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The device described in this paper is a modular hinge latch mechanism. It is used to latch and preload four motorized hinges after their deployment. The paper describes design requirements, hardware development and initial testing of this hinge latch module. A special effort has been made to cover the design philosophy incorporated into this hardware.
On April 5, 1983, an Inertial Upper Stage (IUS) spacecraft experienced loss of control during the burn of the second of two solid rocket motors. The anomaly investigation showed the cause to be a malfunction of the solid rocket motor. This paper presents a description of the IUS system, a failure analysis summary, an account of the thermal testing and computer modeling done at Marshall Space Flight Center, a comparison of analysis results with thermal data obtained from motor static tests, and describes some of the design enhancement incorporated to prevent recurrence of the anomaly.
The findings of the Commission regarding the circumstances surrounding the Challenger accident are reported and recommendations for corrective action are outlined. All available mission data, subsequent tests, and wreckage analyses were reviewed and specific failure scenarios were developed. The Commission concluded that the cause of the Mission 51-L accident was the failure of the pressure seal in the aft field joint of the right solid rocket motor. The failure was due to a faulty design unacceptably sensitive to a number of factors. These factors were the effects of temperature, physical dimensions, the character of materials, the effects of reuse, processing, and the reaction of the joint to dynamic loading. In addition to analyzing the material causes of the accident, the Commission examined the chain of decisions that culminated in approval of the launch. It concluded that the decision making process was flawed in several ways including (1) failure in communication resulting in a launch decision based on incomplete and misleading information, (2) a conflict between engineering data and management judgements, and (3) a NASA management structure that permitted flight safety problems to bypass key Shuttle managers.
A status report is given on the results for the completed tests in a series of motor firings being carried out to measure the effects of the parameters that are considered to most strongly influence the scaling to larger rocket motor sizes of the transition to/or threshold conditions for erosive burning rate augmentation. Propellant burning rates at locations along the axis of the test motors are measured with a newly developed plasma capacitance gauge technique. The measured results are compared with erosive-burning predictions from a supporting ballistics analysis. The completed motor firings have successfully demonstrated response to the designed test variables. The trends with varying propellant burning rate, chamber pressure, and mass flow rate are consistent with existing results, but no pronounced effect of surface roughness has been observed. Rather, the influence of propellant oxidizer particle size on erosive burning is through its effect on the base, no-corssflow burning rate.
The implicit-factored method of Beam and Warming was employed to obtain numerical solutions to the conservation equations of mass, species, momentum, and energy to study the unsteady, multidimensional flow and mixing of fuel and air inside the combustion chambers of a two-dimensional Wankel rotary engine under motored conditions. The effects of the following engine design and operating parameters on fluid flow and fuel-air mixing during the intake and compression cycles were studied: engine speed, angle of gaseous fuel injection during compression cycle, and speed of the fuel leaving fuel injector.
Following the Pershing 2 incident in 1985 and the Peacekeeper ignition during core removal in 1987, it was found that propellant can be much more sensitive to Electrostatic Discharges (ESD) than ever before realized. As a result of the Peacekeeper motor near miss incident, a friction machine was designed and fabricated, and used to determine friction hazards during core removal. Friction testing with and electrical charge being applied across the friction plates resulted in propellant ignitions at low friction pressures and extremely low ESD levels. The objective of this test series was to determine the sensitivity of solid rocket propellant to combined friction pressure and electrostatic stimuli and to compare the sensitivity of the SRM propellant to Peacekeeper propellant. The tests are fully discussed, summarized and conclusions drawn.
The effect of whole-muscle fatigue on the isometric twitch was investigated in various hindlimb muscles of anesthetized rats, using an experimental protocol designed to assess the levels of fatigability in motor units. The results of EMG and force measurements revealed the existence of a linear relationship between fatigability and the magnitude of the twitch force following the fatigue test in both soleus and extensor digitorum longus muscles.
A new rare earth alloy, Terfenol-D, combines low frequency operation and extremely high energy density with high magnetostriction. Its material properties make it suitable as a drive element for actuators requiring high output torque. The high strains, the high forces and the high controllability of Terfenol alloys provide a powerful and challenging basis for new ways to generate motion in actuators. Two prototypes of motors using Terfenol-D rods were developed at NASA Goddard. The basic principles of operation are provided of the motor along with other relevant details. A conceptual design of a torque limiting safety clutch/brake under development is illustrated. Also, preliminary design drawings of a linear actuator using Terfenol-D is shown.
An incremental thermocouple probe was developed to measure insulation erosion during a solid rocket motor firing. The probe's new and unique design is described along with its theory of operation. Data from an actual firing are reported which show that the probe's performance greatly exceeded predictions and present technology as a temperature measurement device and as an event gage.
