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At least 55 records · Page 3

Compact Dexterous Robotic Hand

A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

Lovchik, Christopher Scott↗

NGC 4388- Spectral Studies of the First Seyfert 2 Seen by INTEGRAL

We present first INTEGRAL and XMM-Newton ob- servations of a Seyfert galaxy, the type 2 AGN NGC 4388. Several INTEGRAL observations performed in 2003 allow us to study the spectrum in the 20 - 300 keV range. In addition two XMM-Newton observations give detailed insight into the 0.2 - 10 keV emission. Comparison with previous observations by BeppoSAX, SIGMA and CGROIOSSE show that the overall spectrum for soft X-rays up to the gamma-rays can be described by a highly absorbed and variable non-thermal component in addition to constant non-absorbed thermal emission of low abundance (2 - 5%Za), plus a constant Fe K alpha line. The hard X-ray component is well described by a simple power law with a mean photon index of 1 = 1.7. During the INTEGRAL observations the flux at 100 keV increased by a factor of 1.5. The analysis of XMM-Newton data implies that the emission below 3 keV is decoupled from the AGN and probably due to extended emission as seen in Chandra observations. The constant iron line emission is apparently also decoupled from the direct emission of the central engine and likely to be generated in the obscuring material, e.g. in the molecular torus or even further away.

Beckman, V.↗

INTEGRAL and XMM-Newton Spectral Studies of NGC 4388

We present first INTEGRAL and XMM-Newton observations of a Seyfert galaxy, the type 2 AGN NGC 4388. Several INTEGRAL observations performed in 2003 allow us to study the spectrum in the 20 - 300 keV range. In addition two XMM-Newton observations give detailed insight into the 0.2 - 10 keV emission. Comparison with previous observations by BeppoSAX, SIGMA and CGRO/OSSE show that the overall spectrum for soft X-rays up to the gamma-rays can be described by a highly absorbed (N(sub H approx. = 2.7 x 10(exp 23)/sq cm) and variable non-thermal component in addition to constant non-absorbed thermal emission (T approx. = 0.8 keV) of low abundance (Z approx. 5% Z (solar)), plus a constant Fe K a line. The hard X-ray component is well described by a simple power law with a mean photon index of Gamma = 1.7. During the INTEGRAL observations the flux at 100 keV increased by a factor of 1.5. The analysis of XMM-Newton data implies that the emission below 3 keV is decoupled from the AGN and probably due to extended emission as seen in Chandra observations. The constant iron line emission is apparently also decoupled from the direct emission of the central engine and likely to be generated in the obscuring material, e.g. in the molecular torus.

Beckmann, V.↗

Ultrasonic Stir Welding

NASA Marshall Space Flight Center (MSFC) developed Ultrasonic Stir Welding (USW) to join large pieces of very high-strength metals such as titanium and Inconel. USW, a solid-state weld process, improves current thermal stir welding processes by adding high-power ultrasonic (HPU) energy at 20 kHz frequency. The addition of ultrasonic energy significantly reduces axial, frictional, and shear forces; increases travel rates; and reduces wear on the stir rod, which results in extended stir rod life. The USW process decouples the heating, stirring, and forging elements found in the friction stir welding process allowing for independent control of each process element and, ultimately, greater process control and repeatability. Because of the independent control of USW process elements, closed-loop temperature control can be integrated into the system so that a constant weld nugget temperature can be maintained during welding.

Nabors, Sammy↗

Dynamic Reconstruction and Multivariable Control for Force-Actuated, Thin Facesheet Adaptive Optics

The Multiple Mirror Telescope (MMT) under development at the University of Arizona takes a new approach in adaptive optics placing a large (0.65 m) force-actuated, thin facesheet deformable mirror at the secondary of an astronomical telescope, thus reducing the effects of emissivity which are important in IR astronomy. However, The large size of the mirror and low stiffness actuators used drive the natural frequencies of the mirror down into the bandwidth of the atmospheric distortion. Conventional adaptive optics takes a quasi-static approach to controlling the, deformable mirror. However, flexibility within the control bandwidth calls for a new approach to adaptive optics. Dynamic influence functions are used to characterize the influence of each actuator on the surface of the deformable mirror. A linearized model of atmospheric distortion is combined with dynamic influence functions to produce a dynamic reconstructor. This dynamic reconstructor is recognized as an optimal control problem. Solving the optimal control problem for a system with hundreds of actuators and sensors is formidable. Exploiting the circularly symmetric geometry of the mirror, and a suitable model of atmospheric distortion, the control problem is divided into a number of smaller decoupled control problems using circulant matrix theory. A hierarchic control scheme which seeks to emulate the quasi-static control approach that is generally used in adaptive optics is compared to the proposed dynamic reconstruction technique. Although dynamic reconstruction requires somewhat more computational power to implement, it achieves better performance with less power usage, and is less sensitive than the hierarchic technique.

