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At least 451 records · Page 25
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Terrain Adaptive Navigation for Mars Rovers

A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

traversabiity analysis↗
NASA NTRS1972

Manufacture, assembly, and delivery of beryllium test panels

Details of the fabrication and assembly of two 99 cm by 99 cm (39 in. by 39 in.) beryllium heat shield test panels are presented. Each panel consists of two hat-stiffened, formed skins which overlap a transverse slip joint at the center of the panel; clips join the two skins at the slip joint, and continuous standoffs are provided at the ends of the panel. The hat-stiffeners are joined to the skin by furnace-brazing, using the braze alloy BAg 18. The parts are generally 0.051 cm (0.020 in.) thick. Tools used to form the detail parts are shown, together with the results of preliminary forming and brazing trials to verify processing techniques. Problems encountered in the manufacture of the panels are discussed.

Source record↗
NASA NTRS1971

Performance of Boeing LRV wheels in a lunar soil simulant. Report 1: Effect of wheel design and soil

Six versions of the wire mesh wheel were laboratory tested in a lunar soil simulant, consisting of a crushed basalt with a grainsize distribution similar to that of samples collected during Apollo 11 and 12 flights, to determine their relative performance. The consistency of the soil was varied to cover a range of cohesive and frictional properties to simulate soil conditions assumed to exist on the moon. Programmed-slip and constant-slip tests conducted with the single wheel dynamometer system showed that the performance of the wheel covered with a metal chevron tread over 50 percent of its contact surface was slightly superior to that of other tread designs.

Green, A. J.↗
NASA NTRS1972

Studies on the frictional behavior of magnetic recording tapes

Methods were developed for measuring frictional forces acting on a magnetic tape in motion or at rest, as well as the extent of stick slip. The effects of factors such as temperature, humidity, kind of gaseous atmosphere, and tape speed on the frictional interaction between various tapes and heads were investigated. Results were instrumental in the selection of a tape for the Mariner Mars 1971 spacecraft. Studies are reported on the stick slip behavior of tapes and the performance of a metallic tape, compared with the usual plastic tapes.

Kalfayan, S. H.↗
NASA NTRS1972

Optimal braking studies

To brake in minimum distance, the tire slip must be controlled to ride the peak of the mu-slip curve so that maximum ground force is developed between tire and pavement. The resulting control system differs from antiskid systems which react to impending wheel lockup. A simplified model is presented to permit development of a sound control strategy. Liapunov techniques are used to derive a peak riding adaptive controller applicable to each wheel of a breaking vehicle. The controller is applied to a more sophisticated model of a braking airplane with strut bending dynamics included. Simulation results verify the peak riding property of the controller and the rapid adaption of the controller to extreme runway conditions. The effect of actuator dynamics, perturbation frequency, type and location of sensors, absence of a free wheel, and a method in which the pilot's braking commands can be interfaced with the peak riding system are also considered.

Pazdera, J. S.↗
NASA NTRS1971

Mechanism of underthrusting in southwest Japan: A model of convergent plate interactions

An elastic rebound mechanism consistent with underthrusting at the time of the magnitude 8.2 Nankaido earthquake of 21 December, 1946 accounts for a reversal in sense between seismic and preseismic changes in elevation throughout a large portion of southwest Japan. It is shown that the seismic movements during the earthquake were generated by slip on a complex thrust fault that is inferred to intersect the surface near the base of the continental slope. The preseismic deformation is explained by strain accumulation equivalent to a virtual dislocation with the same orientation as the fault surface but a sense opposite to that of the real dislocation that occurred at the time of the earthquake. Adjustments by slip along the fault surface and extensions of that surface can account for postseismic movements.

Fitch, T. J.↗
NASA NTRS1971

Creep of CoO single crystals.

The crystals were creep tested in compression over ranges of temperature, stress, and oxygen pressure. The creep curves were S-shaped, and only the inflection creep rate was analyzed. A formula is presented for the inflection creep rate in the range from 1000 to 1200 C, 850 to 1700 psi, and 0.001 to 1 atm oxygen. Slip was found to occur on two orthogonal slip systems. The presence of subboundaries was observed by optical and transmission electron microscopy. It is suggested that the creep rate is controlled by oxygen diffusion.

