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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

Chen, Vincent Wei-Kang↗
NASA NTRS2002

Thermal Nondestructive Evaluation Report: Inspection of the Refurbished Manipulator Arm System in the Manipulator Development Facility at Johnson Space Center 10-12 January 2001

On 4 December 2002, a failure of the Refurbished Manipulator Arm System (RMAS) occurred in the Manipulator Development Facility (MDF) at Johnson Space Center. When the Test Director commanded a should pitch maneuver to lift the arm from its payload bay pedestal, the yaw controls failed. This, coupled with a gravitational forces (due to the angle of the shoulder joint with respect to vertical), resulted in uncontrolled arm motion. The shoulder yaw joint moved approximately 20 degrees, causing the extended arm to strike and severely damage the port side MDF catwalk handrails. The arm motion stopped after impact with the handrails. On 10-12 January 2001, inspections were performed on the port face of the lower and upper arms of the RMAS using a infrared thermography developed at Langley Research Center. This paper presents the results of those nondestructive inspections and provides a complete description of the anomalies found and their locations.

Cramer, K. Elliott↗
NASA NTRS2005

Assessment of Technologies for the Space Shuttle External Tank Thermal Protection System and Recommendations for Technology Improvement - Part III: Material Property Characterization, Analysis, and Test Methods

The objective of this report is to contribute to the independent assessment of the Space Shuttle External Tank Foam Material. This report specifically addresses material modeling, characterization testing, data reduction methods, and data pedigree. A brief description of the External Tank foam materials, locations, and standard failure modes is provided to develop suitable background information. A review of mechanics based analysis methods from the open literature is used to provide an assessment of the state-of-the-art in material modeling of closed cell foams. Further, this report assesses the existing material property database and investigates sources of material property variability. The report presents identified deficiencies in testing methods and procedures, recommendations for additional testing as required, identification of near-term improvements that should be pursued, and long-term capabilities or enhancements that should be developed.

Gates, Thomas S.↗
NASA NTRS2021

Testing of Composite Stiffened Panels with Mid-Length Lateral Notches

Two hat-stiffened carbon-epoxy panels were loaded to failure to determine their failure load and mode under the Advanced Composites Project (ACP) Rapid Design Tools activity. Each specimen contained a lateral notch located at the mid-length location which severed the central stiffener. A description of the specimens, instrumentation, test fixtures and procedures is presented, followed by the presentation of the experimental results.

Dawn C Jegley↗
NASA NTRS1996

Bonneville, Power Administration Timing System

Time is an integral part of the Bonneville Power Administration's (BPA) operational systems. Generation and power transfers are planned in advance. Utilities coordinate with each other by making these adjustments on a timed schedule. Price varies with demand, so billing is based on time. Outages for maintenance are scheduled to assure they do not interrupt reliable power delivery. Disturbance records are aligned with recorded timetags for analysis and comparison with related information. Advanced applications like traveling wave fault location and real-time phase measurement require continuous timing with high precision. Most of BPA is served by a Central Time System (CTS) at the Dittmer Control Center near Portland, OR. This system keeps time locally and supplies time to both the control center systems and field locations via a microwave signal. It is kept synchronized to national standard time and coordinated with interconnected utilities. It is the official BPA time. Powwer system control and operation is described, followed by a description of BPA timing systems including CTS, the Fault Location Acquisition Reporter, time dissemination, and phasor measurements. References are provided for further reading.

Martin, Kenneth E.↗
NASA NTRS1974

Skylab neutron environment experiment (Science Demonstration SD-34 (TV108)). Description and preliminary results

Neutron and proton induced radioactivity at various locations within Skylab were measured. Samples of five metals were formed into activation packets and deployed at the following locations on the Skylab 4 mission: orbital workshop film vault, water storage tank, and two opposing orbital workshop internal locations. Radioactive nuclides were produced in the packets by nuclear interactions of high-energy protons and secondary neutrons within Skylab. Low-level gamma ray spectroscopy measurements were made on the returned packets to determine the incident neutron and proton fluxes and spectra and their variations with mass distribution.

Fishman, G. J.↗
NASA NTRS2020

Predictive Integrated Stratigraphic Modeling (PRISM®) Work Plan Center Wide Per- and Polyfluoroalkyl Substances (PFAS) Potential Release Location (PRL) 237 Kennedy Space Center, Florida

This document presents a description of various site investigation activities that will be used to improve the conceptual site model (CSM) at the Kennedy Space Center (KSC) to develop a better understanding of the fate and transport of per- and polyfluoroalkyl substances (PFAS) in groundwater and surface water. The activities proposed herein include three primary tasks: a sequence stratigraphic analysis, groundwater and surface water gauging and sampling, and a stormwater pollutant modeling analysis.

