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At least 613 records · Page 34
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Contact detection and contact motion for error recovery in the presence of uncertainties

Due to various kinds of uncertainties, a robot motion may fail and result in some unintended contact between the object held by the robot and the environment, which greatly hampers robotics applications on tasks with high-precision requirements, such as assembly tasks. Aiming at automatically recovering a robotic task from such a failure, this paper discusses, in the presence of uncertainties, contact detection based on contact motion for recovery. It presents a framework for on-line recognizing contacts using multiple sensor modalities in the presence of sensing uncertainties and means for ensuring successful compliant motions in the presence of sensing and control uncertainties.

Xiao, Jing↗
NASA NTRS1992

Advanced mechanisms for robotics

An overview of applied research and development at NASA-Goddard (GSFC) on mechanisms and the collision avoidance skin for robots is presented. First the work on robot end effectors is outlined, followed by a brief discussion on robot-friendly payload latching mechanisms and compliant joints. This, in turn, is followed by the collision avoidance/management skin and the GSFC research on magnetostrictive direct drive motors. Finally, a new project, the artificial muscle, is introduced. Each of the devices is described in sufficient detail to permit a basic understanding of its purpose, fundamental principles of operation, and capabilities. In addition, the development status of each is reported along with descriptions of breadboards and prototypes and their test results. In each case, the implications of the research for commercialization is discussed. The chronology of the presentation will give a clear idea of both the evolution of the R&D in recent years and its likely direction in the future.

Vranish, John M.↗
NASA NTRS1992

An investigation of the thermoviscoplastic behavior of a metal matrix composite at elevated temperatures

This research investigates the response of a fiberless 13 layer hot isostatically pressed Ti-15-3 laminate to creep, constant strain rate, and cyclic constant strain rate loading at temperatures ranging from 482C to 649C. Creep stresses from 48 to 260 MPa and strain rates of .0001 to .01 m/m/sec were used. Material parameters for three unified constitutive models (Bodner-Partom, Miller, and Walker models) were determined for Ti-15-3 from the experimental data. Each of the three models was subsequently incorporated into a rule of mixtures and evaluated for accuracy and ease of use in predicting the thermoviscoplastic response of unidirectional metal matrix composite laminates (both 0 and 90). The laminates were comprised of a Ti-15-3 matrix with 29 volume percent SCS6 fibers. The predicted values were compared to experimentally determined creep and constant strain rate data. It was found that all three models predicted the viscoplastic response of the 0 specimens reasonably well, but seriously underestimated the viscoplastic response of the 90 specimens. It is believed that this discrepancy is due to compliant and/or weak fiber-matrix interphase. In general, it was found that of the three models studied, the Bodner-Partom model was easiest to implement, primarily because this model does not require the use of cyclic constant strain rate tests to determine the material parameters involved. However, the version of the Bodner-Partom model used in this study does not include back stress as an internal state variable, and hence may not be suitable for use with materials which exhibit a pronounced Baushinger effect. The back stress is accounted for in both the Walker and Miller models; determination of the material parameters associated with the Walker model was somewhat easier than in the Miller model.

Rogacki, John R.↗
NASA NTRS1992

The ROMPS robot in HitchHiker

The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

Voellmer, George↗
NASA NTRS1992

Open systems storage platforms

The building blocks for an open storage system includes a system platform, a selection of storage devices and interfaces, system software, and storage applications CONVEX storage systems are based on the DS Series Data Server systems. These systems are a variant of the C3200 supercomputer with expanded I/O capabilities. These systems support a variety of medium and high speed interfaces to networks and peripherals. System software is provided in the form of ConvexOS, a POSIX compliant derivative of 4.3BSD UNIX. Storage applications include products such as UNITREE and EMASS. With the DS Series of storage systems, Convex has developed a set of products which provide open system solutions for storage management applications. The systems are highly modular, assembled from off the shelf components with industry standard interfaces. The C Series system architecture provides a stable base, with the performance and reliability of a general purpose platform. This combination of a proven system architecture with a variety of choices in peripherals and application software allows wide flexibility in configurations, and delivers the benefits of open systems to the mass storage world.

