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At least 109 records · Page 6

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NASA NTRS1990

On dynamics and control of multi-link flexible space manipulators

In this paper dynamics, inverse dynamics, and control problems for multi-link flexible space manipulators are presented. In deriving the flexible manipulator dynamics the following are assumed: flexible deformations are relatively small; angular rates of the links are much smaller than their fundamental frequencies; nonlinear terms (centrifugal and Coriolis forces) in the flexible manipulator model are the same as those in the rigid body model. These assumptions are reasonable for large space manipulators, such as the space crane. Flexible displacements are measured with respect to the rigid body configuration, for which a linear time-varying system is obtained. The inverse dynamics problem consists of determination of joint torques, given tip trajectory, such that joint angles in flexible configuration are equal to the angles in the rigid body configuration. The manipulator control system consists of the feedforward compensation and feedback control loops. Simulation results of a two-link space crane with large payload show that the performance of this linearized dynamics and control approach is reasonable and robust subject to parameter variations during slew operations.

Gawronski, W.↗

NASA NTRS1987

SKITTER foot design

A mechanical design team was formed to design a foot for the lunar utility vehicle SKITTER. The primary design was constrained to be a ski pole design compatible with the existing femur-tibia design legs. The lunar environment had several important effects on the foot design. Three materials were investigated for the SKITTER foot: aluminum alloys, cold worked stainless steel alloys, and titanium alloys. Thin film coatings were investigated as a method of wear reduction for the foot. The performance of the foot is dependent on the action of the legs. The range of motion for the legs was determined to be vertical to 15 degrees above horizontal. An impact analysis was performed for the foot movement, but the results were determined to be inconclusive due to unknown soil parameters. The initial foot design configuration consisted of an annulus attached to the pointed pole. The annulus was designed to prevent excess sinkage. Later designs call for a conical shaped foot with a disk at the point of the tibia attachment. The conical design was analyzed for strength and deflection by two different approaches. A deformable body analysis was performed for the foot under crane load in crane position, and also under actuator load in the vertical position. In both cases, the deflection of the foot was insignificant and the stresses well below the strength of the titanium alloy.

Choi, Gene↗

NASA NTRS1992

Validation test of advanced technology for IPV nickel-hydrogen flight cells: Update

Individual pressure vessel (IPV) nickel-hydrogen technology was advanced at NASA Lewis and under Lewis contracts with the intention of improving cycle life and performance. One advancement was to use 26 percent potassium hydroxide (KOH) electrolyte to improve cycle life. Another advancement was to modify the state-of-the-art cell design to eliminate identified failure modes. The modified design is referred to as the advanced design. A breakthrough in the low-earth-orbit (LEO) cycle life of IPV nickel-hydrogen cells has been previously reported. The cycle life of boiler plate cells containing 26 percent KOH electrolyte was about 40,000 LEO cycles compared to 3,500 cycles for cells containing 31 percent KOH. The boiler plate test results are in the process of being validated using flight hardware and real time LEO testing at the Naval Weapons Support Center (NWSC), Crane, Indiana under a NASA Lewis Contract. An advanced 125 Ah IPV nickel-hydrogen cell was designed. The primary function of the advanced cell is to store and deliver energy for long-term, LEO spacecraft missions. The new features of this design are: (1) use of 26 percent rather than 31 percent KOH electrolyte; (2) use of a patented catalyzed wall wick; (3) use of serrated-edge separators to facilitate gaseous oxygen and hydrogen flow within the cell, while still maintaining physical contact with the wall wick for electrolyte management; and (4) use of a floating rather than a fixed stack (state-of-the-art) to accommodate nickel electrode expansion due to charge/discharge cycling. The significant improvements resulting from these innovations are: extended cycle life; enhanced thermal, electrolyte, and oxygen management; and accommodation of nickel electrode expansion. The advanced cell design is in the process of being validated using real time LEO cycle life testing of NWSC, Crane, Indiana. An update of validation test results confirming this technology is presented.

Smithrick, John J.↗

NASA NTRS1992

First Lunar Outpost construction analysis

The topics are presented in viewgraph form and include the following: the construction problem with the radiation shielding; preliminary construction analysis; the feasibility analysis of a small lunar tractor-scraper vehicle (LTSV); the scraper preliminary power analysis; LTSV feasibility; a small lunar dragline crane (LDC); a lunar superstructure arch (LSA); and the feasibility analysis of a lunar self-offloading lander crane.