Part one points out the adequacy of a consideration of the steady state gyroscopic motion as a basis for the discussion of displacements of the gyroscope mounted on an airplane, and develops a simple theory on this basis. Principal types of gyroscopic inclinometers are described and requirements stated. Part two describes a new type of stabilizing gyro mounted on top of a spindle by means of a universal joint, the spindle being kept in a vertical position by supporting it as a pendulum of which the bob is the driving motor. Methods of tests and the difficulties in designing a satisfactory and reliable compass for aircraft use in considered in part three. Part four contains a brief general treatment of the important features of construction of aircraft compasses and description of the principal types used.
A project in the Advanced Design Program at the University of Arizona is described. The project is named the Autonomous Space Processor for Orbital Debris (ASPOD) and is a Universities Space Research Association (USRA) sponsored design project. The development of ASPOD and the students' abilities in designing and building a prototype spacecraft are the ultimate goals of this project. This year's focus entailed the development of a secondary robotic arm and end-effector to work in tandem with an existent arm in the removal of orbital debris. The new arm features the introduction of composite materials and a linear drive system, thus producing a light-weight and more accurate prototype. The main characteristic of the end-effector design is that it incorporates all of the motors and gearing internally, thus not subjecting them to the harsh space environment. Furthermore, the arm and the end-effector are automated by a control system with positional feedback. This system is composed of magnetic and optical encoders connected to a 486 PC via two servo-motor controller cards. Programming a series of basic routines and sub-routines allowed the ASPOD prototype to become more autonomous. The new system is expected to perform specified tasks with a positional accuracy of 0.5 cm.
This paper is regarding a project in the Advanced Design Program at the University of Arizona. The project is named the Autonomous Space Processor for Orbital Debris (ASPOD) and is a NASA/Universities Space Research Association (USRA) sponsored design project. The development of ASPOD and the students' abilities in designing and building a prototype spacecraft are the ultimate goals of this project. This year's focus entailed the development of a secondary robotic arm and end-effector to work in tandem with an existent arm in the removal of orbital debris. The new arm features the introduction of composite materials and a linear drive system, thus producing a light-weight and more accurate prototype. The main characteristic of the end-effector design is that it incorporates all of the motors and gearing internally, thus not subjecting them to the harsh space environment. Furthermore, the arm and the end-effector are automated by a control system with positional feedback. This system is composed of magnetic and optical encoders connected to a 486 PC via two servo-motor controller cards. Programming a series of basic routines and sub-routines has allowed the ASPOD prototype to become more autonomous. The new system is expected to perform specified tasks with a positional accuracy of 0.5 cm.
Marshall Space Flight Center and ATK Thiokol Propulsion worked together on the engineering design of a five-segment Engineering Test Motor (ETM-03), the world's largest segmented solid rocket motor. The data from ETM-03's static test have helped to provide a better understanding of the Reusable Solid Rocket Motor's (RSRM's) margins and the techniques and models used to simulate solid rocket motor performance. The enhanced performance of ETM-03 was achieved primarily by the addition of a RSRM center segment. Added motor performance was also achieved with a nozzle throat diameter increase and the incorporation of an Extended Aft Exit Cone (EAEC). Performance parameters such as web time, action time, head-end pressure, web time average pressure, maximum thrust, mass flow rate, centerline Mach number, pressure and thrust integrals were all increased over RSRM. In some cases, the performance increases were substantial. Overall, the measured data were exceptionally close to the pretest predictions.
Analytic modeling and analysis processes employed at NASA-SSC in rocket propulsion systems testing are discussed in this paper with application to test facility propellant supply system design, activation and test of a hybrid rocket motor provided. This paper discusses the analytic model employed, its utilization across project phases and reviews performance results.
The Robonaut 2 (R2) platform, as shown in Figure 1, was designed through a collaboration between NASA and General Motors to be a capable robotic assistant with the dexterity similar to a suited astronaut [1]. An R2 robot was sent to the International Space Station (ISS) in February 2011 and, in doing so, became the first humanoid robot in space. Its capabilities are presently being tested and expanded to increase its usefulness to the crew. Current work on R2 includes the addition of a mobility platform to allow the robot to complete tasks (such as cleaning, maintenance, or simple construction activities) both inside and outside of the ISS. To support these new activities, R2's software architecture is being developed to provide efficient ways of programming robust and autonomous behavior. In particular, a multi-tiered software architecture is proposed that combines principles of low-level feedback control with higher-level planners that accomplish behavioral goals at the task level given the run-time context, user constraints, the health of the system, and so on. The proposed architecture is shown in Figure 2. At the lowest-level, the resource level, there exists the various sensory and motor signals available to the system. The sensory signals for a robot such as R2 include multiple channels of force/torque data, joint or Cartesian positions calculated through the robot's proprioception, and signals derived from objects observable by its cameras.