Collins, Kirby↗
NASA NTRS1993

Proposed system safety design and test requirements for the microlaser ordnance system

Safety for pyrotechnic ignition systems is becoming a major concern for the military. In the past twenty years, stray electromagnetic fields have steadily increased during peacetime training missions and have dramatically increased during battlefield missions. Almost all of the ordnance systems in use today depend on an electrical bridgewire for ignition. Unfortunately, the bridgewire is the cause of the majority of failure modes. The common failure modes include the following: broken bridgewires; transient RF power, which induces bridgewire heating; and cold temperatures, which contracts the explosive mix away from the bridgewire. Finding solutions for these failure modes is driving the costs of pyrotechnic systems up. For example, analyses are performed to verify that the system in the environment will not see more energy than 20 dB below the 'No-fire' level. Range surveys are performed to determine the operational, storage, and transportation RF environments. Cryogenic tests are performed to verify the bridgewire to mix interface. System requirements call for 'last minute installation,' 'continuity checks after installation,' and rotating safety devices to 'interrupt the explosive train.' As an alternative, MDESC has developed a new approach based upon our enabling laser diode technology. We believe that Microlaser initiated ordnance offers a unique solution to the bridgewire safety concerns. For this presentation, we will address, from a system safety viewpoint, the safety design and the test requirements for a Microlaser ordnance system. We will also review how this system could be compliant to MIL-STD-1576 and DOD-83578A and the additional necessary requirements.

Stoltz, Barb A.↗
NASA NTRS1991

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

SpARC, in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components wherever possible. The primary subsystems to be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be ELV based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. After the second COMET spacecraft has been launched in late 1994, the ARD demonstration will take place. The service module from the second COMET will serve as the chase vehicle.

Tchoryk, Peter, Jr.↗
NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗
NASA NTRS1991

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

The Space Automation and Robotics Center (SpARC), a NASA-sponsored Center for the Commercial Development of Space (CCDS), in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components whenever possible. The primary subsystems that will be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be expendable launch vehicle (ELV) based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. The ARD demonstration will take place in late 1994, after the second COMET spacecraft has been launched. The service module from the second COMET will serve as the chase vehicle.

Tchoryk, Peter, Jr.↗
NASA NTRS1993

Integrated analysis and design of thick composite structures for optimal passive damping characteristics

The development of novel composite mechanics for the analysis of damping in composite laminates and structures and the more significant results of this effort are summarized. Laminate mechanics based on piecewise continuous in-plane displacement fields are described that can represent both intralaminar stresses and interlaminar shear stresses and the associated effects on the stiffness and damping characteristics of a composite laminate. Among other features, the mechanics can accurately model the static and damped dynamic response of either thin or thick composite laminates, as well as, specialty laminates with embedded compliant damping layers. The discrete laminate damping theory is further incorporated into structural analysis methods. In this context, an exact semi-analytical method for the simulation of the damped dynamic response of composite plates was developed. A finite element based method and a specialty four-node plate element were also developed for the analysis of composite structures of variable shape and boundary conditions. Numerous evaluations and applications demonstrate the quality and superiority of the mechanics in predicting the damped dynamic characteristics of composite structures. Finally, additional development was focused on the development of optimal tailoring methods for the design of thick composite structures based on the developed analytical capability. Applications on composite plates illustrated the influence of composite mechanics in the optimal design of composites and the potential for significant deviations in the resultant designs when more simplified (classical) laminate theories are used.

Saravanos, D. A.↗
NASA NTRS1993

Dynamic characteristics of specialty composite structures with embedded damping layers

Damping mechanics for simulating the damped dynamic characteristics in specialty composite structures with compliant interlaminar damping layers are presented. Finite-element based mechanics incorporating a discrete layer (or layer-wise) laminate damping theory are utilized to represent general laminate configurations in terms of lay-up and fiber orientation angles, cross-sectional thickness, shape, and boundary conditions. Evaluations of the method with exact solutions and experimental data illustrate the accuracy of the method. Additional applications investigate the potential for significant damping enhancement in angle-ply composite laminates with cocured interlaminar damping layers.

Saravanos, D. A.↗
NASA NTRS1991

Controls of interaction dynamics of orbital assembly

Building structures and spacecraft in orbit will require technologies for positioning, docking/berthing, and joining orbital structures. A fundamental problem underlying the operation of docking and berthing is that of controlling the contact dynamics of mechanical structures actuated by active mechanisms such as robotic devices. Control systems must be designed to control these active mechanisms so that both the free space motions and contact motions are stable and satisfy specifications on position accuracy and bounds on contact forces. For the large orbital structures of the future, the problem of interactive dynamics and control is fundamentally different in several ways than it was for spacecraft docking in the past. First, future space structures must be treated as flexible structures - the operations of docking, berthing, and assembly will need to respect the vibrations of the structures. Second, the assembly of these structures will require multiple-point contact, rather than the essentially single-point positioning of conventional spacecraft docking. Third, some assembly operations require the subassemblies to be brought and held in contact so that successful joining can be accomplished. A preliminary study of contact stability and compliance control design has resulted in the development of an analytical method and a design method to analyze stability. The analytical method analyzes the problem of stability when an actively-controlled structure contacts a passive structure. This method makes it possible to accurately estimate the stiffness of the passive structures with which the contact motion will become unstable. The analytic results suggest that passivity is neither achievable in practice, nor necessary as a design concept. A contact control system need only be passive up to a certain frequency; beyond that frequency the system can be stabilized with sufficiently small gains. With this concept the Center developed a design methodology for achieving desired compliant contact motions. This design method is based on H-infinity norm optimization, which makes it possible to consider both driving point mechanical impedance and systems robustness to modeling uncertainty. A laboratory facility was set up to verify experimentally the analytical and design theory.

