnetopause modeling an apparent flux transfer event is presented. It is shown that a localized perturbation at the magnetopause can in principle open a closed magnetosphere by establishing magnetic connections across the magnetopause. Although the model field exhibits neutral points, these are not involved in the magnetic connection of the flux tubes. The topological substructure of a localized perturbation is analyzed in a simpler configuration. The presence of both signs of the magnetic field component normal to the magnetopause leads to a linkage of topologically different flux tubes, described as a flux knot, and a filamentary substructure of field lines of different topological types which becomes increasingly complicated for decreasing magnetic shear at the magnetopause.
Reactions of perfluoroalkylpolyethers (PFPE: Fomblin, Demnum and Krytox) were studied during the sliding contact of stainless steel specimens under ultrahigh vacuum conditions. All three fluids reacted with the steel specimens during sliding. Fomblin, which has acetal linkages, decomposed under the sliding conditions generating gaseous products, (COF2 and fluorinated carbons) which were detected by a quadrupole mass spectrometer. Gaseous products were not detected for the Demnum and Krytox fluids. The amount of gaseous products from Fomblin increased with increasing sliding speed. At the end of the sliding experiments, the wear scar and deposits on the specimens were examined by small spot size XPS. The oxide layer on the specimen surface was removed during sliding, and metal fluorides were formed on the worn surface. The surface of the wear scar and deposits were covered with adsorbed PFPE. Based on these results, it was concluded that the decomposition reaction on Fomblin was initiated by contacting the fluid with a fresh metal surface which was formed during sliding.
Researchers at the Center for Design Research at Stanford University, in collaboration with NASA Ames at Moffet Field, California, are developing hand-powered mechanical prehensors to replace gloves for EVA spacesuits. The design and functional properties of the first version Direct Link Prehensor (DLP) is discussed. It has a total of six degrees-of-freedom and is the most elaborate of three prehensors being developed for the project. The DLP has a robust design and utilizes only linkages and revolute joints for the drive system. With its anthropomorphic configuration of two fingers and a thumb, it is easy to control and is capable of all of the basic prehension patterns such as cylindrical or lateral pinch grasps. Kinematic analysis reveals that, assuming point contacts, a grasped object can be manipulated with three degrees-of-freedom. Yet, in practice more degrees-of-freedom are possible.