Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Locomotive”

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.

At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Kinematic Differences Between Motorized and Nonmotorized Treadmill Locomotion

There are few scientific publications comparing human locomotion between motorized and nonmotorized treadmills. Lakomy (1987) and Gamble et al (1988) reported that forward lean is greater on a nonmotorized treadmill to aid in the generation of horizontal force necessary for belt propulsion, but there are no data concerning lower limb kinematics. During long-term spaceflight, astronauts use locomotive exercise to mitigate the physiological effects caused by long-term exposure to microgravity. A critical decision for mission planners concerns the requirements for a treadmill to be used during potential trips to the Moon and Mars. Treadmill operation in an un-powered configuration could reduce mission resource demands, but also may impact the efficacy of treadmill exercise countermeasures. To ascertain the most appropriate type of treadmill to be used, it is important to understand biomechanical differences between motorized (M) and nonmotorized (NM) locomotion. The purpose of this evaluation was to test for differences in lower limb kinematics that occur during M and NM treadmill locomotion at two speeds. It was hypothesized that hip and knee joint angle trajectories would differ between the conditions.

DeWitt, John K.↗
NASA NTRS2010

Vestibular-Somatosensory Convergence in Head Movement Control During Locomotion after Long-Duration Space Flight

Exposure to the microgravity conditions of space flight induces adaptive modification in the control of vestibular-mediated reflexive head movement during locomotion after space flight. Space flight causes astronauts to be exposed to somatosensory adaptation in both the vestibular and body load-sensing (BLS) systems. The goal of these studies was to examine the contributions of vestibular and BLS-mediated somatosensory influences on head movement control during locomotion after long-duration space flight. Subjects were asked to walk on a treadmill driven at 1.8 m/s while performing a visual acuity task. Data were collected using the same testing protocol from three independent subject groups; 1) normal subjects before and after exposure to 30 minutes of 40% bodyweight unloaded treadmill walking, 2) bilateral labyrinthine deficient (LD) patients and 3) astronauts who performed the protocol before and after long duration space flight. Motion data from head and trunk segmental motion data were obtained to calculate the angular head pitch (HP) movements during walking trials while subjects performed the visual task, to estimate the contributions of vestibular reflexive mechanisms in HP movements. Results showed that exposure to unloaded locomotion caused a significant increase in HP movements, whereas in the LD patients the HP movements were significantly decreased. Astronaut subjects results showed a heterogeneous response of both increases and decreases in the amplitude of HP movement. We infer that BLS-mediated somatosensory input centrally modulates vestibular input and can adaptively modify head-movement control during locomotion. Thus, space flight may cause a central adaptation mediated by the converging vestibular and body load-sensing somatosensory systems.

Mulavara, Ajitkumar↗
NASA NTRS2011

Biomechanical Analysis of Treadmill Locomotion on the International Space Station

Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to Spaceflight (Gap B15), Risk of Impaired Performance Due to Reduced Muscle Mass, Strength, and Endurance (Gaps M3, M4, M6, Ml, M8, M9) and Risk of reduced Physical Performance Capabilities Due to Reduce Aerobic Capacity (Gaps M7, M8, M9).

De Witt, J. K.↗
NASA NTRS2001

Gaze Stabilization During Locomotion Requires Full Body Coordination

Maintaining gaze stabilization during locomotion places substantial demands on multiple sensorimotor subsystems for precise coordination. Gaze stabilization during locomotion requires eye-head-trunk coordination (Bloomberg, et al., 1997) as well as the regulation of energy flow or shock-wave transmission through the body at high impact phases with the support surface (McDonald, et al., 1997). Allowing these excessive transmissions of energy to reach the head may compromise gaze stability. Impairments in these mechanisms may lead to the oscillopsia and decreased dynamic visual acuity seen in crewmembers returning from short and long duration spaceflight, as well as in patients with vestibular disorders (Hillman, et al., 1999). Thus, we hypothesize that stabilized gaze during locomotion results from full-body coordination of the eye-head-trunk system combined with the lower limb apparatus. The goal of this study was to determine how multiple, interdependent full- body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated, and how they adaptively respond to spaceffight.

Mulavara, A. P.↗
DOE OSTI2026

Design of Multi-Engine Freight Locomotive

This final report documents the completed engineering design of a modular, multi-engine renewable natural gas (RNG) hybrid freight locomotive. The project delivered a full systems design, component selection, and production and test plans for a near-zero-emission, Tier 5–capable line-haul locomotive, but did not proceed to fabrication or field testing due to withdrawal of the designated engine supplier.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRS1974

Experimental determination of the vibration level in 5,100 kW electric locomotive assemblies

Because of the high vibration level occurring during the running of electric locomotives, mechanical defects occur in the control mechanisms of auxiliary services. This fact has given rise to the necessity of determining the values of these vibrations in electric locomotives during their running. Measurements were conducted on the Craiova-Drobeta-Turnu Severin line, and measures to reduce the vibration level in electric locomotives were instituted.

