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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.

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At least 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Effects of subcritical crack growth on fracture toughness of ceramics assessed in chevron-notched three-point bend tests

A numerical computational study was carried out to assess the effects of subcritical crack growth on crack stability in the chevron-notched three-point bend specimens. A power-law relationship between the subcritical crack velocity and the applied stress intensity were used along with compliance and stress-intensity relationships for the chevron-notched bend specimen to calculate the load response under fixed deflection rate and a machine compliance. The results indicate that the maximum load during the test occurs at the same crack length for all the deflection rates; the maximum load, however, is dependent on the deflection rate for rates below the critical rate. The resulting dependence of the apparent fracture toughness on the deflection rate is compared to experimental results on soda-lime glass and polycrystalline alumina.

Chao, L. Y.↗
NASA NTRS1987

Issues, concerns, and initial implementation results for space based telerobotic control

Telerobotic control for space based assembly and servicing tasks presents many problems in system design. Traditional force reflection teleoperation schemes are not well suited to this application, and the approaches to compliance control via computer algorithms have yet to see significant testing and comparison. These observations are discussed in detail, as well as the concerns they raise for imminent design and testing of space robotic systems. As an example of the detailed technical work yet to be done before such systems can be specified, a particular approach to providing manipulator compliance is examined experimentally and through modeling and analysis. This yields some initial insight into the limitations and design trade-offs for this class of manipulator control schemes. Implications of this investigation for space based telerobots are discussed in detail.

Lawrence, D. A.↗
NASA NTRS1987

Cable applications in robot compliant devices

Robotic systems need compliance to connect the robot to the work object. The cable system illustrated offers compliance for mating but can be changed in space to become quite stiff. Thus the same system can do both tasks, even in environments where the work object or robot are moving at different frequencies and different amplitudes. The adjustment can be made in all six degrees of freedom, translated in or rotated in any plane and still make a good contact and control.

Kerley, James J.↗
NASA NTRS1988

Fatigue crack closure behavior at high stress ratios

Fatigue crack delay behavior at high stress ratio caused by single peak overloads was investigated in two thicknesses of 7475-T731 aluminum alloy. Closure measurements indicated no closure occurred before or throughout the overload plastic zones following the overload. This was further substantiated by comparing the specimen compliance following the overload with the compliance of a low R ratio test when the crack was fully open. Scanning electron microscope studies revealed that crack tunneling and possibly reinitiation of the crack occurred, most likely a result of crack-tip blunting. The number of delay cycles was greater for the thinner mixed mode stress state specimen than for the thicker plane strain stress state specimen, which is similar to low R ratio test results and may be due to a larger plastic zone for the mixed mode cased.

Turner, C. Christopher↗
NASA NTRS1989

Performance effects of tie-truss modifications for a 70-meter centerline beam waveguide antenna

The elevation-axis tie truss of the 70-m antennas would have to be modified to accommodate a centerline beam waveguide. To accomplish this, the center section of the tie truss has to be altered, causing a change in the tie-truss compliance and affecting structural performance. Even with the center section completely removed, the worst-case rms pathlength error due to gravity load is increased from 0.025 to only 0.030 inches. Using a simple postprocessor technique, the effects of modifying the compliance can be predicted without resorting to multiple and costly re-analyses of large finite-element models on a mainframe computer.

Cucchissi, J. J.↗
NASA NTRS1990

Ramifications of the recent FAA rule for windshear systems on the development of forward-looking systems

The recent Federal Aviation Administration (FAA) rule requiring windshear systems with flight guidance may have severe ramifications for the development of infrared and other forward-looking systems. The industry needs to have and can have a more cost effective option through the use of a forward-looking system with a reactive backup instead of a reactive system with flight guidance. However, because of the short time for compliance with the new FAA rule, it is possible that existing transport aircraft will be in full compliance before a comprehensive investigation of all forward-looking systems can be completed. If this occurs, it is possible that the market for forward-looking systems will be severely reduced, thereby eliminating the economic incentive to develop these much needed systems. Thus, to assure that this option is available for the airlines, it beehoves the industry to immediately support an in-service evaluation of all available forward-looking systems.

Adamson, H. Patrick↗
NASA NTRS1990

Compliant joint

A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.

