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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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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Computer codes for the evaluation of thermodynamic properties, transport properties, and equilibrium constants of an 11-species air model

The computer codes developed provide data to 30000 K for the thermodynamic and transport properties of individual species and reaction rates for the prominent reactions occurring in an 11-species nonequilibrium air model. These properties and the reaction-rate data are computed through the use of curve-fit relations which are functions of temperature (and number density for the equilibrium constant). The curve fits were made using the most accurate data believed available. A detailed review and discussion of the sources and accuracy of the curve-fitted data used herein are given in NASA RP 1232.

Thompson, Richard A.↗
NASA NTRS1990

A review of reaction rates and thermodynamic and transport properties for an 11-species air model for chemical and thermal nonequilibrium calculations to 30000 K

Reaction rate coefficients and thermodynamic and transport properties are reviewed and supplemented for the 11-species air model which can be used for analyzing flows in chemical and thermal nonequilibrium up to temperatures of 3000 K. Such flows will likely occur around currently planned and future hypersonic vehicles. Guidelines for determining the state of the surrounding environment are provided. Curve fits are given for the various species properties for their efficient computation in flowfield codes. Approximate and more exact formulas are provided for computing the properties of partially ionized air mixtures in a high energy environment. Limitations of the approximate mixing laws are discussed for a mixture of ionized species. An electron number-density correction for the transport properties of the charged species is obtained. This correction has been generally ignored in the literature.

Gupta, Roop N.↗
NASA NTRS1989

The KALI multi-arm robot programming and control environment

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Backes, Paul↗
NASA NTRS1989

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗
NASA NTRS1989

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

Hayati, Samad↗
NASA NTRS1989

Design for steering accuracy in antenna arrays using shared optical phase shifters

Uniform linear phased arrays where many radiating elements share a relatively small number of phase shifters are investigated. Such architectures arise in arrays which derive the time delays in the signal paths from a small group of independent phase shifters. In particular, a true time-delay device which has been suggested recently for optically controlled arrays is used as the basic phase shifter. Different architectures, viz. alternative procedures of deriving the necessary time delay for each antenna in the face of phase-shifter inaccuracies, are examined. The variance of the steered beam's direction is used as the performance criterion. The direction-optimal architecture is obtained by means of quadratic programming, and is shown not to be unique. The nonuniqueness of the optimal architecture is exploited to improve other characteristics of the array's beam shape, and the optimal solution is shown to compare favorably with a suboptimal interleaved solution which is easier to implement.

Kam, Moshe↗
NASA NTRS1989

Dual arm coordination and control

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface allows for control gain adjustments. The results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object are offered. The system is further developed to achieve a so-called shared control mode in which an operator specifies the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.

Hayati, Samad↗
NASA NTRS1990

Viscous-shock-layer solutions with coupled radiation and ablation injection for earth entry

Results are obtained for the forebody of a planetary exploration vehicle entering the earth's atmosphere. A viscous-shock-layer analysis is used assuming the flow to be laminar and in chemical equilibrium. Presented results include coupled radiation and ablation injection. This study further includes the effect of different transport and thermodynamic properties and radiation models. A Lewis number of 1.4 appears adequate for the radiation-dominated flows. Five velocities corresponding to different possible trajectory points at an altitude of 70 km have been further analyzed in detail. Sublimation and radiative equilibrium wall temperatures are employed for cases with and without coupled injection, respectively. For the cases analyzed here, the mass injection rates are small. However, the rates could become large if a lower altitude is used for aerobraking and/or the body size is increased. A comparison of the equilibrium results with finite-rate chemistry calculation shows the flowfield to be in chemical equilibrium.

Gupta, Roop N.↗
NASA NTRS1991

Robot Grasps Rotating Object

Experimental robotic system semiautomatically grasps rotating object, stops rotation, and pulls object to rest in fixture. Based on combination of advanced techniques for sensing and control, constructed to test concepts for robotic recapture of spinning artificial satellites. Potential terrestrial applications for technology developed with help of system includes tracking and grasping of industrial parts on conveyor belts, tracking of vehicles and animals, and soft grasping of moving objects in general.

Wilcox, Brian H.↗
NASA NTRS1991

System For Research On Multiple-Arm Robots

Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

Backes, Paul G.↗
NASA NTRS1991

Software For Supervisory And Shared Control Of A Robot

User-Macro-Interface computer program provides interactive interface enabling human operator to plan tasks for multiple-arm telerobot, cause robot to execute tasks, and monitor robot. Enables operator to specify that robot execute various tasks and subtasks under various mixtures of manual or automatic control. Well suited for use where environment of task poorly modeled or unplanned or task unexpected.