Clauer, A. H.↗
NASA NTRS1972

Ductile-brittle transition of thoriated chromium.

Unalloyed chromium and chromium containing approximately 3 wt % ThO2 were prepared from powder produced by a chemical vapor deposition process. When rolled to sheet and tested in tension, it was found that the thoriated material had a lower ductile-to-brittle transition temperature (DBTT) than unalloyed chromium. This ductilizing was evident both in the as-rolled condition and after the materials had been annealed for 1 hour at 1200 C. The improved ductility in thoriated chromium may be associated with several possible mechanisms: (1) particles may disperse slip, such that critical stress or strain concentrations for crack nucleation are more difficult to achieve; (2) particles may act as dislocation sources, thus providing mobile dislocations in this normally source-poor material, in a manner similar to prestraining; and (3) particles in grain boundaries may help to transmit slip across the boundaries, thus relieving stress concentrations and inhibiting crack nucleation.

Wilcox, B. A.↗
NASA NTRS1973

Accelerometer-controlled automatic braking system

Braking system, which employs angular accelerometer to control wheel braking and results in low level of tire slip, has been developed and tested. Tests indicate that system is feasible for operations on surfaces of different slipperinesses. System restricts tire slip and is capable of adapting to rapidly-changing surface conditions.

Dreher, R. C.↗
NASA NTRS1974

Variable-frequency inverter controls torque, speed, and braking in ac induction motors

Dc to ac inverter provides optimum frequency and voltage to ac induction motor, in response to different motor-load and speed requirements. Inverter varies slip frequency of motor in proportion to required torque. Inverter protects motor from high current surges, controls negative slip to apply braking, and returns energy stored in momentum of load to dc power source.

Nola, F. J.↗
NASA NTRS1973

Tensile properties to 650 C and deformation structures in a precipitation strengthened titanium-aluminum alloy

Appreciable strength levels were retained to 650 C in a Ti-10Al-1Si alloy aged in the (alpha + alpha sub 2) phase field to yield optimum room temperature strength and ductility. The aging treatment precipitated a uniform distribution of alpha sub 2-particles such that, at room temperature, dislocations bypassed instead of shearing the particles at low strains. Specimens fractured at room temperature exhibited fine uniform dimples even for those aging conditions that imparted no macroscopic ductility. The main crack appeared to propagate through the planar slip bands that had cut through the alpha sub 2-particles. A two-step aging process produced a higher volume fraction of bimodally distributed alpha sub 2-particles that led to higher strength levels at elevated temperatures. Both for the single size and the bimodal alpha sub 2-particle distributions, elevated-temperature deformation structures consisted mainly of planar slip bands that sheared through the alpha sub 2-particles.

Mendiratta, M. G.↗
NASA NTRS1973

Numerical solution for the inviscid supersonic flow in the corner formed by two intersecting wedges.

The inviscid, interference corner flow generated by two intersecting wedges immersed in a supersonic stream is obtained by use of a second-order, shock-capturing, finite-difference approach. The governing equations are solved iteratively in conical coordinates to yield the flow structure consisting of multiple shock and slip surfaces. The numerical results for shock wave and slip surface position and structure, pitot pressure traverses, and surface pressure distributions are compared with experimental data obtained over a wide range of Reynolds numbers. The comparisons show the best agreement with the high Reynolds number (greater than 3,000,000) results for which the boundary layer is turbulent.

