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At least 703 records · Page 39

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NASA NTRS1988

Integration of a computerized two-finger gripper for robot workstation safety

A microprocessor-based controller has been developed that continuously monitors and adjusts the gripping force applied by a special two-finger gripper. This computerized force sensing gripper system enables the endeffector gripping action to be independently detected and corrected. The gripping force applied to a manipulated object is real-time monitored for problem situations, situations which can occur during both planned and errant robot arm manipulation. When unspecified force conditions occur at the gripper, the gripping force controller initiates specific reactions to cause dynamic corrections to the continuously variable gripping action. The force controller for this intelligent gripper has been interfaced to the controller of an industrial robot. The gripper and robot controllers communicate to accomplish the successful completion of normal gripper operations as well as unexpected hazardous situations. An example of an unexpected gripping condition would be the sudden deformation of the object being manipulated by the robot. The capabilities of the interfaced gripper-robot system to apply workstation safety measures (e.g., stop the robot) when these unexpected gripping effects occur have been assessed.

Sneckenberger, John E.↗

NASA NTRS1990

Small gain robustness issues in the p-integrator repetitive controller

The basic theory of the digital p-integrator controller is utilized to modify the command to a stable analog feedback control system in order to produce zero tracking error of a repetitive command. Mapping of continuous time poles and zeros to the images in the discrete time domain is performed. It is shown that for a pole excess of one, with p odd, the p-integrator learning controller will often produce a stable learning process, even for relatively large sample times. For a pole excess of two, a stable learning process can often be achieved for any p as long as the sample time is kept sufficiently short. Therefore, when the pole excess is zero and one utilizes the proper p-integrator controller with p odd, stable performance is often produced, even for relatively large sample times.

Longman, Richard W.↗

NASA NTRS1992

Optical fiber spectroscopy: A study of the luminescent properties of the europium ion for thermal sensors

Recently, there has been interest in developing a distributed temperature sensor integrated into an optical fiber. Such a system would allow embedding of the optical fiber within or on a structural material to provide for continuous monitoring of the material's temperature. Work has already begun on the development of a temperature sensor using the temperature dependent emission spectra from the lanthanide rare earths doped into crystalline hosts. The lifetime, the linewidth and the integrated intensity of this emission are each sensitive to changes in the temperature and can provide a basis for thermometry. One concept for incorporating this phenomena into an optical fiber based sensor involves bonding the optically active material to the cladding of an optical fiber and allowing the luminescent light to couple into the the fiber by the evanescent wave. Experimental work developing this concept has already been reported. Measurements of the linewidth of Eu3+:Y2O3, diffused into a fiber, made by Albin clearly show a strong and regular dependence on temperature over the range of 300 to 1000 K. We report here on a study of the temperature dependence of the lineshape of the emission at 611 nm using the data in references. We focus attention on understanding the general behavior of the Eu3+:Y2O3 system. Building upon understanding of this system we will be able to establish the physical criterial for a good optical fiber based temperature sensor and then to examine available data on other lanthanide rare earths and transition metal ions to determine the best luminescent system for temperature sensing in an optical fiber.

Buoncristiani, A. Martin↗

NASA NTRSDate not supplied

Human System Risk Changes in 2021

The Human System Risk Board (HSRB) has the overall responsibility for tracking the evolution of the top ~30 human system risks that it has identified to be associated with human spaceflight. As part of this process, the Board is charged with maintaining a consistent, integrated process to mitigate those risks, and developing evidence-based risk posture recommendations. Risks are re-evaluated in a Continuous Risk Management (CRM) process. This session will summarize the risk posture changes that have occurred in the last year and what high level research, performance, and epidemiologic data have informed those changes. Human System Risks updated in 2021 include: Dynamic Loads, Sensorimotor, EVA, Crew Egress, Behavioral Medicine, Electrical Shock, Human System Integration Architecture (HSIA), Toxic Exposure, Bone Fracture, Cardiovascular, Medical Conditions, Renal Stone, CO2 Exposure, and Pharmacology.

