Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Leg”

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 1,009 records · Page 56
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Coronal mass ejections and associated X-ray flare durations

It is found that 22 percent of a sample of M1 or greater impulsive soft X-ray flares were associated with coronal mass ejections (CMEs) observed in the Solwind coronagraph. These flares were more energetic than similar impulsive flares without CMEs, and the associated CMEs were narrow (5-40 deg) in angular width. A survey of all CMEs associated with M1 or greater X-ray flares reveals a good correlation between flare duration CME angular width. The H-alpha characteristics of impulsive, CME-associated flares suggest that they are not the dynamic or eruptive flares presumed to be associated with CMEs, but rather, are confined flares. The H-alpha flare locations are neither centered under the CME legs. The disparity in size scales between the CMEs and their associated flares leaves the basis of the correlation between CME width and X-ray flare duration unresolved.

Kahler, S. W.↗
NASA NTRS1990

Implantable Electrode For Critical Locations

Implantable electrode holds itself in place until body tissue grows around it and retains it. Sheath covers electrode during implantation. Partially retracted after implantation and completely retracted after growth of tissue onto electrode. Intended to provide electrical stimuli to muscles having become inactive through accident or disease. Helps paraplegics and others to exercise voluntary control over arms and legs.

Collins, Earl R., Jr.↗
NASA NTRS1990

Offset Joint For Segmented Pressure Vessel

Concept for increasing reliability of segmented pressure vessel proposed. Inward offset of tang and clevis bands of encircling joint between segments reduces or eliminates gap opening between tang and inner leg of clevis in response to pressure in vessel.

Moore, Carleton J.↗
NASA NTRS1990

Rugged Walking Robot

Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

Larimer, Stanley J.↗
NASA NTRS1989

Age-related changes in human posture control: Motor coordination tests

Postural responses to support surface displacements were measured in 214 normal human subjects ranging in age from 7 to 81 years. Motor tests measured leg muscle Electromyography (EMG) latencies, body sway, and the amplitude and timing of changes in center of pressure displacements in response to sudden forward and backward horizontal translations of the support surface upon which the subjects stood. There were small increases in both EMG latencies and the time to reach the peak amplitude of center of pressure responses with increasing age. The amplitude of center of pressure responses showed little change with age if the amplitude measures were normalized by a factor related to subject height. In general, postural responses to sudden translations showed minimal changes with age, and all age related trends which were identified were small relative to the variability within the population.

Peterka, R. J.↗
NASA NTRS1989

Cardiovascular, renal, electrolyte, and hormonal changes in man during gravitational stress, weightlessness, and simulated weightlessness: Lower body positive pressure applied by the antigravity suit

Because of their erect posture, humans are more vulnerable to gravitational changes than any other animal. During standing or walking man must constantly use his antigravity muscles and his two columns, his legs, to balance against the force of gravity. At the same time, blood is surging downward to the dependent portions of the body, draining blood away from the brain and heart, and requiring a series of complex cardiovascular adjustments to maintain the human in a bipedal position. It was not until 12 April 1961, when Yuri Gagarin became the first human being to orbit Earth, that we could confirm man's ability to maintain vital functions in space -- at least for 90 min. Nevertheless, man's adaptation to weightlessness entails the deconditioning of various organs in the body. Muscles atrophy, and calcium loss leads to loss of bone strength as the demands on the musculoskeletal system are almost nonexistent in weightlessness. Because of the lack of hydrostatic pressures in space, blood rushes to the upper portions of the body, initiating a complex series of cardioregulatory responses. Deconditioning during spaceflight, however, first becomes a potentially serious problem in humans returning to Earth, when the cardiovascular system, muscles and bones are suddenly exposed to the demanding counterforce of gravity -- weight. One of the main purposes of our studies was to test the feasibility of using Lower Body Positive Pressure, applied with an antigravity suit, as a new and alternative technique to bed rest and water immersion for studying cardioregulatory, renal, electrolyte, and hormonal changes in humans. The results suggest that Lower Body Positive Pressure can be used as an analog of microgravity-induced physiological responses in humans.

Kravik, Stein E.↗
NASA NTRS1990

Delamination failure in a unidirectional curved composite laminate

Delamination failure in a unidirectional curved composite laminate was investigated. The curved laminate failed unstably by delaminations developing around the curved region of the laminate at different depths through the thickness until virtually all bending stiffness was lost. Delamination was assumed to initiate at the location of the highest radial stress in the curved region. A closed form curved beam elasticity solution and a 2-D finite element analysis (FEA) were conducted to determine this location. The variation in the strain energy release rate, G, with delamination growth was then determined using the FEA. A strength-based failure criteria adequately predicted the interlaminar tension failure which caused initial delamination onset. Using the G analysis the delamination was predicted to extend into the arm and leg of the laminate, predominantly in mode I. As the initial delamination grew arould the curved region, the maximum radial stress in the newly formed inner sublaminate increased to a level sufficient to cause a new delamination to initiate in the sublaminate with no increase in applied load. This failure progression was observed experimentally.

