SEARCH · Engineering Papers

Results for “legged”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3

All sources NASA NTRS DOE OSTI

NASA NTRS1994

Leg muscle volume during 30-day 6-degree head-down bed rest with isotonic and isokinetic exercise training

Magnetic resonance imaging (MRI) was used to compare the effect of two modes of lower-extremity exercise training on the mass (volume) of posterior leg group (PLG) muscles (soleus, flexor hallucis longus, tibialis posterior, lateral and medial gastrocnemius, and flexor digitorum longus) on 19 men (ages 32-42 years) subjected to intense dynamic-isotonic (ITE, cycle ergometer, number of subjects (N) = 7), isokinetic (IKE, torque egrometer, N = 7), and no exercise (NOE, N = 5) training for 60 min/day during head-down bed rest (HDBR). Total volume of the PLG muscles decreased (p less than 0.05) similarly: ITE = 4.3 +/- SE 1.6%, IKE = 7.7 +/- 1.6%, and NOE = 6.3 +/- 0.8%; combined volume (N = 19) loss was 6.1 +/- 0.9%. Ranges of volume changes were 2.6% to -9.0% (ITE), -2.1% to -14.9% (IKE), and -3.4% to -8/1% (NOE). Correlation coefficients (r) of muscle volume versus thickness measured with ultrasonography were: ITE r + 0.79 (p less than 0.05), IKE r = 0.27 (not significant (NS)), and NOE r = 0.63 (NS). Leg-muscle volume and thickness were highly correlated (r = 0.79) when plasma volume was maintained during HDBR with ITE. Thus, neither intensive lower extremity ITE nor IKE training influence the normal non-exercised posterior leg muscle atrophy during HDBR. The relationship of muscle volume and thickness may depend on the mode of exercise training associated with the maintenance of plasma volume.

Greenleaf, J. E.↗

NASA NTRS1988

Leg Vascular Responsiveness During Acute Orthostasis Following Simulated Weightlessness

Ten men (35-49 years old) underwent lower body negative pressure (LBNP) exposures before and offer 10 d of continuous 6 degrees head-down bedrest in order to predict the effect of weightlessness on the responsiveness of leg vasculature to an orthostatic stress. Heart rate (HR), mean arterial blood pressure (MAP), and Impedance rheographic indices of arterial pulse volume (APV) of the legs were measured during rest and at 1 min at -30 mm Hg LBNP. Bedrest-induced deconditioning was manifested by decreases (p less than 0.06) in plasma volume (17%), peak oxygen uptake (16%), and LBNP tolerance (17%). Resting HR was unchanged after bedrest, but HR was higher (p less than 0.05) at 1 min of -30 mm Hg LBNP after, compared with before bedrest. Responses of MAP to -30 mm Hg LBNP were not altered by bodrest. Resting APV was decreased (p less than 0.05) by simulated weightlessness. However, APV was reduced (p less than 0.05) from rest to 1 min -30 mm Hg LBNP by the same relative magnitude before and after bodrest (-21.4 +/- 3.4% and -20.5 +/- 2.7%, respectively). We conclude that peripheral arterial vasoconstriction, as indicated by reductions in APV during LBNP, was not affected by bedrest. These results suggest that there was no apparent alteration in responsiveness of the leg vasculature following simulated weightlessness. Therefore, it appears unlikely that control mechanisms of peripheral resistance contribute significantly to reduced orthostatic tolerance following space-flight.

Blamick, Cynthia A.↗

NASA NTRS2003

Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

Colombano, Silvano P.↗

NASA NTRS2007

Motion of 3-6 keV Nonthermal Sources Along the Legs of a Flare Loop

Observations of nonthermal X-ray sources me critical to studying electron acceleration and transport in solar flares. Strong thermal emission radiated from the preheated plasma before the flare impulsive phase often makes it difficult to detect low-energy X-ray sources that are produced by relatively low-energy nonthermal electrons. Knowledge of the distribution of these low-energy nonthermal electrons is particularly important in determining the total nonthermal electron energy in solar flares. We report on an 'early impulsive flare' in which impulsive hard X-ray emission was seen early in the flare before the soft X-ray emission had risen significantly, indicating limited plasma pre-heating. Early in the flare, RHESSI < 25 keV images show coronal sources that moved first downward and then upwards along the legs of a flare loop. In particular, the 3-6 keV source appeared as a single coronal source at the start of the flare, and then it involved into two coronal sources moving down along the two legs of the loop. After nearly reaching the two footpoints at the hard X-ray peak, the two sources moved back up to the looptop again. RHESSI images and light curves all indicate that nonthermal emission dominated at energies as low as 3-6 keV. We suggest that the evolution of both the spectral index and the low-energy cutoff of the injected electron distribution could result in the accelerated electrons reaching a lower altitude along the legs of the dense flare loop and hence result in the observed downward and upward motions of the nonthermal sources.