Eklund, Wayne D.↗
NASA NTRS1991

The effect of bandwidth on telerobot system performance

The purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths.

Uebel, Mark↗
NASA NTRS1990

Workspace visualization and time-delay telerobotic operations

The paper examines the performance of telerobotic tasks where the operator and robot are physically separated, and a comunication time delay of up to several seconds between them exists. This situation is applicable to space robotic servicing-assembly-maintenance operations on low earth or geosynchronous orbits with a ground-based command station. Attention is given to two developments which address advanced time-delay teleoperations for unstructured tasks: (1) the 'phantom robot', a real-time predictive graphics simulator developed to allow teleoperator eye-to-hand coordination or robot free-space kinematics under a time delay of several seconds; and (2) shared compliance control, a modified form of automatic electromechanical impedance control employed in parallel with manual position control to permit soft contact and grasp compliance with workpiece geometry under a time delay of several seconds.

Schenker, P. S.↗
NASA NTRS1992

Compliant Robot Wrist

Compliant element for robot wrist accepts small displacements in one direction only (to first approximation). Three such elements combined to obtain translational compliance along three orthogonal directions, without rotational compliance along any of them. Element is double-blade flexure joint in which two sheets of spring steel attached between opposing blocks, forming rectangle. Blocks moved parallel to each other in one direction only. Sheets act as double cantilever beams deforming in S-shape, keeping blocks parallel.

Voellmer, George↗
NASA NTRS1991

Cardiopulmonary responses to acute hypoxia, head-down tilt and fluid loading in anesthetized dogs

Cardiopulmonary responses to acute hypoxia (HY), fluid loading by saline infusion (FL), and head-down tilt (HD) of mechanically ventilated anesthetized dogs were investigated by measuring thermodynamics and pulmonary gas exchange. It was found that HD decreased the total respiratory compliance both during HY and normoxia (NO) and that the reduction in compliance by FL was twice as large as by HD. Superimposing HD on HY doubled the increase in vascular resistance due to HY alone. In the systemic circulation, HD lowered the resistance to below NO levels. There was a significant positive correlation between the changes in blood volume and in pulmonary artery pressure for experimental transitions, suggesting that a shift in blood volume from systemic to pulmonary circulations and changes in the total blood volume may contribute substantially to these apparent changes in resistance.

Loeppky, J. A.↗
NASA NTRS1990

Design of a compliant passive magnetic bearing for use in SIRTF's Tertiary Mirror Assembly

A proposed baseline design for the Space Infrared Telescope Facility includes a Tertiary Mirror Assembly (TMA) which selectively redirects the telescope's converging science beam to each of several instruments. The TMA's mirror rotates on an axis coincident with the beam's axis, and is held steady during observation by a kinematic mount. A bearing has been designed whose compliance causes minimal interference with the precision of the kinematic mount, and which is well suited to the particular requirements of a cryogenic satellite such as SIRTF. The bearing suspends its rotor by taking advantage of the repulsion between a superconductor and a magnet. It potentially eliminates problems associated with mechanical bearings that arise in similar applications, such as lubricant loss or failure, bearing wear, and sensitivity to particulates, and does so without imposing the thermal load of a bearing heater or active magnetic bearing. The bearing shows promise of offering an alternative to ball bearings in cryogenic applications where some compliance is acceptable or advantageous.

Cannon, David M.↗
NASA NTRS1990

Anthropomorphic dual-arm space telemanipulation system

Dexterous dual-arm manipulations are feasible with the system described and illustrated in the paper. The structure is based on an extensible host arm that carries the dual-arm robot which comprises two 7-DOF arms each of which includes a hand with a thumb and three fingers with 4 DOF each. Joint compliance can be stiffened to any level, and the operator uses arm harnesses and gloves to utilize the robotics in an anthropomorphic fashion. The configuration eliminates coordinate-transformation computations, and the system is found to achieve a control-frequency rate of 1000 Hz for its direct man/machine interfaces based on fiber-optic cables. The electronics control for the system utilizes a sensory system consisting of force, position, and compliance sensors. The robotics system is expected to be a user-friendly device that permits assembly, repair, tethering, and other complex mechanical operations.

