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Two laser speckle methods are described to measure strain in high temperature environment and thermal strain caused by high temperature. Both are non-contact, non-destructive and remote sensing techniques that can be automated. The methods have different but overlapping ranges of application with one being more suitable for large plastic deformation.
The Control-Structure Interaction Demonstration Experiment (C-SIDE) is sponsored by the Electro-Optics and Cryogenics Division of Ball Aerospace Systems Group. Our objective is to demonstrate methods of solution to structure control problems utilizing currently available hardware in a system that is an extension of our corporate experience. The larger space structures with which Ball has been associated are the SEASAT radar antenna, Shuttle Imaging Radar (SIR) -A, -B and -C antennas and the Radarsat spacecraft. The motivation for the C-SIDE configuration is to show that integration of active figure control in the radar's system-level design can relieve antenna mechanical design constraints. This presentation is primarily an introduction to the C-SIDE testbed. Its physical and functional layouts, and major components are described. The sensor is of special interest as it enables direct surface figure measurements from a remote location. The Remote Attitude Measurement System (RAMS) makes high-rate, unobtrusive measurements of many locations, several of which may be collocated easily with actuators. The control processor is a 386/25 executing a reduced order model-based algorithm with provision for residual mode filters to compensate for structure interaction. The actuators for the ground demonstration are non-contacting, linear force devices. Results presented illustrate some basic characteristics of control-structure interaction with this hardware. The testbed will be used for evaluation of current technologies and for research in several areas. A brief indication of the evolution of the C-SIDE is given at the conclusion.
This paper describes the design analysis and application of a laser based gage made specifically for measuring parts on the machine tool to a high accuracy. The tri-beam gage uses three beams of light to measure the local curvature of the part in a manner similar to a V-block gage. The properties of this design include: calibration that is independent of the machine tool scales, non-contact damage free operation, low cost of the gage, and the ability to measure parts in motion.
A program was awarded under the Air Force Machine Tool Sensor Improvements Program Research and Development Announcement to develop and demonstrate the use of a Capacitance Sensor System including Capacitive Non-Contact Analog Probe and a Capacitive Array Dimensional Measurement System to check the dimensions of complex shapes and contours on a machine tool or in an automated inspection cell. The manufacturing of complex shapes and contours and the subsequent verification of those manufactured shapes is fundamental and widespread throughout industry. The critical profile of a gear tooth; the overall shape of a graphite EDM electrode; the contour of a turbine blade in a jet engine; and countless other components in varied applications possess complex shapes that require detailed and complex inspection procedures. Current inspection methods for complex shapes and contours are expensive, time-consuming, and labor intensive.
Vision is one of the most powerful forms of non-contact sensing for monitoring and control of manufacturing processes. However, processes involving an arc plasma or flame such as welding or thermal spraying pose particularly challenging problems to conventional vision sensing and processing techniques. The arc or plasma is not typically limited to a single spectral region and thus cannot be easily filtered out optically. This paper presents an innovative vision sensing system that uses intense stroboscopic illumination to overpower the arc light and produce a video image that is free of arc light or glare and dedicated image processing and analysis schemes that can enhance the video images or extract features of interest and produce quantitative process measures which can be used for process monitoring and control. Results of two SBIR programs sponsored by NASA and DOE and focusing on the application of this innovative vision sensing and processing technology to thermal spraying and welding process monitoring and control are discussed.
Viewgraphs on flight telerobotic servicer evolution are presented. Topics covered include: paths for FTS evolution; frequently performed actions; primary task states; EPS radiator panel installation; generic task definitions; path planning; non-contact alignment; contact planning and control; and human operator interface.
This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.
Results are presented which were obtained from vibration measurements at discrete locations on a randomly excited structure to estimate the power spectral density of bending strain. The technique is intended to be applied using a scanning laser vibrometer to allow a non-contacting measurement of random bending strain over the surface of a structure. The experimental setup is described along with the data analysis procedure. The results presented here indicate that the method is practical and can lead to reliable estimates.
This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.
Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.