Backes, Paul G.↗
NASA NTRS1990

UMI - An interactive supervisory and shared control system for telerobotics

An interactive user interface, User-Macro-Interface (UMI), and its complete task execution system are developed and implemented for utilization by an operator to describe, simulate and execute tasks on a multiarm telerobot. The sequences or primitives can be executed on a graphics simulator or on the JPL Telerobot which incorporates two task execution manipulators, one manipulation used for positioning cameras, and two 6-degree-of-freedom force-reflecting hand controllers employed for shared and teleoperation modes of execution. The UMI interface is to be used as the operator interface at a local command site to prepare and send commands to a remote space telerobot.

Backes, Paul G.↗
NASA NTRS1991

A unified teleoperated-autonomous dual-arm robotic system

A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

Hayati, Samad↗
NASA NTRS1990

A modular telerobotic task execution system

A telerobot task execution system is proposed to provide a general parametrizable task execution capability. The system includes communication with the calling system, e.g., a task planning system, and single- and dual-arm sensor-based task execution with monitoring and reflexing. A specific task is described by specifying the parameters to various available task execution modules including trajectory generation, compliance control, teleoperation, monitoring, and sensor fusion. Reflex action is achieved by finding the corresponding reflex action in a reflex table when an execution event has been detected with a monitor.

Backes, Paul G.↗
NASA NTRS1992

Eleven-Species Thermochemical Model Of Air

SPECIES program computes thermodynamic and transport properties and equilibrium constants. Uses least-squares polynomial curve fits of most accurate data available to provide requested values more quickly than table-lookup methods. Subroutines computing transport coefficients and collision cross sections include additional code to correct for any electron pressure when working with ionic species. Species represented: diatomic nitrogen, diatomic oxygen, atomic nitrogen, atomic oxygen, nitric oxide, ionized nitric oxide, free electron, ionized atomic nitrogen, ionized atomic oxygen, ionized diatomic nitrogen, and ionized diatomic oxygen. Written in FORTRAN 77.

Thompson, Richard A.↗
NASA NTRS1992

Study Of Robotic Replacement Of Equipment Modules

Report discusses issues pertaining to control of single-arm robotic manipulator to remove and install interchangeable equipment modules. Presents preliminary control strategy intended to guide development of control algorithms, along with analyses of problems arising in implementing strategy.

Backes, Paul G.↗
NASA NTRS1991

Calculations and curve fits of thermodynamic and transport properties for equilibrium air to 30000 K

A self-consistent set of equilibrium air values were computed for enthalpy, total specific heat at constant pressure, compressibility factor, viscosity, total thermal conductivity, and total Prandtl number from 500 to 30,000 K over a range of 10(exp -4) atm to 10(exp 2) atm. The mixture values are calculated from the transport and thermodynamic properties of the individual species provided in a recent study by the authors. The concentrations of the individual species, required in the mixture relations, are obtained from a free energy minimization calculation procedure. Present calculations are based on an 11-species air model. For pressures less than 10(exp -2) atm and temperatures of about 15,000 K and greater, the concentrations of N(++) and O(++) become important, and consequently, they are included in the calculations determining the various properties. The computed properties are curve fitted as a function of temperature at a constant value of pressure. These curve fits reproduce the computed values within 5 percent for the entire temperature range considered here at specific pressures and provide an efficient means for computing the flowfield properties of equilibrium air, provided the elemental composition remains constant at 0.24 for oxygen and 0.76 for nitrogen by mass.

Gupta, Roop N.↗
NASA NTRS1991

Computer codes for the evaluation of thermodynamic and transport properties for equilibrium air to 30000 K

The computer codes developed here provide self-consistent thermodynamic and transport properties for equilibrium air for temperatures from 500 to 30000 K over a temperature range of 10 (exp -4) to 10 (exp -2) atm. These properties are computed through the use of temperature dependent curve fits for discrete values of pressure. Interpolation is employed for intermediate values of pressure. The curve fits are based on mixture values calculated from an 11-species air model. Individual species properties used in the mixture relations are obtained from a recent study by the present authors. A review and discussion of the sources and accuracy of the curve fitted data used herein are given in NASA RP 1260.

Thompson, Richard A.↗