Martin, Roderick H.↗
NASA NTRS1988

SKITTER/implement mechanical interface

SKITTER (Spacial Kinematic Inertial Translatory Tripod Extremity Robot) is a three-legged transport vehicle designed to perform under the unique environment of the moon. The objective of this project was to design a mechanical interface for SKITTER. This mechanical latching interface will allow SKITTER to use a series of implements such as drills, cranes, etc., and perform different tasks on the moon. The design emphasized versatility and detachability; that is, the interface design is the same for all implements, and connection and detachment is simple. After consideration of many alternatives, a system of three identical latches at each of the three interface points was chosen. The latching mechanism satisfies the design constraints because it facilitates connection and detachment. Also, the moving parts are protected from the dusty environment by housing plates.

Cash, John Wilson, III↗
NASA NTRS1988

Tubular space truss structure for SKITTER 2 robot

The Skitter 2 is a three legged transport vehicle designed to demonstrate the principle of a tripod walker in a multitude of environments. The tubular truss model of Skitter 2 is a proof of principal design. The model will replicate the operational capabilities of Skitter 2 including its ability to self-right itself. The project's focus was on the use of light weight tubular members in the final structural design. A strong design for the body was required as it will undergo the most intense loading. Triangular geometry was used extensively in the body, providing the required structural integrity and eliminating the need for cumbersome shear panels. Both the basic femur and tibia designs also relied on the strong geometry of the triangle. An intense literature search aided in the development of the most suitable weld techniques, joints, linkages, and materials required for a durable design. The hinge design features the use of spherical rod end bearings. In order to obtain a greater range of mobility in the tibia, a four-bar linkage was designed which attaches both to the femur and the tibia. All component designs, specifically the body, femur, and the tibia were optimized using the software package IDEAS 3.8A Supertab. The package provided essential deformation and stress analysis information on each component's design. The final structure incurred only a 0.0544 inch deflection in a maximum (worst case) loading situation. The highest stress experienced by any AL6061-T6 tubular member was 1920 psi. The structural integrity of the final design facilitated the use of Aluminum 6061-T6 tubing. The tubular truss structure of Skitter 2 is an effective and highly durable design. All facets of the design are structurally sound and cost effective.

Beecham, Richard↗
NASA NTRS1987

Proposal for a lunar landing pod for SKITTER

The purpose of this project is to design a lunar landing module for the SKITTER vehicle. SKITTER is a three-legged mobile lunar transport and work platform. This lunar landing module must be able to bring SKITTER, with attached crane, from a lunar orbit to the surface of the Moon. This propulsion system is entirely self-contained and removable after touchdown. SKITTER is unmanned and must be able to touch down on the lunar surface and perform assigned tasks independently of other space or lunar vehicles. The propulsion system is designed to ensure that the vehicle will make a lunar landing within the expected velocity range. A landing gear configuration is presented to safely dissipate landing forces on lunar impact and be removed from the SKITTER structure after touchdown. The overall engineering analysis was conducted to determine an economical design to land SKITTER safely on the Moon. SKITTER will perform various tasks on the surface of the Moon. The completion of this project will determine the feasibility of landing SKITTER with the attached crane safely on the lunar surface.

Herman, David↗
NASA NTRS1988

Mechanical design engineering. NASA/university advanced design program: Lunar Bulk Material Transport Vehicle

The design of a Lunar Bulk Material Transport Vehicle (LBMTV) is discussed. Goals set in the project include a payload of 50 cubic feet of lunar soil with a lunar of approximately 800 moon-pounds, a speed of 15 mph, and the ability to handle a grade of 20 percent. Thermal control, an articulated steering mechanism, a dump mechanism, a self-righting mechanism, viable power sources, and a probable control panel are analyzed. The thermal control system involves the use of small strip heaters to heat the housing of electronic equipment in the absence of sufficient solar radiation and multi-layer insulation during periods of intense solar radiation. The entire system uses only 10 W and weighs about 60 pounds, or 10 moon-pounds. The steering mechanism is an articulated steering joint at the center of the vehicle. It utilizes two actuators and yields a turning radius of 10.3 feet. The dump mechanism rotates the bulk material container through an angle of 100 degree using one actuator. The self-righting mechanism consists of two four bar linkages, each of which is powered by the same size actuator as the other linkages. The LBMTV is powered by rechargeable batteries. A running time of at least two hours is attained under a worst case analysis. The weight of the batteries is 100 pounds. A control panel consisting of feedback and control instruments is described. The panel includes all critical information necessary to control the vehicle remotely. The LBMTV is capable of handling many types of cargo. It is able to interface with many types of removable bulk material containers. These containers are made to interface with the three-legged walker, SKITTER. The overall vehicle is about 15 feet in length and has a weight of about 1000 pounds, or 170 lunar pounds.