Recent results on a 565-690 GHz SIS heterodyne receiver employing a 0.36 micron(sup 2) Nb/AlOx/Nb SIS tunnel junction with high quality circular non-contacting back short and E-plane tuners in a full height wave guide mount are reported. No resonant tuning structures were incorporated in the junction design at this time, even though such structures are expected to help the performance of the receiver. The receiver operates to at least the gap frequency of Niobium, approximately 680 GHz. Typical receiver noise temperatures from 565-690 GHz range from 160K to 230K with a best value of 185K DSB at 648 GHz. With the mixer cooled from 4.3K to 2K the measured receiver noise temperatures decreased by approximately 15 percent, giving roughly 180K DSB from 660 to 680 GHz. The receiver has a full 1 GHz IF pass band and was successfully installed at the Caltech Submillimeter Observatory in Hawaii.
A completely new method of non-contacting, hostile environment displacement and strain measurement based on the focus and scanning of x-rays, has been developed and demonstrated. The new technique has the ability to overcome many of the limitations associated with available methods. The system is based on the focus and scanning of low energy, hard x-rays such as those emanating from table top copper or molybdenum sources. The x-rays are focused into a narrow and intense line image which can be swept onto targets that fluoresce secondary x-ray radiation. By monitoring the secondary radiation intensity and comparing it with the focused x-ray image's position as it is swept over the target edge, the position of the target edge relative to the focused image can be determined. The present system has a resolution of 0.5 micron, which has been shown to be limited by bearing backlash (or 'yaw' error) in the linear translation table. Its use has been demonstrated in the presence of an open flame with a resultant target temperature in excess of 2000 degrees Fahrenheit (1000 degrees Celsius). Strain measurements have been conducted in a laboratory environment at both room temperature and at a specimen temperature of 1300 degrees Fahrenheit, with an accuracy of within 20 microstrain (primarily a function of the 0.5 micron resolution limit). The main advantage of the technique lies in the penetrating, non-refractive nature of x-rays, which are virtually immune to the presence of refracting gas layers, smoke, flame or intense thermal radiation.
Navistar International Transportation Corporation, Chicago, IL, used three separate NASA-developed technologies in the design and testing of their 3000 Series Bus Chassis which was developed expressly for school bus applications. For structural analysis, they used the MSC/NASTRAN program which mathematically analyzes a design and predicts how it will hold up under stress. They also used the SPATE 9000 system for non-contact measurement of stress, load transfer mechanisms, detection of hidden flaws, and monitoring structural changes during fatigue testing. SPATE 9000 was based on infrared stress measurement technology developed by Langley Research Center. They also employed the Wyle Ride Quality Meter, which was developed by Langley to aid in passenger aircraft design by providing an accurate measurement of ride vibration and sound level. These numbers translate into a subjective discomfort level index. These technologies contribute to the company's 45-48 percent share of the school bus chassis market.
Resonant vibrations have been stimulated in thin metal plates using a non-contacting electromagnetic driver. A sinusoidal force was applied in a swept frequency fashion and the resulting surface displacements were monitored through the use of an acoustic microphone. It has been found that the presence of a fatigue crack in the sample causes a broadening of the second resonance peak. The Q factors of the resonance curves were determined and are directly correlated with the presence of fatigue cracks in the samples. The broadening of the curves is explained in terms of a microslipping at the crack face walls which reduces the amplitude of the resonant vibration by increasing the damping of the system. A comparison is made between the resonance characteristics of fatigue damaged and notched samples, where the stiffness of the two systems is nearly constant while the interaction between crack face walls is eliminated in the latter.
Advances in the technique of fatigue crack characterization by resonant modal analysis have been achieved through a new excitation mechanism and data reduction of multiple resonance modes. A non-contacting electromagnetic device is used to apply a time varying Lorentz force to thin conducting sheets. The frequency and direction of the Lorentz force are such that resonance modes are generated in the test sample. By comparing the change in frequency between distinct resonant modes of a sample, detecting and sizing of fatigue cracks are achieved and frequency shifts caused by boundary condition changes can be discriminated against. Finite element modeling has been performed to verify experimental results.