PFAS↗
NASA NTRS2003

Modeling and Visualizing Uncertainty in Continuous Variables Predicted using Remotely Sensed Data

The use of remotely sensed images to map continuous biophysical variables, such as those related to terrestrial vegetation amount, sea surface temperature, and many other targets of NASA s Earth Observing System (EOS), includes variable, parametric, positional, spatial support and structural sources of uncertainty. A complete description of uncertainty will lead to a probability distribution at each location, allowing the exploration of the spatial dimension of uncertainty, that is, where the field is not well quantified. To achieve this purpose, convenient visualization tools are required. We have produced such a tool, called PDFVis, that facilitates the display of probability density functions (pdfs) on a per-grid-cell basis. The density estimate from Monte-Carlo generated realizations is interactively displayed as well as parametric and non-parametric summaries of the pdf field (such as mean, median, quartiles, standard deviation, number of modes, and locations of modes). Shaded surface renderings of pdfs along a transect can also be projected onto a plane. This tool will become more useful as richer descriptions of spatial uncertainty become available.

Dungan, Jennifer L.↗
NASA NTRS1974

GSE, data management system programmers/User' manual

The GSE data management system is a computerized program which provides for a central storage source for key data associated with the mechanical ground support equipment (MGSE). Eight major sort modes can be requested by the user. Attributes that are printed automatically with each sort include the GSE end item number, description, class code, functional code, fluid media, use location, design responsibility, weight, cost, quantity, dimensions, and applicable documents. Multiple subsorts are available for the class code, functional code, fluid media, use location, design responsibility, and applicable document categories. These sorts and how to use them are described. The program and GSE data bank may be easily updated and expanded.

Schlagheck, R. A.↗
NASA NTRS1975

Soil moisture ground truth, Lafayette, Indiana, site; St. Charles Missouri, site; Centralia, Missouri, site

The soil moisture ground-truth measurements and ground-cover descriptions taken at three soil moisture survey sites located near Lafayette, Indiana; St. Charles, Missouri; and Centralia, Missouri are given. The data were taken on November 10, 1975, in connection with airborne remote sensing missions being flown by the Environmental Research Institute of Michigan under the auspices of the National Aeronautics and Space Administration. Emphasis was placed on the soil moisture in bare fields. Soil moisture was sampled in the top 0 to 1 in. and 0 to 6 in. by means of a soil sampling push tube. These samples were then placed in plastic bags and awaited gravimetric analysis.

Jones, E. B.↗
NASA NTRS1979

A unique approach to the development of adaptive sensor systems for future spacecraft

In the Shuttle era, it should be possible to develop adaptive remote sensor systems serving more directly specific researcher and user needs and at the same time alleviating the data management problem via intelligent sensor capabilities. The present paper provides a summary of such an approach, wherein specific capabilities have been developed for future global monitoring applications. A detailed description of FILE-I (Feature Identification and Location Experiment) is included along with a summary of future experiments currently under development.

Schappell, R. T.↗
NASA NTRS1982

Handbook of sensor technical characteristics

Space and terrestrial applications remote sensor systems are described. Each sensor is presented separately. Information is included on its objectives, description, technical characteristics, data products obtained, data archives location, period of operation, and measurement and potential derived parameters. Each sensor is cross indexed.

Tanner, S.↗
NASA NTRS1982

Bubble motion in a rotating liquid body

The behavior of a single gas bubble inside a rotating liquid-filled sphere has been investigated analytically and experimentally as part of ground-based investigations aimed at aiding in the design and interpretation of Shuttle experiments. In the analysis, a quasi-static description of the motion of a bubble was developed in the limit of small values of the Taylor number. A series of rotation experiments using air bubbles and silicone oils were designed to match the conditions specified in the analysis, i.e., the bubble size, sphere rotation rate, and liquid kinematic viscosity were chosen such that the Taylor number was much less than unity. The analytical description predicts the bubble velocity and its asymptotic location. It is shown that the asymptotic position is removed from the axis of rotation.

Annamalai, P.↗
NASA NTRS1988

TUNS user guide supplement: Data dictionary

Provided is a data dictionary for the Technology Utilization Network System (TUNS) providing for each element name the long name, data type, data size, descriptive name and description, data of PRI clause, legal values, and location used.