Grasso, Chris↗

NASA NTRS1993

NASA Lewis advanced IPV nickel-hydrogen technology

Individual pressure vessel (IPV) nickel-hydrogen technology was advanced at NASA Lewis and under Lewis contracts. Some of the advancements are as follows: to use 26 percent potassium hydroxide electrolyte to improve cycle life and performance, to modify the state of the art cell design to eliminate identified failure modes and further improve cycle life, and to develop a lightweight nickel electrode to reduce battery mass, hence reduce launch and/or increase satellite payload. A breakthrough in the LEO cycle life of individual pressure vessel nickel-hydrogen battery cells was reported. The cycle life of boiler plate cells containing 26 percent KOH electrolyte was about 40,000 accelerated LEO cycles at 80 percent DOD compared to 3,500 cycles for cells containing 31 percent KOH. Results of the boiler plate cell tests have been validated at NWSC, Crane, Indiana. Forty-eight ampere-hour flight cells containing 26 and 31 percent KOH have undergone real time LEO cycle life testing at an 80 percent DOD, 10 C. The three cells containing 26 percent KOH failed on the average at cycle 19,500. The three cells containing 31 percent KOH failed on the average at cycle 6,400. Validation testing of NASA Lewis 125 Ah advanced design IPV nickel-hydrogen flight cells is also being conducted at NWSC, Crane, Indiana under a NASA Lewis contract. This consists of characterization, storage, and cycle life testing. There was no capacity degradation after 52 days of storage with the cells in the discharged state, on open circuit, 0 C, and a hydrogen pressure of 14.5 psia. The catalyzed wall wick cells have been cycled for over 22,694 cycles with no cell failures in the continuing test. All three of the non-catalyzed wall wick cells failed (cycles 9,588; 13,900; and 20,575). Cycle life test results of the Fibrex nickel electrode has demonstrated the feasibility of an improved nickel electrode giving a higher specific energy nickel-hydrogen cell. A nickel-hydrogen boiler plate cell using an 80 mil thick, 90 percent porous Fibrex nickel electrode has been cycled for 10,000 cycles at 40 percent DOD.

Smithrick, John J.↗

NASA NTRS1995

Advanced Payload Transfer Measurement System (APT-MS) Mechanical Features

During the last two feet or so of transfer, for a large or heavy payload to its restraining fixture, the consequences of unplanned contact (or impact) between payload and support structure can range from merely annoying to something approaching disaster. Current transfer methods employ technicians with meter sticks stationed at the various hold-down locations to estimate the distances to contact. This information is communicated orally to the crane operator. It is understandable that this work proceeds carefully and therefore slowly. The objectives of this study are (1) to explore mechanical sources of measurement error; and (2) to develop an improved prototype design that is compact, inexpensive, and addresses the measurement error issues. APT is a relatively inexpensive electro-mechanical device that reduces both time and manpower required to make shuttle payload transfers. APT measurement system would provide a GUI for the 'move-conductor' (crane operator) so he could see the displacements of all hold-down interfaces as they move together and thus have a more accurate, comprehensive and 'real-time' picture of the engagement activity. An error model attempts to include all estimatable sources of mechanical error and design features were introduced to reduce or eliminate major sources of error.

Brewer, William V.↗

NASA NTRS1996

STS-80 Flight Day 10

On this tenth day of the STS-80 mission, the flight crew, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave, conduct a thorough check of the tools that Jernigan and Jones will be using for their spacewalk. The astronauts also prepare the middeck for the first spacewalk. The first extravehicular activity will test a telescoping crane which will be used during the assembly of the International Space Station to move large components from module to module. The two astronauts will use the crane to move a simulated space station battery back and forth around the cargo bay.

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NASA NTRS1999

STS-96 Mission Highlights

In this first part of a three-part video mission-highlights set, the flight of the STS-96 Space Shuttle Orbiter Discovery is reviewed. The flight crew consists of Kent V. Rominger, Commander; Rick D. Husband, Pilot; and Mission Specialists Ellen Ochoa, Tamara E. Jernigan, Daniel T. Barry, Julie Payette (Canadian), and Valery Ivanovich Tokarev (Russian). The primary goals of this mission were to work on logistics and resupply the International Space Station (ISS). This is the first flight to dock to the International Space Station. The primary payloads are the Russian cargo crane, known as STRELA, which the astronauts mount to the exterior of the Russian station segment, the SPACEHAB Oceaneering Space System Box (SHOSS), and a U.S. built crane called the ORU Transfer Device (OTD). Other payloads include the Student Tracked Atmospheric Research Satellite for Heuristic International Networking Equipment (STARSHINE), the Shuttle Vibration Forces Experiment (SVF), and the Orbiter Integrated Vehicle Health Monitoring - HEDS Technology Demonstration (IVHM HTD). The traditional pre-launch breakfast, being suited up, entry into the Shuttle, and views of the liftoff from several different vantage points are shown. In-flight footage includes views from the robot arm conducting a television survey of Discovery's payload bay and the flawless docking of the Unity module with the International Space Station. During the docking, camera views from both the ISS and Discovery are presented. These activities make up the first three Flight Days of STS-96.