Sui, Linhui↗

DOE OSTI2026

Optical diagnostic design for measuring the radiation front with a mid-leg pumped divertor on DIII-D

The design of an optical diagnostic system to localize the radiation front in a mid-leg pumped divertor configuration on DIII-D is presented. Divertor detachment is a key mechanism for handling power exhaust in tokamaks, and mid-leg pumping offers a promising approach to radiatively dissipate power while maintaining acceptable core performance. To predict the location of the radiation front and design a spectroscopic diagnostic to measure its position, a database of SOLPS-ITER simulations across a range of input powers and gas puffing rates representative of DIII-D operation was employed. These simulations provide self-consistent plasma backgrounds for a Cherab-Raysect synthetic diagnostic framework, which incorporates detailed tokamak geometry and physically accurate ray-tracing. Synthetic simulations of optical sightlines and viewing cone geometry were used to calculate line-integrated emission from the plasma, particularly of the C III 465 nm line, to serve as a proxy for the T e ≈ 7 − 10 eV temperature region associated with the onset and evolution of divertor detachment. Neutral deuterium emission is also evaluated for comparison. The synthetic diagnostic is used to assess the performance of existing DIII-D optical systems, including filterscopes and the Multichord Divertor Spectrometer, and to optimize line-of-sight placement within mechanical and installation constraints. The results provide quantitative guidance for diagnostic implementation on DIII-D and demonstrate the advantage of integrated synthetic diagnostics for divertor design studies and future advanced divertor concepts.

Cherab↗

DOE OSTI2026

Effect of outer divertor leg detachment on the high field side scrape-off layer in DIII-D and ASDEX Upgrade

In this work, evidence is presented that detachment of the outer divertor leg leads to a reduction of electron density and neutral pressure in the high-field side (HFS) scrape-off layer (SOL) of the ASDEX Upgrade (AUG) and DIII-D tokamaks with ion $B$ x $∇B$ drift directed toward the X-point (favorable configuration). These results are observed across multiple diagnostics and without the use of impurity seeding to reach detachment. In AUG, outer divertor leg detachment correlates with a decrease in electron density near the separatrix at the inner midplane, measured with HFS reflectometry. A concurrent reduction in inner divertor density and neutral pressure at the inner target is observed using divertor Thomson scattering and neutral pressure gauges. These effects are present in both L- and H-mode plasmas. In DIII-D, a similar reduction is detected through analysis of line-integrated hydrogenic emission measured by multiple diagnostics in the HFS SOL close to the separatrix. The consistent trends in both devices indicate that high electron density and strong hydrogenic emissivity in the HFS SOL are common features of H-mode plasmas in the favorable configuration, independent of wall material and divertor geometry. In L-mode plasmas, the reduction in electron density and neutral pressure is not observed in DIII-D, possibly due to differences in wall material. These results emphasize the importance of the divertor state in determining the two-dimensional neutral distribution and edge fueling.

detachment↗

DOE OSTI2025

A Grid-Forming Split-Phase Three-Leg Inverter with Unbalanced Loading and Active Power Decoupling

This paper presents a split-phase three-leg inverter that regulates 180-degree phase-shifted AC voltages to support residential house loads under unbalanced loading conditions and decouples double line frequency power pulsation by utilizing the third half-bridge switching leg. The active power decoupling function is added without extra active switching components. The control feasibility and effectiveness are verified through MATLAB Simulink simulation and controller hardware-in-the-loop test.