Grocott, Simon C. O.↗

The Relativistic Iron Line Profile in the Seyfert 1 Galaxy IC4329a

We present simultaneous ASCA and RXTE data on the bright Seyfert 1 galaxy IC4329a. The iron line is significantly broadened, but not to the extent expected from an accretion disk which extends down to the last stable orbit around a black hole. We marginally detect a narrow line component, presumably from the molecular torus, but, even including this gives a line profile from the accretion disk which is significantly narrower that that seen in MCG-6-30-15, and is much more like that seen from the low/hard state galactic black hole candidates. This is consistent with the inner disk being truncated before the last stable orbit, forming a hot flow at small radii as in the ADAF models. However. we cannot rule out the presence of an inner disk which does not contribute to the reflected spectrum. either because of extreme ionisation suppressing the characteristic atomic features of the reflected spectrum or because the X-ray source is intrinsically anisotropic, so it does not illuminate the inner disk. The source was monitored by RXTE every 2 days for 2 months, and these snapshot spectra show that there is intrinsic spectral variability. The data are good enough to disentangle the power law from the reflected continuum and we see that the power law softens as the source brightens. The lack of a corresponding increase in the observed reflected spectrum implies that either the changes in disk inner radial extent/ionization structure are small, or that the variability is actually driven by changes in the seed photons which are decoupled from the hard X-ray mechanism.

Done, C.↗

Automation of the targeting and reflective alignment concept

The automated alignment system, described herein, employs a reflective, passive (requiring no power) target and includes a PC-based imaging system and one camera mounted on a six degree of freedom robot manipulator. The system detects and corrects for manipulator misalignment in three translational and three rotational directions by employing the Targeting and Reflective Alignment Concept (TRAC), which simplifies alignment by decoupling translational and rotational alignment control. The concept uses information on the camera and the target's relative position based on video feedback from the camera. These relative positions are converted into alignment errors and minimized by motions of the robot. The system is robust to exogenous lighting by virtue of a subtraction algorithm which enables the camera to only see the target. These capabilities are realized with relatively minimal complexity and expense.

Redfield, Robin C.↗

Transition-Edge Hot-Electron Microbolometers for Millimeter and Submillimeter Astrophysics

The millimeter and the submillimeter wavelengths of the electromagnetic spectrum hold a wealth of information about the evolution of the universe. In particular, cosmic microwave background (CMB) radiation and its polarization carry the oldest information in the universe, and provide the best test of the inflationary paradigm available to astronomy today. Detecting gravity waves through their imprint on the CMB polarization would have extraordinary repercussions for cosmology and physics. A transition-edge hot-electron micro - bolometer (THM) consists of a superconducting bilayer transition-edge sensor (TES) with a thin-film absorber. Unlike traditional monolithic bolometers that make use of micromachined structures, the THM em ploys the decoupling between electrons and phonons at millikelvin temperatures to provide thermal isolation. The devices are fabricated photolithographically and are easily integrated with antennas via microstrip transmission lines, and with SQUID (superconducting quantum interference device) readouts. The small volume of the absorber and TES produces a short thermal time constant that facilitates rapid sky scanning. The THM consists of a thin-film metal absorber overlapping a superconducting TES. The absorber forms the termination of a superconducting microstripline that carries RF power from an antenna. The purpose of forming a separate absorber and TES is to allow flexibility in the optimization of the two components. In particular, the absorbing film's impedance can be chosen to match the antenna, while the TES impedance can be chosen to match to the readout SQUID amplifier. This scheme combines the advantages of the TES with the advantages of planar millimeter-wave transmission line circuits. Antenna-coupling to the detectors via planar transmission lines allows the detector dimensions to be much smaller than a wavelength, so the technique can be extended across the entire microwave, millimeter, and submillimeter wavelength ranges. The circuits are fabricated using standard microlithographic techniques and are compatible with uniform, large array formats. Unlike traditional monolithic bolometers that make use of micromachined structures, the THM employs the decoupling between electrons and phonons at millikelvin temperatures to provide thermal isolation. There is no fragile membrane in the structure for thermal isolation, which improves the fabrication yield.

Hsieh, Wen-Ting↗

Diffusive crack growth at a bimaterial interface

The diffusional microcrack growth behavior in a bimaterial system is investigated with an aim at estimating service life of advanced ceramic composites under creep-rupture conditions. The crack is assumed to grow via a coupled surface and grain-boundary diffusion under steady state conditions. The tensile stress distribution along the interface ahead of the moving crack tip is solved, and it is found that a new length parameter exists as a scaling factor for which the solution becomes identical to the single phase case when plotted on the nondimensional physical plane. In contrast to the elastic stress solution which shows singularity at the tip, together with oscillatory character away from the tip, the creep stresses have a peak value away from the tip due to a wedging effect and interfacial sliding eliminates stress oscillation resulting in a decoupling between mode I and mode II loading. This solution ties the far-field loading parameter to the crack tip conditions in terms of the unknown crack velocity to give a specific V-K(1) relationship. It is shown that an exponent of 12 in the conventional crack growth power law emerges at the higher applied stress range.