Mary Van Baalen↗

NASA NTRS1971

The topology of the regularized integral surfaces of the 3-body problem

Momentum, angular momentum, and energy of integral surfaces in the planar three-body problem are considered. The end points of orbits which cross an isolating block are identified. It is shown that this identification has a unique extension to an identification which pairs the end points of orbits entering the block and which end in a binary collision with the end points of orbits leaving the block and which come from a binary collision. The problem of regularization is that of showing that the identification of the end points of crossing orbits has a continuous, unique extension. The regularized phase space for the three-body problem was obtained, as were regularized integral surfaces for the problem on which the three-body equations of motion induce flows. Finally the topology of these surfaces is described.

Easton, R.↗

NASA NTRS2002

Risk Management for the International Space Station

The International Space Station (ISS) is an extremely complex system, both technically and programmatically. The Space Station must support a wide range of payloads and missions. It must be launched in numerous launch packages and be safely assembled and operated in the harsh environment of space. It is being designed and manufactured by many organizations, including the prime contractor, Boeing, the NASA institutions, and international partners and their contractors. Finally, the ISS has multiple customers, (e.g., the Administration, Congress, users, public, international partners, etc.) with contrasting needs and constraints. It is the ISS Risk Management Office strategy to proactively and systematically manages risks to help ensure ISS Program success. ISS program follows integrated risk management process (both quantitative and qualitative) and is integrated into ISS project management. The process and tools are simple and seamless and permeate to the lowest levels (at a level where effective management can be realized) and follows the continuous risk management methodology. The risk process assesses continually what could go wrong (risks), determine which risks need to be managed, implement strategies to deal with those risks, and measure effectiveness of the implemented strategies. The process integrates all facets of risk including cost, schedule and technical aspects. Support analysis risk tools like PRA are used to support programatic decisions and assist in analyzing risks.

Sebastian, J.↗

NASA NTRS2005

Extending the LWS Data Environment: Distributed Data Processing and Analysis

The final stages of this work saw changes to the original framework, as well as the completion and integration of several data processing services. Initially, it was thought that a peer-to-peer architecture was necessary to make this work possible. The peer-to-peer architecture provided many benefits including the dynamic discovery of new services that would be continually added. A prototype example was built and while it showed promise, a major disadvantage was seen in that it was not easily integrated into the existing data environment. While the peer-to-peer system worked well for finding and accessing distributed data processing services, it was found that its use was limited by the difficulty in calling it from existing tools and services. After collaborations with members of the data community, it was determined that our data processing system was of high value and that a new interface should be pursued in order for the community to take full advantage of it. As such; the framework was modified from a peer-to-peer architecture to a more traditional web service approach. Following this change multiple data processing services were added. These services include such things as coordinate transformations and sub setting of data. Observatory (VHO), assisted with integrating the new architecture into the VHO. This allows anyone using the VHO to search for data, to then pass that data through our processing services prior to downloading it. As a second attempt at demonstrating the new system, a collaboration was established with the Collaborative Sun Earth Connector (CoSEC) group at Lockheed Martin. This group is working on a graphical user interface to the Virtual Observatories and data processing software. The intent is to provide a high-level easy-to-use graphical interface that will allow access to the existing Virtual Observatories and data processing services from one convenient application. Working with the CoSEC group we provided access to our data processing tools from within their software. This now allows the CoSEC community to take advantage of our services and also demonstrates another means of accessing our system.

Narock, Thomas↗

NASA NTRS1971

Comparison of a discrete steepest ascent method with the continuous steepest ascent method for optimal programing

A discrete steepest ascent method which allows controls which are not piecewise constant (for example, it allows all continuous piecewise linear controls) was derived for the solution of optimal programming problems. This method is based on the continuous steepest ascent method of Bryson and Denham and new concepts introduced by Kelley and Denham in their development of compatible adjoints for taking into account the effects of numerical integration. The method is a generalization of the algorithm suggested by Canon, Cullum, and Polak with the details of the gradient computation given. The discrete method was compared with the continuous method for an aerodynamics problem for which an analytic solution is given by Pontryagin's maximum principle, and numerical results are presented. The discrete method converges more rapidly than the continuous method at first, but then for some undetermined reason, loses its exponential convergence rate. A comparsion was also made for the algorithm of Canon, Cullum, and Polak using piecewise constant controls. This algorithm is very competitive with the continuous algorithm.

