Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “MANIPULATORS”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 955 records · Page 53
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Pressure-Sensitive Paint Investigation of Double-Delta Wing Vortex Flow Manipulation

A pressure-sensitive paint (PSP) technique was applied in a wind tunnel experiment in the NASA Langley Research Center 8-Foot Transonic Pressure Tunnel to quantify the effect of wing fillets on the global vortex-induced surface static pressure field about a sharp leading-edge 76 deg/40 deg double delta wing, or strake-wing, model at subsonic and transonic speeds. Global calibrations of the PSP were obtained at M = 0.50, 0.70, 0.85, 0.95, and 1.20, a Reynolds number per unit length of 2.0 million, and angles of attack from 10 degrees to 30 degrees using an in-situ method featuring the simultaneous acquisition of electronically-scanned pressures (ESP) at discrete locations on the model. The mean error in the PSP measurements relative to the ESP data was approximately 2 percent or less at M = 0.50 to 0.85 but increased to several percent at M = 0.95 and 1.20. The PSP pressure distributions and pseudo-colored planform view pressure maps clearly revealed the vortex-induced pressure signatures at all Mach numbers and angles of attack. Small fillets having a parabolic or diamond planform situated at the strake-wing intersection were designed to manipulate the vortical flows by, respectively, removing the leading-edge discontinuity or introducing additional discontinuities. The fillets caused global changes in the vortex-dominated surface pressure field that were effectively captured in the PSP measurements. The vortex surface pressure signatures were compared to available off-surface vortex cross-flow structures obtained using a laser vapor screen (LVS) flow visualization technique. The fillet effects on the PSP pressure distributions and the observed leading-edge vortex flow characteristics were consistent with the trends in the measured lift, drag, and pitching moment coefficients.

Erickson, Gary E.↗
NASA NTRS2004

Pressure-Sensitive Paint Investigation of Double-Delta Wing Vortex Flow Manipulation

A pressure-sensitive paint (PSP) technique was applied in a wind tunnel experiment in the NASA Langley Research Center 8-Foot Transonic Pressure Tunnel to quantify the effect of wing fillets on the global vortex-induced surface static pressure field about a sharp leading-edge 76o/40o double delta wing, or strake-wing, model at subsonic and transonic speeds. Global calibrations of the PSP were obtained at M = 0.50, 0.70, 0.85, 0.95, and 1.20, a Reynolds number per unit length of 2.0 million, and angles of attack from 10 degrees to 20 degrees using an in-situ method featuring the simultaneous acquisition of electronically-scanned pressures (ESP) at discrete locations on the model. The mean error in the PSP measurements relative to the ESP data was approximately 2 percent or less at M = 0.50 to 0.85 but increased to several percent at M =0.95 and 1.20. The PSP pressure distributions and pseudo-colored planform view pressure maps clearly revealed the vortex-induced pressure signatures at all Mach numbers and angles of attack. Small fillets having a parabolic or diamond planform situated at the strake-wing intersection were designed to manipulate the vortical flows by, respectively, removing the leading-edge discontinuity or introducing additional discontinuities. The fillets caused global changes in the vortex-dominated surface pressure field that were effectively captured in the PSP measurements. The vortex surface pressure signatures were compared to available off-surface vortex cross-flow structures obtained using a laser vapor screen (LVS) flow visualization technique. The fillet effects on the PSP pressure distributions and the observed leading-edge vortex flow characteristics were consistent with the trends in the measured lift, drag, and pitching moment coefficients.

Erickson, Gary E.↗
NASA NTRS1997

Manipulating Liquids with Acoustic Radiation Pressure

At the NASA Lewis Research Center, high-intensity ultrasound is being used to create acoustic radiation pressure (ARP) on objects in liquids. It is also being used to create liquid currents or jets called acoustic streaming. NASA's interest in ARP includes remote-control agitation of liquid systems in space, such as in liquid space experiments and liquid propellant tanks. It can be used to eject or deploy droplets for droplet physics or droplet combustion experiments. It can also be used to manipulate bubbles, drops, and surfaces suspended in liquid experiments and propellant systems.