Jau, Bruno M.↗
NASA NTRS1992

Truss topology optimization with simultaneous analysis and design

Strategies for topology optimization of trusses for minimum weight subject to stress and displacement constraints by Simultaneous Analysis and Design (SAND) are considered. The ground structure approach is used. A penalty function formulation of SAND is compared with an augmented Lagrangian formulation. The efficiency of SAND in handling combinations of general constraints is tested. A strategy for obtaining an optimal topology by minimizing the compliance of the truss is compared with a direct weight minimization solution to satisfy stress and displacement constraints. It is shown that for some problems, starting from the ground structure and using SAND is better than starting from a minimum compliance topology design and optimizing only the cross sections for minimum weight under stress and displacement constraints. A member elimination strategy to save CPU time is discussed.

Sankaranarayanan, S.↗
NASA NTRS1993

Remote Robot Control With High Force-Feedback Gain

Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.

Kim, Won S.↗
NASA NTRS1992

Verification of effective thicknesses for side-grooved compact specimens

The definition of effective thicknesses of the ASTM standard 25 percent side-grooved compact specimens to calculate the elastic compliance, elastic SIF, and elastic-plastic J integral is reevaluated. 3D elastic-plastic analyses of polane-strain, smooth, and 25 percent side-grooved compact specimen models are conducted using the ZIP3D code. Calculated compliance, SIFs, and J-integrals are compared with E-813 solutions.

Shivakumar, Kunigal N.↗
NASA NTRS1992

Carotid-cardiac baroreflex response and LBNP tolerance following resistance training

The purpose of this study was to examine the effect of lower body resistance training on cardiovascular control mechanisms and blood pressure maintenance during an orthostatic challenge. Lower body negative pressure (LBNP) tolerance, carotid-cardiac baroreflex function (using neck chamber pressure), and calf compliance were measured in eight healthy males before and after 19 wk of knee extension and leg press training. Resistance training sessions consisted of four or five sets of 6-12 repetitions of each exercise, performed two times per week. Training increased strength 25 +/- 3 (SE) percent (P = 0.0003) and 31 +/- 6 percent (P = 0.0004), respectively, for the leg press and knee extension exercises. Average fiber size in biopsy samples of m. vastus lateralis increased 21 +/- 5 percent (P = 0.0014). Resistance training had no significant effect on LBNP tolerance. However, calf compliance decreased in five of the seven subjects measured, with the group average changing from 4.4 +/- 0.6 ml.mm Hg-1 to 3.9 +/- 0.3 ml.mm Hg-1 (P = 0.3826). The stimulus-response relationship of the carotid-cardiac baroreflex response shifted to the left on the carotid pressure axis as indicated by a reduction of 6 mm Hg in baseline systolic blood pressure (P = 0.0471). In addition, maximum slope increased from 5.4 +/- 1.3 ms.mm Hg-1 before training to 6.6 +/- 1.6 ms.mm Hg-1 after training (P = 0.0141). Our results suggest the possibility that high resistance, lower extremity exercise training can cause a chronic increase in sensitivity and resetting of the carotid-cardiac baroreflex.

Tatro, D. L.↗
NASA NTRS1992

Man-equivalent telepresence through four fingered human-like hand system

The author describes a newly developed mechanical hand system. The robot hand is in human-like configuration with a thumb and three fingers, a palm, a wrist, and the forearm in which the hand and wrist actuators are located. Each finger and the wrist has its own active electromechanical compliance system, allowing the joint drive trains to be stiffened or loosened. This mechanism imitates the human muscle dual function of positioner and stiffness controller. This is essential for soft grappling operations. The hand-wrist assembly has 16 finger joints, three wrist joints, and five compliance mechanisms for a total of 24 degrees of freedom. The strength of the hand is roughly half that of the human hand and its size is comparable to a male hand. The hand is controlled through an exoskeleton glove controller that the operator wears. The glove provides the man-machine interface in telemanipulation control mode: it senses the operator's inputs to guide the mechanical hand in hybrid position and force control. The hand system is intended for dexterous manipulations in structured environments. Typical applications will include work in hostile environment such as space operations and nuclear power plants.

Jau, Bruno M.↗