SEARCH · Engineering Papers

Results for “compliant”

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 577 records · Page 32

All sources NASA NTRS DOE OSTI

NASA NTRS1988

Precise computer controlled positioning of robot end effectors using sensory feedback

A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

Wang, J. C.↗

NASA NTRS1989

Microencapsulation Of Living Cells

In experimental technique, living cells and other biological materials encapsulated within submillimeter-diameter liquid-filled spheres. Sphere material biocompatible, tough, and compliant. Semipermeable, permitting relatively small molecules to move into and out of sphere core but preventing passage of large molecules. New technique promises to make such spherical capsules at high rates and in uniform, controllable sizes. Capsules injected into patient through ordinary hypodermic needle. Promising application for technique in treatment of diabetes. Also used to encapsulate pituitary cells and thyroid hormone adrenocortical cells for treatment of other hormonal disorders, to encapsulate other secreting cells for transplantation, and to package variety of pharmaceutical products and agricultural chemicals for controlled release.

Chang, Manchium↗

NASA NTRS1985

Strain isolated ceramic coatings

Plasma sprayed ceramic coatings are used in gas turbine engines to improve component temperature capability and cooling air efficiency. A compliant metal fiber strain isolator between a plasma sprayed ceramic coating and a metal substrate improves ceramic durability while allowing thicker coatings for better insulation. Development of strain isolated coatings has concentrated on design and fabrication of coatings and coating evaluation via thermal shock testing. In thermal shock testing, five types of failure are possible: buckling failure im compression on heat up, bimetal type failure, isothermal expansion mismatch failure, mudflat cracking during cool down, and long term fatigue. A primary failure mode for thermally cycled coatings is designated bimetal type failure. Bimetal failure is tensile failure in the ceramic near the ceramic-metal interface. One of the significant benefits of the strain isolator is an insulating layer protecting the metal substrate from heat deformation and thereby preventing bimetal type failure.

Tolokan, R. P.↗

NASA NTRS1989

Some composite bearing and seal materials for gas turbine applications: A review

A review is made of the selection and tribological testing of materials for high-temperature bearings and seals. The goal is to achieve good tribological properties over a wide range of temperatures because bearings and seals must be functional from low temperature start-up conditions on up to the maximum temperatures encountered during engine operation. Plasma sprayed composite coatings with favorable tribological properties from 25 to 900 C are discussed. The performance of these coatings in simple tribological bench tests is described. Examples are also given of their performance in high-speed sliding contact seals and as Stirling cylinder liner materials, and as back up lubricants for compliant foil gas bearings.

Sliney, Harold E.↗

NASA NTRS1989

Potential uses of vacuum bubbles in noise and vibration control

Vacuum bubbles are new acoustic elements which are dynamically more compliant than the gas volume they replace, but which are statically robust. They are made of a thin metallic shell with vacuum in their cavity. Consequently, they pose no danger in terms of contamination or fire hazard. The potential of the vacuum bubble concept for noise and vibration control was assessed with special emphases on spacecraft and aircraft applications. The following potential uses were identified: (1) as a cladding, to reduce sound radiation of vibrating surfaces and the sound excitation of structures, (2) as a screen, to reflect or absorb an incident sound wave, and (3) as a liner, to increase low frequency sound transmission loss of double walls and to increase the low frequency sound attenuation of muffler baffles. It was found that geometric and material parameters must be controlled to a very high accuracy to obtain optimal performance and that performance is highly sensitive to variations in static pressure. Consequently, it was concluded that vacuum bubbles have more potential in spacecraft applications where static pressure is controlled more than in aircraft applications where large fluctuations in static pressure are common.

Ver, Istvan L.↗

NASA NTRS1987

Inverse kinematic-based robot control

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Wolovich, W. A.↗

NASA NTRS1987

Problems and research issues associated with the hybrid control of force and displacement

The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.

Paul, R. P.↗

NASA NTRS1989

Design of an adaptive controller for a telerobot manipulator

The design of a joint-space adaptive control scheme is presented for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Lyapunov direct method, an adatation algorithm is derived which adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly-varying. The implementation of the derived control scheme does not need the computation of the manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗

NASA NTRS1989

Space module assembly apparatus with docking alignment flexibility and restraint

A berthing mechanism especially for use in berthing and compliant air-tight securing between manned space vehicle and modules is disclosed. The interface is provided by a pair of annular rings, one of which is typically, mechanically attached to the vehicle and the other to the module to which it is to be docked and secured. One of the two rings is attached to a base by resilient bellows. The facing surface of one annular ring is joined to a base by a cable laced through alternating pulleys attached circumferentially so that the interface surface of that ring may be tilted to accommodate angular misalignment as the annular rings are brought into docking (berthing) contact. Interleaving guide flanges with chambered sides provide at least some rotational mialignmnet correction. A plurality of electromechanical actuator/attenuator units provide means for extending one annular ring toward the other in the final stages of docking, for absorbing the initial docking shock and for drawing the annular rings into tight interface contact. Locking hooks provide for securing the interfaces.

