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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 811 records · Page 45

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Experimental study of trajectory planning and control of a high precision robot manipulator

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Nguyen, Charles C.↗

NASA NTRS1991

Circuit protection devices for transient suppression

The Electromer Corporation has developed a series of transient voltage suppression components based on a patented, specially formulated PolyClamp (trademark) material. PolyClamp components are a new class of transient voltage surge suppressors that extend the range of protection offered by transients protectors. The PolyClamp transient surge suppressors provide low capacitance, high energy capability, and packaging flexibility. A wide variety of applications can be protected. A tube and ferrule configuration was designed to be used with MIL/Aerospace style connectors and is designed to meet the applicable environmental, mechanical, and electrical requirements as defined by the United States and European defence standards performance requirements. Here, PolyClamp is compared with current transient surge suppressors. Typical performance and design are discussed.

Childers, Richard↗

NASA NTRS1990

Insight to human and robotic parallels in spacecraft and space tool design

The parallels between human space activity and robotics and the role of their compatibility in the design of critical spacecraft elements are discussed with reference to current manned spacecraft programs, such as the Shuttle and Space Station Freedom. In particular, it is noted that the human variable may be the limiting factor with regards to repetition, fatigue, and possibly strength. This limiting factor serves as the natural constraint in the design of compatible interfaces. However, the mechanism or tool, not the capability of the robot, is constrained to human limits. Results of a limited test to study the robotic compatibility of the EVA-suitable connectors are reported.

Lewis, Ruthan↗

NASA NTRS1990

Silicon-etalon fiber-optic temperature sensor

A temperature sensor is described which consists of a silicon etalon that is sputtered directly onto the end of an optical fiber. A two-layer protective cap structure is used to improve the sensor's long-term stability. The sensor's output is wavelength encoded to provide a high degree of immunity from cable and connector effects. This sensor is extremely compact and potentially inexpensive.

Beheim, Glenn↗

NASA NTRS1990

Compensation for effects of ambient temperature on rare-earth doped fiber optic thermometer

Variations in ambient temperature have a negative effect on the performance of any fiber optic sensing system. A change in ambient temperature may alter the design parameters of fiber optic cables, connectors, sources, detectors, and other fiber optic components and eventually the performance of the entire system. The thermal stability of components is especially important in a system which employs intensity modulated sensors. Several referencing schemes have been developed to account for the variable losses that occur within the system. However, none of these conventional compensating techniques can be used to stabilize the thermal drift of the light source in a system based on the spectral properties of the sensor material. The compensation for changes in ambient temperature becomes especially important in fiber optic thermometers doped with rare earths. Different approaches to solving this problem are searched and analyzed.

Adamovsky, G.↗

NASA NTRS1992

Preformed Superconductive Devices

Process forms high-temperature superconductors into electrical components as connectors, coils, and conductors. Brittleness no obstacle because material preformed before heated to turn it into ceramic. Substrates made of glass-fiber-reinforced circuit-board material, reduce leakage of heat into ceramic, unlike silver or copper substrates used in making sintered-in-place superconducting ceramics.

Haertling, Gene H.↗

NASA NTRS1992

Robots Would Couple And Uncouple Fluid And Electrical Lines

Robots make and break connections between umbilical plates and mating connectors on rockets about to be launched. Sensing and control systems include vision, force, and torque subsystems. Enhances safety by making it possible to couple and uncouple umbilical plates quickly, without exposing human technicians to hazards of leaking fuels and oxidizers. Significantly reduces time spent to manually connect umbilicals. Robots based on similar principles used in refueling of National AeroSpace Plane (NASP) and satellites and orbital transfer vehicles in space.

Del Castillo, Eduardo Lopez↗

NASA NTRS1992

Quantitative Evaluation Of Teleoperator Performance

Report describes experiments on remote manual control of robotic manipulator. Experiments conducted to evaluate quantitatively relative effectiveness of several control modes: various combinations of position control, rate control, remote compliance, and feedback from force and torque sensors. Tasks evaluated: removing thermal blanket, unbolting electrical panel, and handling bundles of electrical wires and electrical connectors on simulated solar Max satellite by means of remotely controlled robot in teleoperation laboratory.

Das, Hari↗

NASA NTRS1992

The link evaluation terminal for the advanced communications technology satellite experiments program

The experimental NASA satellite, Advanced Communications Technology Satellite (ACTS), introduces new technology for high throughput 30 to 20 GHz satellite services. Contained in a single communication payload is both a regenerative TDMA system and multiple 800 MHz 'bent pipe' channels routed to spot beams by a switch matrix. While only one mode of operation is typical during any experiment, both modes can operate simultaneously with reduced capability due to sharing of the transponder. NASA-Lewis instituted a ground terminal development program in anticipation of the satellite launch to verify the performance of the switch matrix mode of operations. Specific functions are built into the ground terminal to evaluate rain fade compensation with uplink power control and to monitor satellite transponder performance with bit error rate measurements. These functions were the genesis of the ground terminal's name, Link Evaluation Terminal, often referred to as LET. Connectors are included in LET that allow independent experimenters to run unique modulation or network experiments through ACTS using only the RF transmit and receive portions of LET. Test data indicate that LET will be able to verify important parts of ACTS technology and provide independent experimenters with a useful ground terminal. Lab measurements of major subsystems integrated into LET are presented. Bit error rate is measured with LET in an internal loopback mode.