Criciotoiu, E.↗
NASA NTRS1982

Dynamic Analysis of Six-Axle Locomotives

Locomotive and track parameters modeled by the Track-Train Dynamic analysis computer program. Typical applications might include: assessment of importance of specific suspension design details, comparison of different locomotive designs, determination of appropriate maintenance standards on locomotive suspension elements, determination of acceptable track-geometry defects and minimum track-strength, and investigation of specific derailment mechanisms.

Source record↗
NASA NTRS1992

A study to explore locomotion patterns in partial gravity environments

An effort is made to ascertain the factors affecting stability during locomotion in lunar and Martian gravity environments, as well as to establish criteria for the enhancement of stability and traction. The effects of changing both the speed and the pattern of locomotion under three different gravity conditions were investigated. As gravity level increased, vertical and horizontal forces significantly declined; similarities were noted across gravity levels, however, with respect to locomotion speed and pattern changes, where increasing speed enhanced both vertical and horizontal forces. With decreasing gravity, the ratio of horizontal to vertical forces increased significantly.

Rajulu, Sudhakar L.↗
NASA NTRS1999

The Effects of Long-Duration Spaceflight on Postflight Terrestrial Locomotion

Locomotion is a complex task requiring the coordinated integration of multiple sensorimotor subsystems. This coordination is exemplified by the precise control of segmental kinematics that allows smooth progression of movement in the face of changing environmental constraints. Exposure to the microgravity environment encountered during space flight induces adaptive modification in the central processing of sensory input to produce motor responses appropriate for the prevailing environment. This inflight adaptive change in sensorimotor function is inappropriate for movement control in 1-g and leads to postflight disturbances in terrestrial locomotor function. We have previously explored the effects of short-duration (7-16 days) space flight on the control of locomotion. The goal of the present set of studies was to investigate the effects of long-duration spaceflight (3-6 months) on the control of locomotion with particular emphasis on understanding how the multiple interacting systems are adaptively modified by prolonged microgravity exposure.

Bloomberg, J. J.↗
NASA NTRS1999

Effects of spaceflight on rhesus quadrupedal locomotion after return to 1G

Effects of spaceflight on Rhesus quadrupedal locomotion after return to 1G. Locomotor performance, activation patterns of the soleus (Sol), medial gastrocnemius (MG), vastus lateralis (VL), and tibialis anterior (TA) and MG tendon force during quadrupedal stepping were studied in adult Rhesus before and after 14 days of either spaceflight (n = 2) or flight simulation at 1G (n = 3). Flight simulation involved duplication of the spaceflight conditions and experimental protocol in a 1G environment. Postflight, but not postsimulation, electromyographic (EMG) recordings revealed clonus-like activity in all muscles. Compared with preflight, the cycle period and burst durations of the primary extensors (Sol, MG, and VL) tended to decrease postflight. These decreases were associated with shorter steps. The flexor (TA) EMG burst duration postflight was similar to preflight, whereas the burst amplitude was elevated. Consequently, the Sol:TA and MG:TA EMG amplitude ratios were lower following flight, reflecting a "flexor bias." Together, these alterations in mean EMG amplitudes reflect differential adaptations in motor-unit recruitment patterns of flexors and extensors as well as fast and slow motor pools. Shorter cycle period and burst durations persisted throughout the 20-day postflight testing period, whereas mean EMG returned to preflight levels by 17 days postflight. Compared with presimulation, the simulation group showed slight increases in the cycle period and burst durations of all muscles. Mean EMG amplitude decreased in the Sol, increased in the MG and VL, and was unchanged in the TA. Thus adaptations observed postsimulation were different from those observed postflight, indicating that there was a response unique to the microgravity environment, i.e., the modulations in the nervous system controlling locomotion cannot merely be attributed to restriction of movement but appear to be the result of changes in the interpretation of load-related proprioceptive feedback to the nervous system. Peak MG tendon force amplitudes were approximately two times greater post- compared with preflight or presimulation. Adaptations in tendon force and EMG amplitude ratios indicate that the nervous system undergoes a reorganization of the recruitment patterns biased toward an increased recruitment of fast versus slow motor units and flexor versus extensor muscles. Combined, these data indicate that some details of the control of motor pools during locomotion are dependent on the persistence of Earth's gravitational environment.