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NASA NTRS1992

Valve Packing

"S Glass" yarn was originally developed by NASA for high temperature space and aeronautical applications. When John Crane, Inc. required material that would withstand temperatures higher than 1,200 degrees Fahrenheit, they contacted Owens-Corning, which had developed a number of applications for the material. John Crane combines the yarn with other components to make Style 287-I packing. The product can be used in chemical processing operations, nuclear power stations, petroleum products, etc. Advantages include increased service life and reduced maintenance costs.

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NASA NTRS1983

Energy Recovery System

Cogeneration system is one in which the energy ordinarily wasted in an industrial process is recovered and reused to create a second form of energy. Such an energy recovery system is in use at Crane Company's plant in Ferguson, KY, which manufactures ceramic bathroom fixtures. Crane's system captures hot stack gases from the company's four ceramic kilns and uses them to produce electrical power for plant operations.

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NASA NTRS1983

Construction Equipment

FMC Corporation conducts extensive proof lift tests and computerized analysis to insure that the cranes can lift rated capacity loads up to one million pounds in a wide range of applications. In their analysis work, engineers makes use of a computer program supplied by COSMIC. Called Analysis of Beam Columns, the program is used as part of the required analysis for determining bending moments, deflections and critical load for latticed crane booms.

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NASA NTRS2002

Review and Application of ASME NOG-1 and ASME NUM-1-2000

The intent of the workshop is to review the application of the ASME Nuclear Crane Standards ASME NOG-1 and ASME NUM-1-2000. The ASME Nuclear Crane standards provide a basis for purchasing overhead handling equipment with enhanced safety features, based upon accepted engineering principles, and including performance and environmental parameters specific to nuclear facilities.

Lytle, Bradford P.↗

NASA NTRS2005

Lithium-Ion Batteries Being Evaluated for Low-Earth-Orbit Applications

The performance characteristics and long-term cycle life of aerospace lithium-ion (Li-ion) batteries in low-Earth-orbit applications are being investigated. A statistically designed test using Li-ion cells from various manufacturers began in September 2004 to study the effects of temperature, end-of-charge voltage, and depth-of-discharge operating conditions on the cycle life and performance of these cells. Performance degradation with cycling is being evaluated, and performance characteristics and failure modes are being modeled statistically. As technology improvements are incorporated into aerospace Li-ion cells, these new designs can be added to the test to evaluate the effect of the design changes on performance and life. Cells from Lithion and Saft have achieved over 2000 cycles under 10 different test condition combinations and are being evaluated. Cells from Mine Safety Appliances (MSA) and modules made up of commercial-off-the-shelf 18650 Li-ion cells connected in series/parallel combinations are scheduled to be added in the summer of 2005. The test conditions include temperatures of 10, 20, and 30 C, end-of-charge voltages of 3.85, 3.95, and 4.05 V, and depth-of-discharges from 20 to 40 percent. The low-Earth-orbit regime consists of a 55 min charge, at a constant-current rate that is 110 percent of the current required to fully recharge the cells in 55 min until the charge voltage limit is reached, and then at a constant voltage for the remaining charge time. Cells are discharged for 35 min at the current required for their particular depth-of-discharge condition. Cells are being evaluated in four-cell series strings with charge voltage limits being applied to individual cells by the use of charge-control units designed and produced at the NASA Glenn Research Center. These charge-control units clamp the individual cell voltages as each cell reaches its end-of-charge voltage limit, and they bypass the excess current from that cell, while allowing the full current flow to the remaining cells in the pack. The goal of this evaluation is to identify conditions and cell designs for Li-ion technology that can achieve more than 30,000 low-Earth-orbit cycles. Testing is being performed at the Naval Surface Warfare Center, Crane Division, in Crane, Indiana.