Daugherty, Paul↗
NASA NTRS1987

Man-machine interface for the control of a lunar transport machine

A proposed first generation human interface control panel is described which will be used to control SKITTER, a three-legged lunar walking machine. Under development at Georgia Tech, SKITTER will be a multi-purpose, un-manned vehicle capable of preparing a site for the proposed lunar base in advance of the arrival of men. This walking machine will be able to accept modular special purpose tools, such as a crane, a core sampling drill, and a digging device, among others. The project was concerned with the design of a human interface which could be used, from earth, to control the movements of SKITTER on the lunar surface. Preliminary inquiries were also made into necessary modifications required to adapt the panel to both a shirt-sleeve lunar environment and to a mobile unit which could be used by a man in a space suit at a lunar work site.

Ashley, Richard↗
NASA NTRS1990

A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Simmons, Reid↗
NASA NTRS1990

Experiment K-6-27. Analysis of radiographs and biosamples from primate studies

Serial high-contrast radiographs were obtained of both arms and the right leg of two flight and four control monkeys for the period L-60 to S+16. Longitudinal growth of the tibia, radius and ulna was linear over this period in the control monkeys. In the flight monkey for whom the feeder malfunctioned, there were significant decreases in growth of the long bones. There were also hypermineralized growth arrest lines produced in the distal radial and ulnar metaphyses following resumption of growth. In the other flight monkey, there was a suggestion of decreased long bone growth during flight and immediate postflight periods, but this recovered by the end of the postflight control experiment. There was also an increase in intracortical resorption, indicative of skeletal activation. No major changes in cortical thickness or other parameters were noted, but modification of the techniques to obtain very high quality radiographs in further studies should allow subtle changes in these processes to be quantified.

Cann, C.↗
NASA NTRS1990

FIRE aircraft observations of horizontal and vertical transport in marine stratocumulus

A major goal of research on marine stratocumulus is to try to understand the processes that generate and dissipate them. One approach to studying this problem is to investigate the boundary layer structure in the vicinity of a transition from a cloudy to a cloud-free region to document the differences in structure on each side of the transition. Since stratiform clouds have a major impact on the radiation divergence in the boundary layer, the transition from a cloudy to a clear boundary layer is a region of large horizontal inhomogeneity in air temperature and turbulence intensity. This leads to a considerable difference in horizontal and vertical transports between the cloudy and cloud-free regions. Measurements are used from the NCAR Electra aircraft during flights 5 (7 July 1987) and 10 (18 July 1987) of FIRE for this purpose. Flight 5 coincided with a LANDSAT overflight, and was designed to investigate the transition across a well-defined N-S cloud boundary, since the LANDSAT image can document the cloud cover in considerable detail. Turbulence legs were flown about 60 km on both sides of the cloud boundary. Flight 10 was flown at night in an area of scattered small cumuli and broken cloud patches.

Paluch, Ilga R.↗
NASA NTRS1990

Spatial scales of cirrus cloud properties

Research in studying the spatial scales of the cirrus, used data collected during the flight legs of the NCAR Sabreliner aircraft on four days during the FIRE Cirrus IFO to study the spatial scales of the cirrus, and will concentrate on the scales of horizontal wind. The spatial scales of the cloud features can be described by power spectra (or spectral density graphs) and cumulative variance graphs. The cumulative variance graphs were created by first using a Fast Fourier Transform (FFT) to create variance spectra. The variances were then summed in a cumulative fashion from the largest scalelengths (wavelengths) to the smallest. No detrending was done to the original data, and no smoothing or averaging was done to the spectral points. All the spectral points were included. This means that the values of the first five to ten spectral points of the large scalelengths should only be considered to be qualitatively correct. The cumulative variance at smaller scalelengths should be correct because a more accurate representation of the variance at the larger scalelengths should only redistribute the energy amongst the larger scalelengths.

Hein, Paul F.↗
NASA NTRS1990

NASA Langley Research Center National Aero-Space Plane Mission simulation profile sets

To provide information on the potential for long life service of oxidation resistant carbon-carbon (ORCC) materials in the National Aero-Space Plane (NASP) airframe environment, NASP ascent, entry, and cruise trajectories were analytically flown. Temperature and pressure profiles were generated for 20 vehicle locations. Orbital (ascent and entry) and cruise profile sets from four locations are presented along with the humidity exposure and testing sequences that are being used to evaluate ORCC materials. The four profiles show peak temperatures during the ascent leg of an orbital mission of 2800, 2500, 2000, and 1700 F. These profiles bracket conditions where carbon-carbon might be used on the NASP vehicle.

Ohlhorst, Craig W.↗
NASA NTRS1989

First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Krotkov, E.↗