Childs, A. G.↗

NASA NTRS1972

In-orbit flexible spacecraft dynamics program

A continuous flexible body nonlinear dynamics computer program is used for simulating the spinning mode performance of a spacecraft under applied control torques. The program takes into account the continuous flexible nature of the antennas by representing deflections in terms of shape functions and integrated the spatial dependence in the formulation of the equations of motion. Comparison of RAE flight data on roll, pitch, and yaw with predictions of the computer program in the gravity gradient mode show fair to good agreement in roll and pitch and excellent agreement in the yaw angle.

Fedor, J. V.↗

NASA NTRS1974

The numerical calculation of laminar boundary-layer separation

Iterative finite-difference techniques are developed for integrating the boundary-layer equations, without approximation, through a region of reversed flow. The numerical procedures are used to calculate incompressible laminar separated flows and to investigate the conditions for regular behavior at the point of separation. Regular flows are shown to be characterized by an integrable saddle-type singularity that makes it difficult to obtain numerical solutions which pass continuously into the separated region. The singularity is removed and continuous solutions ensured by specifying the wall shear distribution and computing the pressure gradient as part of the solution. Calculated results are presented for several separated flows and the accuracy of the method is verified. A computer program listing and complete solution case are included.

Klineberg, J. M.↗

NASA NTRS1974

On laminar boundary-layer separation

Iterative finite-difference techniques are developed for integrating the boundary-layer equations, without approximation, through a region of reversed flow. The numerical procedures are used to calculate incompressible laminar separated flows and to investigate the conditions for regular behavior at the point of separation. Regular flows are shown to be characterized by an integrable saddle-type singularity that makes it difficult to obtain numerical solutions which pass continuously into the separated region. The singularity is removed and continuous solutions ensured by specifying the wall shear distribution and computing the pressure gradient as part of the solution. Calculated results are presented for a number of separated flows and the accuracy of the method is verified.

Klineberg, J. M.↗

NASA NTRS1978

Correlation tracking for a Planetary Pointing and Tracking System

The Planetary Pointing and Tracking System (PPTS) is being developed to provide precision pointing for science platforms on future autonomous planetary spacecraft. The PPTS design approach using a CCD optical sensor for closed-loop control with respect to the target body, a gyro for inertial stabilization, and brushless dc torque motors for smooth and continuous platform articulation is essential for high resolution planetary imaging and automated science execution. An integral part of PPTS is the correlation tracker which has the potential to revolutionize autonomous guidance.

Assefi, T.↗

NASA NTRS1978

GASP- General Aviation Synthesis Program. Volume 1: Main program. Part 1: Theoretical development

The General Aviation synthesis program performs tasks generally associated with aircraft preliminary design and allows an analyst the capability of performing parametric studies in a rapid manner. GASP emphasizes small fixed-wing aircraft employing propulsion systems varying froma single piston engine with fixed pitch propeller through twin turboprop/ turbofan powered business or transport type aircraft. The program, which may be operated from a computer terminal in either the batch or interactive graphic mode, is comprised of modules representing the various technical disciplines integrated into a computational flow which ensures that the interacting effects of design variables are continuously accounted for in the aircraft sizing procedure. The model is a useful tool for comparing configurations, assessing aircraft performance and economics, performing tradeoff and sensitivity studies, and assessing the impact of advanced technologies on aircraft performance and economics.

Hague, D.↗

NASA NTRS1986

MHD bending waves in a current sheet

Transverse MHD bending waves are considered in an isothermal and compressible two-dimensional current sheet of finite thickness in which the magnetic field changes direction and strength. The general form of the wave equation is obtained. It is shown that rotation of the magnetic field across the current sheet prevents the existence of singular points so that continuous spectrum solutions and the concomitant wave decay disappear. Instead, normal modes exist and closed integral solution for arbitrary current sheet structure are found. The results are discussed in terms of small-scale waves on the heliospheric current sheet.