McKissock, Barbara I.↗

NASA NTRS2007

Mars Science Laboratory: Entry, Descent, and Landing System Performance

In 2010, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems, by delivering the largest and most capable rover to date to the surface of Mars. To do so, MSL will fly a guided lifting entry at a lift-to-drag ratio in excess of that ever flown at Mars, deploy the largest parachute ever at Mars, and perform a novel Sky Crane maneuver. Through improved altitude capability, increased latitude coverage, and more accurate payload delivery, MSL is allowing the science community to consider the exploration of previously inaccessible regions of the planet. The MSL EDL system is a new EDL architecture based on Viking heritage technologies and designed to meet the challenges of landing increasing massive payloads on Mars. In accordance with level-1 requirements, the MSL EDL system is being designed to land an 850 kg rover to altitudes as high as 1 km above the Mars Orbiter Laser Altimeter defined areoid within 10 km of the desired landing site. Accordingly, MSL will enter the largest entry mass, fly the largest 70 degree sphere-cone aeroshell, generate the largest hypersonic lift-to-drag ratio, and deploy the largest Disk-Gap-Band supersonic parachute of any previous mission to Mars. Major EDL events include a hypersonic guided entry, supersonic parachute deploy and inflation, subsonic heatshield jettison, terminal descent sensor acquisition, powered descent initiation, sky crane terminal descent, rover touchdown detection, and descent stage flyaway. Key performance metrics, derived from level-1 requirements and tracked by the EDL design team to indicate performance capability and timeline margins, include altitude and range at parachute deploy, time on radar, and propellant use. The MSL EDL system, which will continue to develop over the next three years, will enable a notable extension in the advancement of Mars surface science by delivering more science capability than ever before to the surface of Mars. This paper describes the current MSL EDL system performance as predicted by end-to-end EDL simulations, highlights the sensitivity of this baseline performance to several key environmental assumptions, and discusses some of the challenges faced in delivering such an unprecedented rover payload to the surface of Mars.

Way, David W.↗

NASA NTRS1977

Iceproofing Helicopters

NASA aircraft-icing research has been applied to expand the utility of the big flying-crane helicopter built by the Sikorsky Aircraft Division of United Technologies in Stratford, Conn. Sikorsky wanted to adapt the Skycrane, used in both military and commercial service, to lift heavy external loads in areas where icing conditions occur; ice build-up around the engine air inlets caused the major problem. NASA-Lewis has a special wind tunnel for injecting super cooled water droplets into the wind thereby simulating a natural icing cloud and observing how ice builds up on various shaped surfaces. From Lewis, Sikorsky engineers obtained information which optimized the design of the inlet anti-ice system. The resulting design proved to be an effective anti-icing modification for the flying crane. Sikorsky is also using additional Lewis Icing Research Tunnel data in its development of a new VTOL (Vertical Take-Off and Landing) aircraft.

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NASA NTRS2007

Robotics

Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and power modules over long distances, pre-positioning them for the arrival of crew on a subsequent lander. Surface Handling 1. Offload surface system payloads from the lander, breaking launch restraints and power/data connections. Payloads may be offloaded to a wheeled vehicle for transport. 2. Deploy payloads from a wheeled vehicle at a field site, placing the payloads in their final use site on the ground or mating them with existing surface systems. 3. Support regolith collection, site preparation, berm construction, or other civil engineering tasks using tools and implements attached to rovers. Human-Systems Interaction 1. Provide a safe command and control interface for suited EVA to ride on and drive the vehicles, making sure that the systems are also safe for working near dismounted crew. 2. Provide an effective control system for IV crew to tele-operate vehicles, cranes and other equipment from inside the surface habitats with evolving independence from Earth. .. Provide a supervisory system that allows machines to be commanded from the ground, working across the Earth-Lunar time delays on the order of 5-10 seconds (round trip) to support operations when crew are not resident on the surface. Technology Development Needs 1. Surface vehicles that can dock, align and mate with outpost equipment such as landers, habitats and fluid/power interfaces. 2. Long life motors, drive trains, seals, motor electronics, sensors, processors, cable harnesses, and dash board displays. 3. Active suspension control, localization, high speed obstacle avoidance, and safety systems for operating near dismounted crew. 4. High specific energy and specific power batteries that are safe, rechargeable, and long lived.

Ambrose, Robert O.↗

NASA NTRS2006

Mars Science Laboratory: Entry, Descent, and Landing System Performance

Way, David W.↗

NASA NTRS2010

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

Efficient handling of payloads destined for a planetary surface, such as the moon or Mars, requires robust systems to secure the payloads during transport on the ground, in-space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. National Institute of Aerospace, Hampton Va 23662 A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Doggett, William R.↗