Oeftering, Richard C.↗
NASA NTRS2003

Liquid Propellant Manipulated Acoustically

Fluids are difficult to manage in the space environment. Without gravity, the liquid and gas do not always remain separated as they do in the 1g environment of Earth. Instead the liquid and gas volumes mix and migrate under the influence of surface tension, thermodynamic forces, and external disturbances. As a result, liquid propellants may not be in a useable location or may even form a chaotic mix of liquid and gas bubbles. In the past, mechanical pumps, baffles, and a variety of specialized passive devices have been used to control the liquid and gas volumes. These methods need to be carefully tuned to a specific configuration to be effective. With increasing emphasis on long-term human activity in space there is a trend toward liquid systems that are more flexible and provide greater control. We are exploring new methods of manipulating liquids by using the nonlinear acoustic effects achieved by using beams of highly directed high-intensity acoustic waves.

Oeftering, Richard C.↗
NASA NTRS2006

Humanoid Mobile Manipulation Using Controller Refinement

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. In this paper, it is proposed that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.

Platt, Robert↗
NASA NTRS2006

Humanoid Mobile Manipulation Using Controller Refinement

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. This paper proposes that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.

Platt, Robert↗
NASA NTRS1991

Robust high-performance control for robotic manipulators

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

Seraji, Homayoun↗
NASA NTRS2007

Apparatus and method for centrifugation and robotic manipulation of samples

A device for centrifugation and robotic manipulation of specimen samples, including incubating eggs, and uses thereof are provided. The device may advantageously be used for the incubation of avian, reptilian or any type of vertebrate eggs. The apparatus comprises a mechanism for holding samples individually, rotating them individually, rotating them on a centrifuge collectively, injecting them individually with a fixative or other chemical reagent, and maintaining them at controlled temperature, relative humidity and atmospheric composition. The device is applicable to experiments involving entities other than eggs, such as invertebrate specimens, plants, microorganisms and molecular systems.

Vellinger, John C.↗
NASA NTRS1989

Method and apparatus for adaptive force and position control of manipulators

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Seraji, Homayoun↗
NASA NTRS2009

Manipulating Neutral Atoms in Chip-Based Magnetic Traps

Several techniques for manipulating neutral atoms (more precisely, ultracold clouds of neutral atoms) in chip-based magnetic traps and atomic waveguides have been demonstrated. Such traps and waveguides are promising components of future quantum sensors that would offer sensitivities much greater than those of conventional sensors. Potential applications include gyroscopy and basic research in physical phenomena that involve gravitational and/or electromagnetic fields. The developed techniques make it possible to control atoms with greater versatility and dexterity than were previously possible and, hence, can be expected to contribute to the value of chip-based magnetic traps and atomic waveguides. The basic principle of these techniques is to control gradient magnetic fields with suitable timing so as to alter a trap to exert position-, velocity-, and/or time-dependent forces on atoms in the trap to obtain desired effects. The trap magnetic fields are generated by controlled electric currents flowing in both macroscopic off-chip electromagnet coils and microscopic wires on the surface of the chip. The methods are best explained in terms of examples. Rather than simply allowing atoms to expand freely into an atomic waveguide, one can give them a controllable push by switching on an externally generated or a chip-based gradient magnetic field. This push can increase the speed of the atoms, typically from about 5 to about 20 cm/s. Applying a non-linear magnetic-field gradient exerts different forces on atoms in different positions a phenomenon that one can exploit by introducing a delay between releasing atoms into the waveguide and turning on the magnetic field.

Aveline, David↗
NASA NTRS2009

Developments to Increase the Performance, Operational Versatility and Automation of a Lunar Surface Manipulation System

The objective of this paper is to describe and summarize the results of the development efforts for the Lunar Surface Manipulation System (LSMS) with respect to increasing the performance, operational versatility, and automation. Three primary areas of development are covered, including; the expansion of the operational envelope and versatility of the current LSMS test-bed, the design of a second generation LSMS, and the development of automation and remote control capability. The first generation LSMS, which has been designed, built, and tested both in lab and field settings, is shown to have increased range of motion and operational versatility. Features such as fork lift mode, side grappling of payloads, digging and positioning of lunar regolith, and a variety of special end effectors are described. LSMS operational viability depends on bei nagble to reposition its base from an initial position on the lander to a mobility chassis or fixed locations around the lunar outpost. Preliminary concepts are presented for the second generation LSMS design, which will perform this self-offload capability. Incorporating design improvements, the second generation will have longer reach and three times the payload capability, yet it will have approximately equivalent mass to the first generation. Lastly, this paper covers improvements being made to the control system of the LSMS test-bed, which is currently operated using joint velocity control with visual cues. These improvements include joint angle sensors, inverse kinematics, and automated controls.