Chuang, Tze-Jer↗

The DE-AC accelerator system for high beam current density

A radically different ion accelerator system design has been developed to increase the extracted beam current density of ion thrusters. By independently controlling plasma ion extraction and acceleration, the Decoupled Extraction and Amplified Current (DE-AC) accelerator system gives higher beam currents at lower electric field stress levels. Results are presented for DE-AC grid system operation with the Test Bed Ion Engine. Using argon propellant, feasibility of a 60 mA/sq cm beam current density is shown. A discussion of power supply requirements, specific impulse operation and grid system geometrical design is presented also.

Aston, G.↗

Space shuttle heat pipe thermal control systems

Heat pipe (HP) thermal control systems designed for possible space shuttle applications were built and tested under this program. They are: (1) a HP augmented cold rail, (2) a HP/phase change material (PCM) modular heat sink and (3) a HP radiating panel for compartment temperature control. The HP augmented cold rail is similar to a standard two-passage fluid cold rail except that it contains an integral, centrally located HP throughout its length. The central HP core helps to increase the local power density capability by spreading concentrated heat inputs over the entire rail. The HP/PCM modular heat sink system consists of a diode HP connected in series to a standard HP that has a PCM canister attached to its mid-section. It is designed to connect a heat source to a structural heat sink during normal operation, and to automatically decouple from it and sink to the PCM whenever structural temperatures are too high. The HP radiating panel is designed to conductively couple the panel feeder HPs directly to a fluid line that serves as a source of waste heat. It is a simple strap-on type of system that requires no internal or external line modifications to distribute the heat to a large radiating area.

Alario, J.↗

A magnetic suspension system with a large angular range

The paper describes a small-scale laboratory system, called the Large-Angle Magnetic Suspension Test Fixture (LAMSTF), constructed at NASA Langley Research Center in order to explore and develop technology required for the magnetic suspension of objects over large ranges of orientation. The LAMSTF hardware comprises five electromagnets in a circular arrangement, each driven from a separate bipolar power amplifier. The suspended element is a cylindrical axially magnetized permanent magnet core, within an aluminum tube. The element, which is 'levitated' by repulsive forces, is stabilized in five degrees-of-freedom, with rotation about the cylinder axis not controlled. The controller accommodates the changes in magnetic coupling between the electromagnets and the suspended element by real-time adaptation of a decoupling matrix. The paper presents performance measurements demonstrating that the major design objective of the 360 deg rotation was accomplished.

Britcher, Colin P.↗

Pointing Reference Scheme for Free-Space Optical Communications Systems

A scheme is proposed for referencing the propagation direction of the transmit laser signal in pointing a free-space optical communications terminal. This recently developed scheme enables the use of low-cost, commercial silicon-based sensors for tracking the direction of the transmit laser, regardless of the transmit wavelength. Compared with previous methods, the scheme offers some advantages of less mechanical and optical complexity and avoids expensive and exotic sensor technologies. In free-space optical communications, the transmit beam must be accurately pointed toward the receiver in order to maintain the communication link. The current approaches to achieve this function call for part of the transmit beam to be split off and projected onto an optical sensor used to infer the pointed direction. This requires that the optical sensor be sensitive to the wavelength of the transmit laser. If a different transmit wavelength is desired, for example to obtain a source capable of higher data rates, this can become quite impractical because of the unavailability or inefficiency of sensors at these wavelengths. The innovation proposed here decouples this requirement by allowing any transmit wavelength to be used with any sensor. We have applied this idea to a particular system that transmits at the standard telecommunication wavelength of 1,550 nm and uses a silicon-based sensor, sensitive from 0.5 to 1.0 micrometers, to determine the pointing direction. The scheme shown in the figure involves integrating a low-power 980-nm reference or boresight laser beam coupled to the 1,550-nm transmit beam via a wavelength-division-multiplexed fiber coupler. Both of these signals propagate through the optical fiber where they achieve an extremely high level of co-alignment before they are launched into the telescope. The telescope uses a dichroic beam splitter to reflect the 980- nm beam onto the silicon image sensor (a quad detector, charge-coupled device, or active-pixel-sensor array) while the 1,550- nm signal beam is transmitted through the optical assembly toward the remotely located receiver. Since the 980-nm reference signal originates from the same single-mode fiber-coupled source as the transmit signal, its position on the sensor is used to accurately determine the propagation direction of the transmit signal. The optics are considerably simpler in the proposed scheme due to the use of a single aperture for transmitting and receiving. Moreover, the issue of mechanical misalignment does not arise because the reference signal and transmitted laser beams are inherently co-aligned. The beam quality of the 980-nm reference signal used for tracking is required to be circularly symmetric and stable at the tracking-plane sensor array in order to minimize error in the centroiding algorithm of the pointing system. However, since the transmit signal is delivered through a fiber that supports a single mode at 1,550 nm, propagation of higher order 980-nm modes is possible. Preliminary analysis shows that the overall mode profile is dominated by the fundamental mode, giving a near symmetric profile. The instability of the mode was also measured and found to be negligible in comparison to the other error contributions in the centroid position on the sensor array.