Bion 11 Project↗
NASA NTRS2006

Physiologic Responses to Motorized and Non-Motorized Locomotion Utilizing the International Space Station Treadmill

Treadmill locomotion is used onboard the International Space Station (ISS) as a countermeasure to the effects of prolonged weightlessness. The treadmill operates in two modes: motorized (T-M) and non-motorized (T-NM). Little is known about the potential physiologic differences between modes which may affect countermeasure exercise prescription. PURPOSE: To quantify heart rate (HR), oxygen consumption (VO2), perceived exertion (RPE), and blood lactate (BLa) during T-M and T-NM locomotion at 2 and 4 mph in normal ambulatory subjects. METHODS: Twenty subjects (10 men, 10 women; 31+/-5 yr, 172+/-10 cm, 68+/-13 kg, mean SD) with a treadmill peakVO2 of 45.5+/-5.4 ml/kg/min (mean+/-SD) exercised on the ground-based ISS treadmill. Following a familiarization session in each mode, subjects completed two data collection sessions, T-M and T-NM in random order, at 2 and 4 mph. Subjects attempted to complete 5 min of exercise at each speed; if they could not maintain the speed, the trial was discontinued. At least 5 minutes of rest separated each speed trial, and at least 48 hrs separated each session. VO2 was measured continuously (metabolic gas analysis), while HR (HR monitor) and RPE (Borg Chart, 6-20 scale) were recorded each min. Not all subjects completed 5 min during each condition, therefore the mean of the min 3 and 4 was taken as representative of steady-state. BLa was measured (finger stick) within 2 min post-exercise. Paired t-tests were used to test for differences (p<0.05) between treadmill modes within the same speed. RESULTS: All twenty subjects completed at least 4 min of exercise during all conditions, except T-NM 4 mph when only 11 subjects completed the minimum exercise duration. VO2, HR, RPE and BLa were significantly higher during T-NM locomotion at both speeds.

Smith, Cassie↗
NASA NTRS2003

Functional Coordination of a Full-Body Gaze Control Mechanisms Elicited During Locomotion

Control of locomotion requires precise interaction between several sensorimotor subsystems. Exposure to the microgravity environment of spaceflight leads to postflight adaptive alterations in these multiple subsystems leading to postural and gait disturbances. Countermeasures designed to mitigate these postflight gait alterations will need to be assessed with a new generation of functional tests that evaluate the interaction of various elements central to locomotor control. The goal of this study is to determine how the multiple, interdependent, full- body sensorimotor subsystems aiding gaze stabilization during locomotion are functionally coordinated. To explore this question two experiments were performed. In the first study (Study 1) we investigated how alteration in gaze tasking changes full-body locomotor control strategies. Subjects (n=9) performed two discreet gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2m in front at eye level. The second study (Study 2) investigated the potential of adaptive remodeling of the full-body gaze control systems following exposure to visual-vestibular conflict. Subjects (n=14) walked (6.4 km/h) on the treadmill before and after they were exposed to 0.5X minifying lenses worn for 30 minutes during self-generated sinusoidal vertical head rotations performed while seated. In both studies we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. Results from Study 1 showed that while reading numeral characters as compared to the central point target: 1) compensatory head pitch movements were on average 22% greater 2) the peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six subjects 3) the knee joint total movement was on average 11% greater during the period from the heel strike event to the peak knee flexion event in stance phase of the gait cycle. Results from Study 2 indicate that following exposure to visual-vestibular conflict changes in full-body strategies were observed consistent with the requirement to aid gaze stabilization during locomotion.

Bloomberg, Jacob J.↗
NASA NTRS2011

Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

robotics↗
NASA NTRS2017

Lightweight Multifunctional Planetary Probe for Extreme Environment Exploration and Locomotion