Kutler, P.↗
NASA NTRS1974

Fault pattern at the northern end of the Death Valley - Furnace Creek fault zone, California and Nevada

The author has identified the following significant results. The pattern of faulting associated with the termination of the Death Valley-Furnace Creek Fault Zone in northern Fish Lake Valley, Nevada was studied in ERTS-1 MSS color composite imagery and color IR U-2 photography. Imagery analysis was supported by field reconnaissance and low altitude aerial photography. The northwest-trending right-lateral Death Valley-Furnace Creek Fault Zone changes northward to a complex pattern of discontinuous dip slip and strike slip faults. This fault pattern terminates to the north against an east-northeast trending zone herein called the Montgomery Fault Zone. No evidence for continuation of the Death Valley-Furnace Creek Fault Zone is recognized north of the Montgomery Fault Zone. Penecontemporaneous displacement in the Death Valley-Furnace Creek Fault Zone, the complex transitional zone, and the Montgomery Fault Zone suggests that the systems are genetically related. Mercury mineralization appears to have been localized along faults recognizable in ERTS-1 imagery within the transitional zone and the Montgomery Fault Zone.

Liggett, M. A.↗
NASA NTRS1974

Pahranagat Shear System, Lincoln County, Nevada

The author has identified the following significant results. A structural model which relates strike-slip deformation to Basin Range extensional tectonics was formulated on the basis of analysis and interpreatation of ERTS-1 MSS imagery over southern Lincoln County, Nevada. Study of published geologic data and field reconnaissance of key areas has been conducted to support the ERTS-1 data interpretation. The structural model suggests that a left-lateral strike-slip fault zone, called the Pahranagat Shear System, formed as a transform fault separating two areas of east-west structural extension.

Liggett, M. A.↗
NASA NTRS1973

Solute effects on deformation and fracture of beta brass

It is shown that the ductility of several ternary beta brass alloys in air and in several liquid metals can be related to the operative slip and grain boundary relaxation processes. Nickel and manganese were chosen as alloying elements because they are expected to respectively enhance and suppress cross slip in beta brass. Single-phase binary and ternary beta brass alloys were used in both polycrystalline and single crystal form.

Shea, M. M.↗
NASA NTRS1974

Elementary solutions of coupled model equations in the kinetic theory of gases

The method of elementary solutions is employed to solve two coupled integrodifferential equations sufficient for determining temperature-density effects in a linearized BGK model in the kinetic theory of gases. Full-range completeness and orthogonality theorems are proved for the developed normal modes and the infinite-medium Green's function is constructed as an illustration of the full-range formalism. The appropriate homogeneous matrix Riemann problem is discussed, and half-range completeness and orthogonality theorems are proved for a certain subset of the normal modes. The required existence and uniqueness theorems relevant to the H matrix, basic to the half-range analysis, are proved, and an accurate and efficient computational method is discussed. The half-space temperature-slip problem is solved analytically, and a highly accurate value of the temperature-slip coefficient is reported.

Kriese, J. T.↗
NASA NTRS1975

Variable frequency inverter for ac induction motors with torque, speed and braking control

A variable frequency inverter was designed for driving an ac induction motor which varies the frequency and voltage to the motor windings in response to varying torque requirements for the motor so that the applied voltage amplitude and frequency are of optimal value for any motor load and speed requirement. The slip frequency of the motor is caused to vary proportionally to the torque and feedback is provided so that the most efficient operating voltage is applied to the motor. Winding current surge is limited and a controlled negative slip causes motor braking and return of load energy to a dc power source.

Nola, F. J.↗
NASA NTRS1975

Effect of hydrogen on the mechanical properties of titanium and its alloys

Occluded hydrogen resulting from cathodic charging of commercially pure titanium and titanium alloys, Ti-8Al-1Mo-1V and Ti-6Al-4V, was shown to cause embrittlement of the alloys. Embrittlement was a function of the interstitial hydrogen content rather than the amount of precipitated titanium hydride. The effects of hydrogen concentration on the critical strain for plastic instability along pure shear directions was determined for alloys Ti-8Al-1Mo-1V and Ti-5Al-2.5Sn. Hydrogen, in concentrations below that necessary for spontaneous hydride precipitation, increased the strain necessary for instability formation or instability failure. The strain rate sensitivity also increased with increasing hydrogen concentration. The effect of hydrogen on slip and twinning was determined for titanium single crystals. The critical resolved shear stress for prism slip was increased and the critical resolved shear stress for twinning was decreased with increasing hydrogen concentration.

Beck, F. H.↗