NASA's Journey to Mars has begun. Indicative of that challenge, this will be a multi-decadal effort requiring the development of technology, operational capability, and experience. The first steps are underway with more than 15 years of continuous human operations aboard the International Space Station (ISS) and development of commercial cargo and crew transportation capabilities. NASA is making progress on the transportation required for deep space exploration - the Orion crew spacecraft and the Space Launch System (SLS) heavy-lift rocket that will launch Orion and large components such as in-space stages, habitat modules, landers, and other hardware necessary for deep-space operations. SLS is a key enabling capability and is designed to evolve with mission requirements. The initial configuration of SLS - Block 1 - will be capable of launching more than 70 metric tons (t) of payload into low Earth orbit, greater mass than any other launch vehicle in existence. By enhancing the propulsion elements and larger payload fairings, future SLS variants will launch 130 t into space, an unprecedented capability that simplifies hardware design and in-space operations, reduces travel times, and enhances two solid propellant five-segment boosters, both based on space shuttle technologies. This paper will focus on development of the booster, which will provide more than 75 percent of total vehicle thrust at liftoff. Each booster is more than 17 stories tall, 3.6 meters (m) in diameter and weighs 725,000 kilograms (kg). While the SLS booster appears similar to the shuttle booster, it incorporates several changes. The additional propellant segment provides additional booster performance. Parachutes and other hardware associated with recovery operations have been deleted and the booster designated as expendable for affordability reasons. The new motor incorporates new avionics, new propellant grain, asbestos-free case insulation, a redesigned nozzle, streamlined manufacturing processes, and new inspection techniques. New materials and processes provide improved performance, safety, and affordability but also have led to challenges for the government/industry development team. The team completed its first full-size qualification motor test firing in early 2015. The second is scheduled for mid-2016. This paper will discuss booster accomplishments to date, as well as challenges and milestones ahead.
NASA's Journey to Mars has begun. Indicative of that challenge, this will be a multi-decadal effort requiring the development of technology, operational capability, and experience. The first steps are under way with more than 15 years of continuous human operations aboard the International Space Station (ISS) and development of commercial cargo and crew transportation capabilities. NASA is making progress on the transportation required for deep space exploration - the Orion crew spacecraft and the Space Launch System (SLS) heavy-lift rocket that will launch Orion and large components such as in-space stages, habitat modules, landers, and other hardware necessary for deep-space operations. SLS is a key enabling capability and is designed to evolve with mission requirements. The initial configuration of SLS - Block 1 - will be capable of launching more than 70 metric tons (t) of payload into low Earth orbit, greater mass than any other launch vehicle in existence. By enhancing the propulsion elements and larger payload fairings, future SLS variants will launch 130 t into space, an unprecedented capability that simplifies hardware design and in-space operations, reduces travel times, and enhances the odds of mission success. SLS will be powered by four liquid fuel RS-25 engines and two solid propellant five-segment boosters, both based on space shuttle technologies. This paper will focus on development of the booster, which will provide more than 75 percent of total vehicle thrust at liftoff. Each booster is more than 17 stories tall, 3.6 meters (m) in diameter and weighs 725,000 kilograms (kg). While the SLS booster appears similar to the shuttle booster, it incorporates several changes. The additional propellant segment provides additional booster performance. Parachutes and other hardware associated with recovery operations have been deleted and the booster designated as expendable for affordability reasons. The new motor incorporates new avionics, new propellant grain, asbestos-free case insulation, a redesigned nozzle, streamlined manufacturing processes, and new inspection techniques. New materials and processes provide improved performance, safety, and affordability but also have led to challenges for the government/industry development team. The team completed its first full-size qualification motor test firing in early 2015. The second is scheduled for mid-2016. This paper will discuss booster accomplishments to date, as well as challenges and milestones ahead.
NASA Glenn Research Center is developing a 1.4~MW high-efficiency electric machine for future electrified aircraft to reduce energy consumption, emissions, and noise. This wound-field, synchronous machine employs a self-cooled, superconducting rotor to achieve excellent specific power and efficiency. This paper discusses the fabrication of the no-insulation high temperature superconducting (HTS) coils and presents the lessons learned. The process is compared to the fabrication of conventionally insulated HTS coils. Testing of the coils' critical current at liquid nitrogen temperature is also presented. The influence of thermal cycling on the critical current and n-value is studied.