Willie D Whitaker↗

NASA NTRS1990

Four-Wheel Vehicle Suspension System

Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

Bickler, Donald B.↗

NASA NTRS1989

Static and free-vibrational response of semi-circular graphite-epoxy frames with thin-walled open sections

Experiments were conducted to measure the three-dimensional static and free vibrational response of two graphite-epoxy, thin-walled, open section frames. The frames are semi-circular with a radius of three feet, and one specimen has an I cross section and the other has a channel cross section. The flexibility influence coefficients were measured in static tests for loads applied at midspan with the ends of the specimens clamped. Natural frequencies and modes were determined from vibrational tests for free and clamped end conditions. The experimental data is used to evaluate a new finite element which was developed specifically for the analysis of curved, thin-walled structures. The formulation of the element is based on a Vlasov-type, thin-walled, curved beam theory. The predictions from the finite element program generally correlated well with the experimental data for the symmetric I-specimen. Discrepancies in some of the data were found to be due to flexibility in the clamped end conditions. With respect to the data for the channel specimen, the correlation was less satisfactory. The finite element analysis predicted the out-of-plane response of the channel specimen reasonably well, but large discrepancies occurred between the predicted in-plane response and the experimental data. The analysis predicted a much more compliant in-plane response than was observed in the experiments.

Collins, J. Scott↗

NASA NTRS1989

Classic-Ada(TM)

The SPS product, Classic-Ada, is a software tool that supports object-oriented Ada programming with powerful inheritance and dynamic binding. Object Oriented Design (OOD) is an easy, natural development paradigm, but it is not supported by Ada. Following the DOD Ada mandate, SPS developed Classic-Ada to provide a tool which supports OOD and implements code in Ada. It consists of a design language, a code generator and a toolset. As a design language, Classic-Ada supports the object-oriented principles of information hiding, data abstraction, dynamic binding, and inheritance. It also supports natural reuse and incremental development through inheritance, code factoring, and Ada, Classic-Ada, dynamic binding and static binding in the same program. Only nine new constructs were added to Ada to provide object-oriented design capabilities. The Classic-Ada code generator translates user application code into fully compliant, ready-to-run, standard Ada. The Classic-Ada toolset is fully supported by SPS and consists of an object generator, a builder, a dictionary manager, and a reporter. Demonstrations of Classic-Ada and the Classic-Ada Browser were given at the workshop.

Valley, Lois↗

NASA NTRS1990

Position control of redundant manipulators using an adaptive error-based control scheme

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that the manipulator performs non-compliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1989

Ames Research Center cryogenic mirror testing program - A comparison of the cryogenic performance of metal and glass mirrors with different types of mounts

A summary of the cryogenic testing of glass and metal mirrors performed at NASA Ames Research Center (ARC) and two other places is presented. Recent improvements to the ARC Cryogenic Optics Test Facility are described. The purposes of the tests were to determine: (1) how glass mirrors would perform at cryogenic temperatures compared with metal mirrors and (2) how various mirror mounts would affect the cryogenic performance of mirrors. Details of a cryogenic test of a 50 cm 'double arch', fused-silica mirror with a three-point mount and with a radially-compliant, flexured mount are given. Within the accuracy of the measurements, it was determined that the flexured mount did not induce appreciable distortion in the double arch mirror. Results of the cryogenic tests of a number of glass mirrors and two beryllium mirrors are included. The cryogenic distortion of the glass mirrors was found to be less than that for the beryllium mirrors. Within the accuracy of the measurements, no hysteresis was found in the glass mirrors. It was possible to measure hysteresis in one of the beryllium mirrors.

Miller, Jacob H.↗

NASA NTRS1989

The flexure assembly design for the SIRTF one-meter primary mirror

A titanium flexure assembly for the Space Infrared Telescope Facility (SIRTF) 1-m primary mirror has been designed to accommodate: (1) the cryogenic cool-down effect on the optical performance of the mirror, (2) the Shuttle launch-load environment, and (3) the support-baseplate manufacturing tolerances. Numerous iterations involving a multidimensional design space search led to an assembly design that provides the stiffness and strength in the vertical (optical axis) and tangential directions to accommodate launch loads, but is compliant radially to accommodate cryogenic cool down. A 'folded back' titanium flexure system was required because of the differential thermal contraction of the aluminum telescope baseplate support and the fused-silica mirror. This unique and innovative flexure assembly represents a totally passive mechanism for accommodating the design launch loads, cryogenic cool down, and out-of-plane baseplate effects.

Richard, R. M.↗

NASA NTRS1989

Instrumented adhesion tests on plasma sprayed thermal barrier coatings

The failure mechanisms of plasma-sprayed two-layer coatings consisting of an NiCrAlY or NiCrAlZr bond coat with an yttria-stabilized zirconia overlay are presently examined by tensile adhesion tests. It has been found that adhesive failure within the bond coat exhibits greater failure strain than the cohesive failure of the ceramic overlay, supporting the view of the intermediate coatings being highly compliant. The absolute extension exhibited by failures occurring only through the ceramic coating is greater than that of adhesive failure, since the ceramic coating is much thicker than the bond coat.

Berndt, Christopher C.↗

NASA NTRS1989

Some composite bearing and seal materials for gas turbine applications - A review

Sliney, Harold E.↗

NASA NTRS1990

Composite Matrix Cooling Scheme for Small Gas Turbine Combustors

The design, manufacture, and testing of a compliant metal/ceramic (CMC) wall cooling concept-implementing combustor for small gas turbine engines has been undertaken by a joint U.S. Army/NASA technology development program. CMC in principle promises greater wall cooling effectiveness than conventional designs and materials, thereby facilitating a substantial reduction in combustor cooling air requirements and furnishing greater airflow for the control of burner outlet temperature patterns as well as improving thermodynamic efficiency and reducing pollutant emissions and smoke levels. Rig test results have confirmed the projected benefits of the CMC concept at combustor outlet temperatures of the order of 2460 F, at which approximately 80 percent less cooling air than conventionally required was being employed by the CMC combustor.

Paskin, Marc D.↗