Kim, Namwon [ORNL] (ORCID:0000000200438489)↗

NASA NTRS1964

Characteristics of a Lunar Landing Configuration Having Various Multiple-Leg Landing-Gear Arrangements

An experimental investigation has been made of some lunar-landing characteristics of a 1/6-scale dynamic model of a landing module having multiple-leg landing-gear systems. Symmetric four-point and five-point systems were investigated. The landing-gear legs were inverted tripod arrangements having a telescoping main strut which incorporated a yielding-metal strap for energy dissipation, hinged V-struts, and circular pads. The landing tests were made by launching a free model onto an impenetrable hard surface (concrete) and onto a powdered-pumice overlay of various depths. Landing motion and acceleration data were obtained for a range of touchdown speeds, touchdown attitudes, and landing-surface conditions. Maximum normal acceleration experienced at the module center of gravity during landings on hard surface or pumice was 2g (full-scale lunar value in terms of earth's gravity) over a wide range of touchdown conditions. acceleration experienced was 12 1/2 radians/sec(exp 2) and maximum longitudinal acceleration was 1 3/4g. The module was very stable with all gear configurations during landings on hard surface (coefficient of friction, micron = 0.4) at all conditions tested. Some overturn instability occurred during landings on powdered pumice (micron = 0.7 to 1.0) depending upon flight path, pitch and yaw attitude, depth of pumice, surface topography, and landing-gear configuration. The effect on stability of roll attitude for the limited amount of roll-attitude landing data obtained was insignificant. Compared with the four-point landing gear, the five-point system with equal maximum gear radius increased landing stability slightly and improved the static stability for subsequent lunar launch. A considerable increase in landing stability in the direction of motion was obtained with an asymmetric four-point gear having two pads offset to increase gear radius by 33 percent in the direction of horizontal flight.

Blanchard, Ulysse J.↗

NASA NTRS1970

Tandem wheel drop-legs for standard truck trailer

Tandem wheel drop-leg device provides a semitrailer with fore and aft mobility that allows it to be moved without a prime mover. The modified drop-legs have trunnion dual wheels and an adjustable brace.

Cantwell, W.↗

NASA NTRS1972

Analysis of legged landers for the survivable soft landing of instrument payloads.

Two methods of analysis have been developed for legged planetary landers. The first of these, the Large Displacement Gear Analysis, is a design tool for statically determining the large displacement stroking behavior, energy absorption characteristics, and internal load distributions in a single gear. The second, the Landing Dynamics Analysis, predicts the spatial landing dynamics of a legged lander. Effects of structural flexibility, elastic-plastic gear load characteristics, and soil properties on the loads, motions, and stability of the lander may be determined. Validation of the analytical techniques is accomplished through comparison of predicted results and experimental data obtained during a model test program.

Laurenson, R. M.↗

NASA NTRS1974

Experimental investigation of the landing dynamics of three-legged spacecraft models

An experimental investigation was conducted to obtain accurate data from two three-legged spacecraft landing systems for purposes of validating current and future computer programs for legged landers. Two landing-gear systems were investigated: an inverted tripod system and a cantilever system. Tests were conducted for eight landing conditions chosen to obtain stability data, maximum loads, and maximum strokes for correlation with analytical results. Data from the two models are not directly comparable because of geometry and mass differences, but both are considered to be typical models of the respective landing-gear systems. Results indicate that maximum accelerations for both models, which occurred during a nearly flat landing on a horizontal surface, were nearly the same (approximately minus 18g). Maximum primary strut forces occurred for landings into a 20 deg slope and were 40 kiloNewtons (9000 lbf) and 47 kiloNewtons (10 500 lbf) for the inverted tripod and cantilever models, respectively; and maximum primary strut strokes for both models were 19 cm (7.4 in.). The inverted tripod model was slightly more stable than the cantilever model because of a larger ratio of footpad radius to center-of-gravity height.

Stubbs, S. M.↗

NASA NTRS1974

Hemodynamic studies of the legs under weightlessness

Following exposure to weightlessness, alterations in the return of blood from the legs play a crucial role in orthostatic tolerance and may be an important factor in work tolerance. To investigate some of the hemodynamic mechansism involved, an experiment was performed on the Skylab 3 and Skylab 4 missions to study arterial blood flow, venous compliance, and muscle pumping of blood. Skylab 4 results indicated that the most likely cause of increased blood flow was an increase in cardiac output secondary to increased central venous pressure caused by blood redistribution. Changes in venous compliance are thought to be primarily changes in somatic musculature which is postulated to primarily determine venous compliance of the legs. This was also thought to be demonstrated by the changes in muscle pumping. It is thought that these compliance changes, when taken with the decreased blood volume; provide a basis for the changes seen in orthostatic tolerance, work capacity and lower body negative pressure response.