Dorsey, John T.↗
NASA NTRS2009

Selective functionalization of carbon nanotube tips allowing fabrication of new classes of nanoscale sensing and manipulation tools

Embodiments in accordance with the present invention relate to techniques for the growth and attachment of single wall carbon nanotubes (SWNT), facilitating their use as robust and well-characterized tools for AFM imaging and other applications. In accordance with one embodiment, SWNTs attached to an AFM tip can function as a structural scaffold for nanoscale device fabrication on a scanning probe. Such a probe can trigger, with nanometer precision, specific biochemical reactions or conformational changes in biological systems. The consequences of such triggering can be observed in real time by single-molecule fluorescence, electrical, and/or AFM sensing. Specific embodiments in accordance with the present invention utilize sensing and manipulation of individual molecules with carbon nanotubes, coupled with single-molecule fluorescence imaging, to allow observation of spectroscopic signals in response to mechanically induced molecular changes. Biological macromolecules such as proteins or DNA can be attached to nanotubes to create highly specific single-molecule probes for investigations of intermolecular dynamics, for assembling hybrid biological and nanoscale materials, or for developing molecular electronics. In one example, electrical wiring of single redox enzymes to carbon nanotube scanning probes allows observation and electrochemical control over single enzymatic reactions by monitoring fluorescence from a redox-active cofactor or the formation of fluorescent products. Enzymes ''nanowired'' to the tips of carbon nanotubes in accordance with embodiments of the present invention, may enable extremely sensitive probing of biological stimulus-response with high spatial resolution, including product-induced signal transduction.

Wade, Lawrence A.↗
NASA NTRS2009

Method and system for spatial data input, manipulation and distribution via an adaptive wireless transceiver

A method and system for spatial data manipulation input and distribution via an adaptive wireless transceiver. The method and system include a wireless transceiver for automatically and adaptively controlling wireless transmissions using a Waveform-DNA method. The wireless transceiver can operate simultaneously over both the short and long distances. The wireless transceiver is automatically adaptive and wireless devices can send and receive wireless digital and analog data from various sources rapidly in real-time via available networks and network services.

Wang, Ray↗
NASA NTRS1999

Robot Manipulator Technologies for Planetary Exploration

NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: 1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, 2) new piezoelectric ultrasonic motors (USM) for light-weight and high torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

Das, H.↗
NASA NTRS2010

Lunar Lander Offloading Operations Using a Heavy-Lift Lunar Surface Manipulator System

This study investigates the feasibility of using a heavy-lift variant of the Lunar Surface Manipulator System (LSMS-H) to lift and handle a 12 metric ton payload. Design challenges and requirements particular to handling heavy cargo were examined. Differences between the previously developed first-generation LSMS and the heavy-lift version are highlighted. An in-depth evaluation of the tip-over risk during LSMS-H operations has been conducted using the Synergistic Engineering Environment and potential methods to mitigate that risk are identified. The study investigated three specific offloading scenarios pertinent to current Lunar Campaign studies. The first involved offloading a large element, such as a habitat or logistics module, onto a mobility chassis with a lander-mounted LSMS-H and offloading that payload from the chassis onto the lunar surface with a surface-mounted LSMS-H. The second scenario involved offloading small pressurized rovers with a lander-mounted LSMS-H. The third scenario involved offloading cargo from a third-party lander, such as the proposed ESA cargo lander, with a chassis-mounted LSMS-H. In all cases, the analyses show that the LSMS-H can perform the required operations safely. However, Chariot-mounted operations require the addition of stabilizing outriggers, and when operating from the Lunar surface, LSMS-H functionality is enhanced by adding a simple ground anchoring system.

Jefferies, Sharon A.↗