Su, Renjeng↗
NASA NTRS1993

GE networked mass storage solutions supporting IEEE network mass storage model

The General Electric Government Communications Systems Department (GE/GCSD) has developed a near real time digital data storage and retrieval system that extends the capabilities currently available in today's marketplace. This system called DuraStore uses commercially available rotary tape drive technology with ANSI/IEEE standards for automated magnetic tape based data storage. It uses a nonproprietary approach to satisfy a wide range of data rates and storage capabilities requirements and is compliant with the IEEE Network Storage Model. Rotary tape drives, standard interfaces, application specific hardware/software, networked automated tape libraries, library administrator, write protection, volume/physical media linkages, and maximum resource utilization are addressed.

Herzog, Donald↗
NASA NTRS1991

Joining of materials with engineered interlayers

A reliable method to join a variety of different materials is developed which uses engineered coatings to produce strong bonds by solid-state techniques at low temperatures (300-400 C). The strong bonds are capable of accommodating the strains created between Si and most substrates due to differences in thermal expansion coefficients. The approach encompasses two phases: noble metal compliant interlayers and functionally gradient interlayer bonding. Preliminary results are presented and the Ag interlayer bonds are microstructurally characterized confirming that the planar magnetron sputtered coatings/bonds are fully dense and metallurgically sound.

Challenger, Kenneth D.↗
NASA NTRS1992

Saint-Venant end effects for materials with negative Poisson's ratios

Results are presented from an analysis of Saint-Venant end effects for materials with negative Poisson's ratio. Examples are presented showing that slow decay of end stress occurs in circular cylinders of negative Poisson's ratio, whereas a sandwich panel containing rigid face sheets and a compliant core exhibits no anomalous effects for negative Poisson's ratio (but exhibits slow stress decay for core Poisson's ratios approaching 0.5). In sand panels with stiff but not perfectly rigid face sheets, a negative Poisson's ratio results in end stress decay, which is faster than it would be otherwise. It is suggested that the slow decay previously predicted for sandwich strips in plane deformation as a result of the geometry can be mitigated by the use of a negative Poisson's ratio material for the core.

Lakes, R. S.↗
NASA NTRS1993

NASA Operational Environment Team (NOET) - NASA's key to environmental technology

NOET is a NASA-wide team which supports the research and development community by sharing information both in person and via a computerized network, assisting in specification and standard revisions, developing cleaner propulsion systems, and exploring environmentally compliant alternatives to current processes. NOET's structure, dissemination of materials, electronic information, EPA compliance, specifications and standards, and environmental research and development are discussed.

Cook, Beth↗
NASA NTRS1993

An efficient liner cooling scheme for advanced small gas turbine combustors

A joint Army/NASA program was conducted to design, fabricate, and test an advanced, small gas turbine, reverse-flow combustor utilizing a compliant metal/ceramic (CMC) wall cooling concept. The objectives of this effort were to develop a design method (basic design data base and analysis) for the CMC cooling technique and then demonstrate its application to an advanced cycle, small, reverse-flow combustor with 3000 F burner outlet temperature. The CMC concept offers significant improvements in wall cooling effectiveness resulting in a large reduction in cooling air requirements. Therefore, more air is available for control of burner outlet temperature pattern in addition to the benefits of improved efficiency, reduced emissions, and lower smoke levels. The program was divided into four tasks. Task 1 defined component materials and localized design of the composite wall structure in conjunction with development of basic design models for the analysis of flow and heat transfer through the wall. Task 2 included implementation of the selected materials and validated design models during combustor preliminary design. Detail design of the selected combustor concept and its refinement with 3D aerothermal analysis were completed in Task 3. Task 4 covered detail drawings, process development and fabrication, and a series of burner rig tests. The purpose of this paper is to provide details of the investigation into the fundamental flow and heat transfer characteristics of the CMC wall structure as well as implementation of the fundamental analysis method for full-scale combustor design.

Paskin, Marc D.↗
NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme 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 seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that 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 require the computation of 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 payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