Wright, Malcolm↗

On-board demux/demod

To make satellite channels cost competitive with optical cables, the use of small, inexpensive earth stations with reduced antenna size and high powered amplifier (HPA) power will be needed. This will necessitate the use of high e.i.r.p. and gain-to-noise temperature ratio (G/T) multibeam satellites. For a multibeam satellite, onboard switching is required in order to maintain the needed connectivity between beams. This switching function can be realized by either an receive frequency (RF) or a baseband unit. The baseband switching approach has the additional advantage of decoupling the up-link and down-link, thus enabling rate and format conversion as well as improving the link performance. A baseband switching satellite requires the demultiplexing and demodulation of the up-link carriers before they can be switched to their assigned down-link beams. Principles of operation, design and implementation issues of such an onboard demultiplexer/demodulator (bulk demodulator) that was recently built at COMSAT Labs. are discussed.

Sayegh, S.↗

Vibration reduction in helicopter rotors using an actively controlled partial span trailing edge flap located on the blade

This report describes an analytical study of vibration reduction in a four-bladed helicopter rotor using an actively controlled, partial span, trailing edge flap located on the blade. The vibration reduction produced by the actively controlled flap (ACF) is compared with that obtained using individual blade control (IBC), in which the entire blade is oscillated in pitch. For both cases a deterministic feedback controller is implemented to reduce the 4/rev hub loads. For all cases considered, the ACF produced vibration reduction comparable with that obtained using IBC, but consumed only 10-30% of the power required to implement IBC. A careful parametric study is conducted to determine the influence of blade torsional stiffness, spanwise location of the control flap, and hinge moment correction on the vibration reduction characteristics of the ACF. The results clearly demonstrate the feasibility of this new approach to vibration reduction. It should be emphasized than the ACF, used together with a conventional swashplate, is completely decoupled from the primary flight control system and thus it has no influence on the airworthiness of the helicopter. This attribute is potentially a significant advantage when compared to IBC.

Millott, T. A.↗

Heterogeneous Combustion of Porous Graphite Particles in Normal and Microgravity

Combustion of solid fuel particles has many important applications, including power generation and space propulsion systems. The current models available for describing the combustion process of these particles, especially porous solid particles, include various simplifying approximations. One of the most limiting approximations is the lumping of the physical properties of the porous fuel with the heterogeneous chemical reaction rate constants. The primary objective of the present work is to develop a rigorous model that could decouple such physical and chemical effects from the global heterogeneous reaction rates. For the purpose of validating this model, experiments with porous graphite particles of varying sizes and porosity are being performed at NASA Lewis Research Center. The details of the experimental and theoretical model development effort are described.

Chelliah, Harsha↗

Heterogenous Combustion of Porous Graphite Particles in Normal and Microgravity

Combustion of solid fuel particles has many important applications, including power generation and space propulsion systems. The current models available for describing the combustion process of these particles, especially porous solid particles, include various simplifying approximations. One of the most limiting approximations is the lumping of the physical properties of the porous fuel with the heterogeneous chemical reaction rate constants. The primary objective of the present work is to develop a rigorous model that could decouple such physical and chemical effects from the global heterogeneous reaction rates. For the purpose of validating this model, experiments with porous graphite particles of varying sizes and porosity are being performed. The details of this experimental and theoretical model development effort are described.

Chelliah, Harsha K.↗

Passive Element Shapes Antenna Radiation Pattern

Parasitic waveguide element suppresses ground-reflected multipath radiation. Small section of waveguide placed in front of phased-array antenna operating at 850 MHz modifies radiation field by reducing power density parallel to and below ground plane without significantly affecting primary radiation at angles greater than 20 degrees above horizontal. Acts as parasitic radiator that shifts phase of portion of wavefront by approximately 180 degrees, causing partial cancellation in ground plane, thereby reducing radiation intensity in that direction by about 10 dB. Produces corresponding reduction in multipath radiation scattered from ground. Waveguide technique also used to decouple two nearby antennas.

Bonebright, M. E.↗