May, Brian D.↗

NASA NTRS1991

Evaluation and Analysis of the ANSI X3T9.5 (FDDI) PMD and Proposed SMF-PMD as Influenced by Various Fiber Link Characteristics

The purpose of this project is to evaluate the operational parameters of the Kennedy Space Center (KSC) fiber optic cable plant. The evaluation is based on the Fiber Distributed Data Interface (FDDI) Physical Medium Dependent (PMD) and Single Mode Fiber (SMF) PMD standards. From the KSC fiber profile, it would be necessary to develop the modifications needed in existing FDDI PMD and proposed SMF-PMD standards to provide for FDDI implementation and operation at KSC. This analysis should examine the major factors that influence the operating conditions of the KSC fiber plant. These factors would include, but are not limited to the number and type of connectors, attenuation and dispersion characteristics of the fiber, non-standard fiber sizes, modal bandwidth, and many other relevant or significant fiber plant characteristics that effect FDDI characteristics. This analysis is needed to gain a better understanding of overall impact that each of these factors have on FDDI performance at KSC.

Wernicki, M. Chris↗

NASA NTRS1991

A lightweight, high strength dexterous manipulator for commercial applications

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed.

Marzwell, Neville I.↗

NASA NTRS1992

The 26th Aerospace Mechanisms Symposium

The purpose of the symposium was to provide a forum for the interchange of information among those active in the field of mechanisms technology. To that end, 25 papers were presented on aeronautics and space flight, with special emphasis on actuators, aerospace mechanism applications for ground-support equipment, lubricants, latches, connectors, and other mechanisms for large space structures. The papers were prepared by authors from a broad aerospace background, including the U.S. aerospace industry, NASA, and European participants.

Source record↗

NASA NTRS1991

Advanced software development workstation. Engineering scripting language graphical editor: DRAFT design document

The Engineering Scripting Language (ESL) is a language designed to allow nonprogramming users to write Higher Order Language (HOL) programs by drawing directed graphs to represent the program and having the system generate the corresponding program in HOL. The ESL system supports user generation of HOL programs through the manipulation of directed graphs. The components of this graphs (nodes, ports, and connectors) are objects each of which has its own properties and property values. The purpose of the ESL graphical editor is to allow the user to create or edit graph objects which represent programs.

Source record↗

NASA NTRS1992

LDEF fiber optic exposure experiment No. S-0109

Ten fiber optic cable samples of different types were exposed in low-earth orbit for over 5.5 years on the Long-Duration Exposure Facility (LDEF). Four of the samples were mounted externally, and the remaining six were internal, under approximately 0.5 g cm(exp -2) of aluminum. The experiment was recovered in Jan. 1990, and laboratory evaluation of the effects of the exposure has continued since. An increase in fiber loss, presumed to be from radiation darkening, aging effects on polymer materials used in cabling, unique contamination effects on connector terminations, and micrometeoroid impacts were observed. In addition, the sample loss was measured for each sample as a function of temperature before and after the flight. All cable samples were functional, and the best exhibited no measurable change in performance, indicating that conventional fiber optic cables can perform satisfactorily in spacecraft. Experimental results obtained to date are presented and discussed.

A R Johnston↗

NASA NTRS1992

Effects of ultra-vacuum and space environment on contact ohmic resistance: LDEF experiment AO 138-11

The FRECOPA experimentation of chemical resistance of electrical connector contacts, as described, has evidenced the detrimental time variations of nickel plated conductors and gilded copper contacts, irrespective of crimping storage or metal peening conditions. With a view to reorient aluminum technology a silvered aluminum conductor/gilded aluminum contact solution was evaluated.

Assie, Jean-Pierre↗

NASA NTRS1991

Estimating radiated power from a conducting tethered satellite system

In anticipation of the upcoming TSS-1 experiment, theoretical calculations are made of radiated power from a conducting tethered satellite system. The radiation results from the steady motion of the system through the ionospheric plasma and it is stimulated by collection and emission of charge by the noninsulated surfaces of the tethered end connectors. A model of the current system is developed which incorporates the tether wire, satellite surfaces, and sheath currents. The radiation impedance of the current model is calculated using the previously developed theory of Barnett and Olbert (1986). The results confirm the low-frequency Alfven wave description with a predicted radiation impedance of a few tenths of an ohm in the Alven wave limit. Calculations are also made in the lower hybrid and whistler wave band. A larger impedance of about 13 ohm is found for the frequency range 5-50 kHz. By estimating the passive ion current drawn by the system a prediction of the total radiated power is also made. The result of 0.38 mW raises the question of whether or not wave emissions from a passive current collecting system may be detectable by either ground- or space-based platforms.

Donohue, D. J.↗

NASA NTRS1992

The Link Evaluation Terminal for the Advanced Communications Technology Satellite Experiments Program

May, Brian D.↗

NASA NTRS1991

Ceramic superconducting components

An approach to the application of high-Tc ceramic superconductors to practical circuit elements was developed and demonstrated. This method, known as the rigid conductor process (RCP), involves the mounting of a preformed, sintered, and tested superconductor material onto an appropriate, rigid substrate with an epoxy adhesive which also serves to encapsulate the element from the ambient environment. Circuit elements such as straight conductors, coils and connectors were fabricated from YBa2Cu3O(7-x) superconducting material. Performance results are included for a low-noise low-thermal-conductivity superconducting grounding link for NASA.

Haertling, G. H.↗