Musielak, Z. E.↗

NASA NTRS1988

The emergence of multi-user expert systems

There exists a set of problems for which the single user workstation is not a viable solution. In some cases, it may be necessary for the system to support numerous experts working on different aspects of a single logical activity concurrently. In others, the activity may extend over a prolonged period of time during which different experts will work on different phases of the project to produce a single integrated result. Another possibility is that the results produced by the expert system must be continuously available to some group other than that actively exercising the expert system. These are the types of applications which require multiuser expert systems. The nature of NASA tends to produce expert system domains which are inherently multiuser. It is these domains that this new class of expert systems has first been encountered. As expert systems move into the main stream of large scale engineering projects, these encounters will become more frequent. A need for expert system building tools which can accommodate the unique properties of these multiuser domains as they emerge is a problem which needs to be addressed as the current set of tools migrate to time sharing environments, and as new tools are developed.

Freeman, Michael S.↗

NASA NTRS1987

The 3-D world modeling with updating capability based on combinatorial geometry

A 3-D world modeling technique using range data is discribed. Range data quantify the distances from the sensor focal plane to the object surface, i.e., the 3-D coordinates of discrete points on the object surface are known. The approach proposed herein for 3-D world modeling is based on the Combinatorial Geometry (CG) method which is widely used in Monte Carlo particle transport calculations. First, each measured point on the object surface is surrounded by a small sphere with a radius determined by the range to that point. Then, the 3-D shapes of the visible surfaces are obtained by taking the (Boolean) union of all the spheres. The result is an unambiguous representation of the object's boundary surfaces. The pre-learned partial knowledge of the environment can be also represented using the CG Method with a relatively small amount of data. Using the CG type of representation, distances in desired directions to boundary surfaces of various objects are efficiently calculated. This feature is particularly useful for continuously verifying the world model against the data provided by a range finder, and for integrating range data from successive locations of the robot during motion. The efficiency of the proposed approach is illustrated by simulations of a spherical robot in a 3-D room in the presence of moving obstacles and inadequate prelearned partial knowledge of the environment.

Goldstein, M.↗

NASA NTRS1990

Nylon and teflon scribe effect on NBR to Chemlok 233 and NBR to NBR bond interfaces

A study was requested by Manufacturing Engineering to determine what effects marking with nylon (6/6) and Teflon scribes may have on subsequent bonding. Witness panel bond specimens were fabricated by the development lab to test both acrylonitrile butadiene rubber (NBR) to Chemlok and NBR to NBR after controlled exposure. The nylon rod used as a scribe tool demonstrates virtually no bond deterioration when used to scribe lines on either the Chemlok to NBR surfaces or the NBR to NBR interface. Lab test results indicate that the nylon rod-exposed samples produce tensile and peel values very similar to the control samples and the Teflon exposed samples produce tensile and peel values much lower than the control samples. Visual observation of the failure surfaces of the tested samples shows that Teflon scribing produces an obvious contamination to the surface and the nylon produces no effect. Photographs of test samples are provided. It is concluded that Teflon stock used as a scribe tool on a Chemlok 233 to NBR surface or an NBR to NBR surface has a detrimental effect on the bond integrity on either of these bond interfaces. Therefore, it is recommended that the nylon rod continue to be used where a scribe line is required in the redesigned solid rocket motor segment insulation layup operations. The use of Teflon scribes should not be considered.

Jensen, S. K.↗

NASA NTRS1988

Description of a new full scale lightning simulation facility

A lightning test facility has been constructed in Utah, and the facility has initially been used to test and certify solid rocket motor (SRM) segment shipping containers. The simulator equipment consists of a 17-stage 1.7 MV Marx generator and three current generators. The performance of the Marx is enhanced by use of a distributed peaking capacitor to produce maximum dl/dt's in excess of 4 x 10 to the 11th Amps/sec into large test objects. The current generators consist of the following: (1) a 200 KA underdamped 500 kilojoule high current bank, (2) a critically damped intermediate current bank and (3) an over damped continuing current bank. Total charge transfer for these banks is 270 Coulombs with an action integral in excess of 8 x 10 to the 6th sq Amps-sec. Representative results for the simulator and SRM segment shipping containers are presented.

Papazian, Peter B.↗