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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
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↗
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.↗
NASA NTRS1988

Three legged walking mobile platform: Kinematic and dynamic analysis and simulation

The three legged walker is proposed as a mobile work platform for numerous tasks associated with lunar base site preparation and construction. It is seen as one of several forms of surface transportation, each of which will be best suited for its respective tasks. Utilizing the principle of dynamic stability and taking advantage of the Moon's gravity, it appears to be capable of walking in any radial direction and rotating about a point. Typical curved path walking could involve some combination of the radial and rotational movements. Comprised mainly of a body, six actuators, and six moving parts, it is mechanically quite simple. Each leg connects to the body at a hip joint and has a femur, a knee joint, and a tibia that terminates at a foot. Also capable of enabling or enhancing the dexterity of a series of implements, the walker concept provides a mechanically simple and weight efficient means of drilling, digging, mining, and transporting cargo, and performing other like tasks. A proof of principle machine demonstrated the feasibility of the walking concept.

Mcmurray, Gary V.↗
NASA NTRS1991

A six-legged rover for planetary exploration

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

Simmons, Reid↗
NASA NTRS2000

Fingertip contact suppresses the destabilizing influence of leg muscle vibration

Touch of the hand with a stationary surface at nonmechanically supportive force levels (<1 N) greatly attenuates postural sway during quiet stance. We predicted such haptic contact would also suppress the postural destabilization caused by vibrating the right peroneus brevis and longus muscles of subjects standing heel-to-toe with eyes closed. In experiment 1, ten subjects were tested under four conditions: no-vibration, no-touch; no-vibration, touch; vibration, no-touch; and vibration, touch. A hand-held physiotherapy vibrator (120 Hz) was applied approximately 5 cm above the malleolous to stimulate the peroneus longus and brevis tendons. Touch conditions involved contact of the right index finger with a laterally positioned surface (<1 N of force) at waist height. Vibration in the absence of finger contact greatly increased the mean sway amplitude of the center of pressure and of the head relative to the no-vibration, no-touch control condition (P < 0.001). The touch, no-vibration and touch-vibration conditions were not significantly different (P > 0.05) from each other and both had significantly less mean sway amplitude of head and of center of pressure than the other conditions (P < 0.01). In experiment 2, eight subjects stood heel-to-toe under touch and no-touch conditions involving 40-s duration trials of peroneus tendon vibration at different duty cycles: 1-, 2-, 3-, and 4-s ON and OFF periods. The vibrator was attached to the subject's leg and remotely activated. In the no-touch conditions, subjects showed periodic postural disruptions contingent on the duty cycle and mirror image rebounds with the offset of vibration. In the touch conditions, subjects were much less disrupted and showed compensations occurring within 500 ms of vibration onset and mirror image rebounds with vibration offset. Subjects were able to suppress almost completely the destabilizing influence of the vibration in the 3- and 4-s duty cycle trials. These experiments show that haptic contact of the hand with a stable surface can suppress abnormal proprioceptive and motor signals in leg muscles.

NASA Discipline Neuroscience↗
NASA NTRS2000

Dissociation of muscle sympathetic nerve activity and leg vascular resistance in humans

We examined the hypothesis that the increase in inactive leg vascular resistance during forearm metaboreflex activation is dissociated from muscle sympathetic nerve activity (MSNA). MSNA (microneurography), femoral artery mean blood velocity (FAMBV, Doppler), mean arterial pressure (MAP), and heart rate (HR) were assessed during fatiguing static handgrip exercise (SHG, 2 min) followed by posthandgrip ischemia (PHI, 2 min). Whereas both MAP and MSNA increase during SHG, the transition from SHG to PHI is characterized by a transient reduction in MAP but sustained elevation in MSNA, facilitating separation of these factors in vivo. Femoral artery vascular resistance (FAVR) was calculated (MAP/MBV). MSNA increased by 59 +/- 20% above baseline during SHG (P < 0.05) and was 58 +/- 18 and 78 +/- 18% above baseline at 10 and 20 s of PHI, respectively (P < 0.05 vs. baseline). Compared with baseline, FAVR increased 51 +/- 22% during SHG (P < 0.0001) but returned to baseline levels during the first 30 s of PHI, reflecting the changes in MAP (P < 0.005) and not MSNA. It was concluded that control of leg muscle vascular resistance is sensitive to changes in arterial pressure and can be dissociated from sympathetic factors.

Non-NASA Center↗
NASA NTRS1992

Physiological cross-sectional area of human leg muscles based on magnetic resonance imaging

Magnetic resonance imaging techniques were used to determine the physiological cross-sectional areas (PCSAs) of the major muscles or muscle groups of the lower leg. For 12 healthy subjects, the boundaries of each muscle or muscle group were digitized from images taken at 1-cm intervals along the length of the leg. Muscle volumes were calculated from the summation of each anatomical CSA (ACSA) and the distance between each section. Muscle length was determined as the distance between the most proximal and distal images in which the muscle was visible. The PCSA of each muscle was calculated as muscle volume times the cosine of the angle of fiber pinnation divided by fiber length, where published fiber length:muscle length ratios were used to estimate fiber lengths. The mean volumes of the major plantarflexors were 489, 245, and 140 cm3 for the soleus and medial (MG) and lateral (LG) heads of the gastrocnemius. The mean PCSA of the soleus was 230 cm2, about three and eight times larger than the MG (68 cm2) and LG (28 cm2), respectively. These PCSA values were eight (soleus), four (MG), and three (LG) times larger than their respective maximum ACSA. The major dorsiflexor, the tibialis anterior (TA), had a muscle volume of 143 cm2, a PCSA of 19 cm2, and an ACSA of 9 cm2. With the exception of the soleus, the mean fiber length of all subjects was closely related to muscle volume across muscles. The soleus fibers were unusually short relative to the muscle volume, thus potentiating its force potential.(ABSTRACT TRUNCATED AT 250 WORDS).

NASA Discipline Musculoskeletal↗
NASA NTRS2004

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Colombano, Silvano↗