The demand to explore new worlds requires the development of advanced technologies that enable landed science on uncertain terrains or in hard to reach locations. As a result, contemporary Entry, Descent, Landing, (EDL) and additional locomotion (EDLL) profiles are becoming increasingly more complex, with the introduction of lifting/guided entries, hazard avoidance on descent, and a plethora of landing techniques including airbags and the skycrane maneuver. The inclusion of each of these subsystems into a mission profile is associated with a substantial mass penalty. This report explores the new all-in-one entry vehicle concept, TANDEM, a new combined EDLL concept, and compares it to the current state of the art EDL systems. The explored system is lightweight and collapsible and provides the capacity for lifting/guided entry, guided descent, hazard avoidance, omnidirectional impact protection and surface locomotion without the aid of any additional subsystems. This Phase I study explored: 1. The capabilities and feasibility of the TANDEM concept as an EDLL vehicle. 2. Extensive impact analysis to ensure mission success in unfavorable landing conditions, and safe landing in Tessera regions. 3. Development of a detailed design for a conceptual mission to Venus. As a result of our work it was shown that: 1. TANDEM provides additional benefits over the Adaptive, Deployable Entry Placement Technology (ADEPT) including guided descent and surface locomotion, while reducing the mass by 38% compared to the ADEPT-VITaL mission. 2. Demonstrated that the design of tensegrity structures, and TANDEM specifically, grows linearly with an increase in velocity, which was previously unknown. 3. Investigation of surface impact revealed a promising results that suggest a properly configured TANDEM vehicle can safely land and preform science in the Tessera regions, which was previously labeled by the Decadal Survey as, largely inaccessible despite its high scientific interest. This work has already resulted in a NASA TM and will be submitted to the Journal of Spacecraft and Rockets.

landing techniques↗
NASA NTRS2020

Material Remodelling and Unconventional Gaits Facilitate Locomotion of a Robophysical Rover Over Granular Terrain

Autonomous robots and vehicles must occasionally recover from locomotion failure in loosely consolidated granular terrain. Recent mobility challenges led NASA Johnson Space Center to develop a prototype robotic lunar rover Resource Prospector 15 (RP15) capable of wheeled, legged, and crawling behavior. To systematically understand performance of such a device, we developed a scaled-down rover robot and studied its locomotion on slopes of dry and wet granular media. Addition of a cyclic legged gait to the robot’s wheel spinning action changes the robot dynamics from that of a wheeled vehicle to a locomotor paddling through frictional fluid. Granular drag force measurements and modified Resistive Force Theory facilitate modeling of such dynamics. A peculiar gait strategy that agitates and cyclically reflows grains under the robot allows it to ‘swim’ up loosely consolidated hills. Whereas substrate disturbance typically hinders locomotion in granular media, the multi-mode design of RP15 and a diversity of possible gaits facilitate formation of self-organized localized frictional fluids that enable effective robust transport.

Siddharth Shrivastava↗
NASA NTRS2023

MMIC-I: A Robotic Platform for Assembly Integration and Internal Locomotion through Mechanical Meta-Material Structures

In-space assembly is crucial to creating large-scale space structures and enabling long term space missions. Natural limitations in the size of transportation vehicles and ISRU production facilities necessitate an additive strategy with the size of the typical structural unit being essentially fixed and inversely proportional to the final assembly size. In prior robotic and space assembly examples, reversible mechanical integration of structural modules is typically achieved with actuated alignment and fastening mechanisms onboard every structural module. Additive assembly or manufacturing planning approaches often feature a “build front” that receives new materials or parts and progresses gradually across the target geometry. The system we describe here places much of the alignment and fastener actuation systems onboard a mobile robot that can operate at a build front while companion robots (Scaling Omni-directional Lattice Locomoting Explorer, SOLLE) provide part or material transportation. The design and evaluation of this Mobile Meta-Material Interior Co-Integrator (MMIC-I), an inchworm-style locomoting robotic assembler, is described here with an emphasis on ease of assembly and a low number of unique parts for a simple design. It is designed to assist in alignment of cuboctahedron structural unit cells with captive fasteners, defining the build front in operation. Adjacent structural unit cells are locked together with specified axial and rotational actuation of the fasteners. Hardware prototypes show that the robot is able to successfully locomote to any indexed location within a lattice structure and bolt together each set of fasteners on any interface.

Robotics↗
NASA NTRS2019

BALLET: Balloon Locomotion for Extreme Terrain: NASA Innovative Advanced Concepts (NIAC) - Phase I Final Report

This report documents the work performed in our investigation into the BALLET (Balloon Locomotion for Extreme Terrain) concept. We focused on four areas in this Phase I effort. They were 1) identifying the science targets and objectives with the corresponding requisite instrumentation and operational capabilities that could be achieved with a BALLET mission, 2) developing an architecture for the deployment and operation of this concept for a future mission to a planetary body, 3) analyzing a parametric physical model of BALLET under the environmental conditions of Mars, Titan and Earth to determine its feasibility, and 4) developing and demonstrating coordinated control of the BALLET mobility system to enable locomotion over rugged terrain. The results of our investigations in these focus areas are documented in the following sections. A paper summarizing the preliminary results from this study has been accepted for publication and presentation at the 2019 IEEE Aerospace Conference [Nayar, 2019].

Balloon Locomotion↗