A counter-rotating machine, such as a positive displacement pump having a pair of meshed, non-contacting helical screws (10,12), subjects its rotating members to axial and radial thrust forces when used for such purposes as compression of liquid or gaseous phase fluids while transporting them through a pump cavity (11,13). Each helical screw (10,12) has a shaft (17,17') which is actively suspended at opposite ends (11a,11b) of the pump cavity by a servo-controlled magnetic bearing assembly (19) and a servo-controlled rotary drive motor (20). Both bearing assemblies and drive motors are mounted on the outside of the pump cavity (11,13). Opto-electric angular position sensors (250) provide synchronization between radial orientation of the drive motors. The bearing assemblies and drive motors conjugately provide axial stabilization and radial centering of the helical screws during volumetric compression of aspirated liquid or gaseous phase fluids.
Two laser beams derived from a laser pass through a furnace and are superposed in a laser spot to produce interference fringes having the same pitch as that of a Ronchi grating printed on a retroreflecting screen. Minute fluctuations of the laser beams caused by sound waves from leaks result in intensity fluctuations of the laser spot when the laser fringes move past the fixed grating. A telescope and photocell arrangement detects the light variations to produce an electrical signal which is amplified and filtered to detect the sound of leaks. This non-contact laser Schlieren microphone is sensitive to sounds all along the path of the beams.
In-space joining technologies are crucial for stimulating an in-space economy and for enabling sustained space exploration by in-space manufacturing and repair of metallic structures. Compared to brazing or soldering, in-space welding (ISW) can provide highly hermetic, strong, and complex joints, potentially without introducing additional material. However, the influence of extreme temperatures, reduced pressure, and reduced gravity on ISW is not yet fully elucidated. Several efforts at NASA are investigating laser beam welding (LBW) as a joining and repair method in both thermal vacuum (TVAC) and combined vacuum & reduced gravity environments. NASA Marshall Space Flight Center (MSFC) shepherded several ISW projects in its past, including the 1973 electron beam welding on Skylab, the 1989 low-power LBW on parabolic flights, and the unflown 1990s-era In-Space Welding Experiment. Recent parabolic flights and 3 degree-of-freedom ground testing build upon this heritage. A collaboration with the Ohio State University using NASA Langley Research Center (LaRC) hardware retrofitted for LBW achieved the first high-powered laser welds under vacuum and low gravity and developed a workforce capable developing such experimental hardware. A ground testing campaign at the MSFC Flat Floor simulated fit-up and welding representative of ISW in 3 degrees of freedom to emulate microgravity effects on inertial systems. One ongoing effort is a NASA Early Career Initiative project – Lunar Assembly and Servicing by Autonomous Robotics (LASAR). Ruggedized LBW components were developed by an external partner for use in TVAC. A TVAC-rated robotic arm was procured by MSFC and used in the first known robotic laser weld where all components save the laser generator were under vacuum. NASA Johnson Space Center (JSC) is advancing supervised autonomy of ISW. NASA LaRC continues to adapt their unique snowflake joint geometry, suitable for connecting segments in trusses and other structures, to LBW. Upcoming TVAC campaigns will focus on testing extreme temperatures, proving out autonomous operations, and demonstrating weld repair. Weld inspection will occur via a non-contact nondestructive evaluation (NDE) technique – electromagnetic acoustic transduction (EMAT). Another ongoing effort based at MSFC is the DISCMAN -- DIsk-Shaped Configurable and Modular vAcuum uNit – which seeks to development a compact, modular payload that can provide a vacuum environment while in a reduced gravity condition. This payload could support multiple in-space manufacturing developmental efforts, with the first demonstration technology being LBW. Currently, the design is targeting operations in the pressurized volume of a space station, but the payload could readily be adapted to other flight platforms such as parabolic or even suborbital vehicles. LASAR elucidates the effects of temperature and vacuum on LBW while DISCMAN probes those of vacuum and gravity. Through these complementary efforts, NASA is addressing the primary challenges of ISW across the space environment while simultaneously developing and maturing technologies including robotic systems and inspection methodologies for future practical implementation on the Moon and beyond. This approach is timely, as upcoming missions requiring sustained human presence in space will depend on reliable ISW capabilities to create robust metallic joints currently unproven in the space environment and to perform repairs in situ .