Source record↗
NASA NTRS2003

Overview of ISS U.S. Fire Detection and Suppression System

This paper presents a general overview of the International Space Station's Fire Detection and Suppression System. The topics include: 1) Introduction to Fire Detection and Suppression (FDS); 2) Description of (FDS) Subsystems; 3) FDS System Component Location and Status; 4) FDS System Capabilities; 5) FDS Automatic and Manual Response; 6) Post Fire Atmosphere Restoration and Air Quality Assessment; and 7) FDS Research Needs. This paper is in viewgraph form.

Whitaker, Alana↗
NASA NTRS2007

A New Modal Analysis Method to put Constraints on the Aqueous Alteration of CR Chondrites and Estimate the Unaltered CR Composition

CR carbonaceous chondrites are of the major interest since they contain one of the most primitive organic matters. However, aqueous alteration has more or less overprinted their original features in a way that needed to be assessed. That was done in the present study by comparing the mineralogy of the most altered CR1 chondrite, GRO 95577, to a less altered CR2, Renazzo. Their modal analyses were achieved thanks to a new method, based on X-ray elemental maps acquired on electron microprobe, and on IDL image treatment. It allowed the collection of new data on the composition of Renazzo and confirmed the classification of GRO 95577 as a CR1. New alteration products for CRs, vermiculite and clinochlore, were observed. The homogeneity of the Fe-poor clays in the CR1 and the distinctive matrix composition in the two chondrites suggest a wide-range of aqueous alteration on CRs. The preservation of the outlines of the chondrules in GRO 95577 and the elemental transfers of Al, Fe and Ca throughout the chondrule and of Fe and S from the matrix to the chondrule favor the idea of an asteroidal location of the aqueous alteration. From their mineralogical descriptions and modal abundances, the element repartitions in Renazzo and GRO 95577 were computed. It indicates a possible relationship between these two chondrites via an isochemical alteration process. Knowing the chemical reactions that occurred during the alteration, it was thus possible to decipher the mineralogical modal abundances in the unaltered CR body.

Perronnet, M.↗
NASA NTRS2007

A New Modal Analysis Method to put Constraints on the Aqueous Alteration of CR Chondrites and Estimate the Unaltered CR Composition

carbonaceous chondrites are of the major interest since they contain one of the most primitive organic matters. However, aqueous alteration has more or less overprinted their original features in a way that needed to be assessed. That was done in the present study by comparing the mineralogy of the most altered CR1 chondrite, GRO 95577, to a less altered CR2, Renazzo. Their modal analyses were achieved thanks to a new method, based on X-ray elemental maps acquired on electron microprobe, and on IDL image treatment. It allowed the collection of new data on the composition of Renazzo and confirmed the classification of GRO 95577 as a CR1. New alteration products for CRs, vermiculite and clinochlore, were observed. The homogeneity of the Fe-poor clays in the CR1 and the distinctive matrix composition in the two chondrites suggest a wide-range of aqueous alteration on CRs. The preservation of the outlines of the chondrules in GRO 95577 and the elemental transfers of Al, Fe and Ca throughout the chondrule and of Fe and S from the matrix to the chondrule favor the idea of an asteroidal location of the aqueous alteration. From their mineralogical descriptions and modal abundances, the element repartitions in Renazzo and GRO 95577 were computed. It indicates a possible relationship between these two chondrites via an isochemical alteration process. Knowing the chemical reactions that occurred during the alteration, it was thus possible to decipher the mineralogical modal abundances in the unaltered CR body.

Perronnet, M.↗
NASA NTRS2018

Europa Clipper Thermal Control Design

This paper details the design developments of the Europa Clipper spacecraft thermal control system and its primary element the Heat Redistribution System (HRS). The Europa Clipper spacecraft will launch in the early 2020s and will have multiple flybys of Jupiter’s icy moon, Europa. The HRS, which utilizes a Mechanically Pumped Fluid Loop (MPFL) to reclaim waste heat from an avionics vault module and redistribute it to the propulsion module and radiator, has become an integral part of the spacecraft architecture both in terms of mechanical configuration and spacecraft operations capability. A walkthrough on the planned implementation of the HRS on the primary spacecraft modules is provided along with a description on thermal control of spacecraft hardware not located on the HRS vault, where thermal isolation and tolerance to extreme thermal environment drives the hardware designs.

Bhandari, Pradeep↗