Thornton, W. E.↗

NASA NTRS1977

Rotational joint assembly for the prosthetic leg

A rotational joint assembly for a prosthetic leg has been devised, which enables an artificial foot to rotate slightly when a person is walking, running or turning. The prosthetic leg includes upper and lower tubular members with the rotational joint assembly interposed between them. The assembly includes a restrainer mechanism which consists of a pivotably mounted paddle element. This device applies limiting force to control the rotation of the foot and also restores torque to return the foot back to its initial position.

Owens, L. J.↗

NASA NTRS1978

Residual glasses and melt inclusions in basalts from DSDP Legs 45 and 46 - Evidence for magma mixing

Microprobe analyses of natural glasses in basalts recovered by Legs 45 and 46 of the Deep Sea Drilling Project are reported and interpreted in the context of other geochemical, petrographic and experimental data on the same rocks (Rhodes et al., 1978). Residual glass compositions in the moderately evolved aphyritic and abundantly phyric basalts within each site indicate that none of the units is related to any other or to a common parent by simple fractional crystallization. The compositional trends, extensive disequilibrium textures in the plagioclase phenocrysts and the presence in evolved lavas of refractory plagioclase and olivine phenocrysts bearing primitive melt inclusions provide evidence that magma mixing had a major role in the genesis of the Leg 45 and 46 basalts. The magma parental to these basalts was most likely characterized by high Mg/(Mg + Fe/+2/), CaO/Al2O3, CaO/Na2O and low lithophile concentrations. A mixing model involving incremental enrichment of magmaphile elements by repeated episodes of mixing of relatively primitive and moderately evolved magmas, followed by a small amount of fractionation is consistent with the characteristics of the basalts studied.

Dungan, M. A.↗

NASA NTRS1979

Model task for the dynamics of an underwater two-legged walker

A model task of two-legged underwater walking was examined. Characteristics of the walking were established. The underwater walking device is a substantial sphere, which moves on dual-member legs. The dynamics of the device were investigated with the calculation of the buoyancy of Archimedes, and the force of hydrodynamic resistance.

Beletskiy, V. V.↗

NASA NTRS1980

Computer coordination of limb motion for a three-legged walking robot

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Klein, C. A.↗

NASA NTRS1986

Multi-leg heat pipe evaporator

A multileg heat pipe evaporator facilitates the use and application of a monogroove heat pipe by providing an evaporation section which is compact in area and structurally more compatible with certain heat exchangers or heat input apparatus. The evaporation section of a monogroove heat pipe is formed by a series of parallel legs having a liquid and a vapor channel and a communicating capillary slot therebetween. The liquid and vapor channels and interconnecting capillary slots of the evaporating section are connected to the condensing section of the heat pipe by a manifold connecting liquid and vapor channels of the parallel evaporation section legs with the corresponding liquid and vapor channels of the condensing section.

Alario, J. P.↗

NASA NTRS1988

Leg vascular responsiveness during acute orthostasis following simulated weightlessness

The effect of weightlessness on vascular response to orthostatic stress was investigated in human subjects by measuring changes in the arterial pulse volume (APV) of the legs during exposure to lower body negative pressure (LBNP) applied before and after 10 days of continuous 6-deg head-down bed rest. Heart rate, mean arterial blood pressure (MAP), and impedance rheographic indices of APV were measured during rest and at 1 min of -30 mm Hg LBNP. Bed rest was found not to alter the responses of MAP to LBNP. Resting APV was decreased after bed rest; however, APV was reduced upon transfer from rest to 1-min LBPN by the same relative magnitude before and after bedrest. It is concluded that peripheral arterial vasoconstriction, as indicated by reduction in APV during LBNP, is not affected by bedrest. The results suggest that there was no apparent alteration in responsiveness of the leg vasculature following simulated weightlessness, and that the control mechanisms of peripheral resistance do not contribute significantly to reduced orthostatic tolerance following spaceflight.

Blamick, Cynthia A.↗