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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 1,081 records · Page 60
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Effect of joint imperfections on static control of adaptive structures as space cranes

Effect of imperfections in the joints of an adaptive structure on its slow (no inertia forces) motion along a prescribed trajectory as a space crane is studied. Two mathematical models to predict the effect of joint imperfections are proposed. The two models are used to obtain estimates of the deviations of the node of the space crane to which the end-effector is attached, from its prescribed trajectory. An application of the models to a two-section space crane is given.

Ramesh, A. V.↗
NASA NTRS1991

Distributed-Computer System Optimizes SRB Joints

Initial calculations of redesign of joint on solid rocket booster (SRB) that failed during Space Shuttle tragedy showed redesign increased weight. Optimization techniques applied to determine whether weight could be reduced while keeping joint closed and limiting stresses. Analysis system developed by use of existing software coupling structural analysis with optimization computations. Software designed executable on network of computer workstations. Took advantage of parallelism offered by finite-difference technique of computing gradients to enable several workstations to contribute simultaneously to solution of problem. Key features, effective use of redundancies in hardware and flexible software, enabling optimization to proceed with minimal delay and decreased overall time to completion.

Rogers, James L., Jr.↗
NASA NTRS1990

Joint JSC/GSFC two-TDRS navigation certification results for STS-29, STS-30, and STS-32

The procedures used and the results obtained in the joint Johnson Space Center (JSC)/Goddard Space Flight Center (GSFC) navigation certification of the two-Tracking and Data Relay Satellite (TDRS) S-band tracking configuration for support of low- to medium-inclination (28.5 to 62 degrees) Shuttle missions (STS-29 and STS-30) and Shuttle rendezvous missions (STS-32) are described. The objective of this certification effort was to certify the two-TDRS configuration for nominal Space Transportation System (STS) on-orbit navigation support, thereby making it possible to significantly reduce the ground tracking support requirements for routine STS on-orbit navigation. JSC had the primary responsibility for certification of the two-TDRS configuration for STS support, and GSFC supported the effort by performing Ground Network (GN) and Space Network (SN) tracking data evaluation, parallel orbit solutions, and solution comparisons. In the certification process, two types of orbit determination solutions were generated by JSC and by GSFC for each tracking arc evaluated, one type using TDRS-East and TDRS-West tracking data combined with ground tracking data (the reference solutions) and one type using only TDRS-East and TDRS-West tracking data. The two types of solutions were then compared to determine the maximum position differences over the solution arcs and whether these differences satisfied the navigation certification criteria. The certification criteria were a function of the type of Shuttle activity in the tracking arc, i.e., quiet, moderate, or active. Quiet periods included no attitude maneuvers or ventings; moderate periods included one or two maneuvers or ventings; and active periods included more than two maneuvers or ventings. The results of the individual JSC and GSFC certification analyses for the STS-29, STS-30, and STS-32 missions and the joint JSC/GSFC conclusions regarding certification of the two-TDRS S-band configuration for STS support are presented.

Schmidt, Thomas G.↗
NASA NTRS1991

A passivity based control methodology for flexible joint robots with application to a simplified shuttle RMS arm

The main goal is to develop a general theory for the control of flexible robots, including flexible joint robots, flexible link robots, rigid bodies with flexible appendages, etc. As part of the validation, the theory is applied to the control law development for a test example which consists of a three-link arm modeled after the shoulder yaw joint of the space shuttle remote manipulator system (RMS). The performance of the closed loop control system is then compared with the performance of the existing RMS controller to demonstrate the effectiveness of the proposed approach. The theoretical foundation of this new approach to the control of flexible robots is presented and its efficacy is demonstrated through simulation results on the three-link test arm.

Sicard, Pierre↗
NASA NTRS1991

Optical joint correlator for real-time image tracking and retinal surgery

A method for tracking an object in a sequence of images is described. Such sequence of images may, for example, be a sequence of television frames. The object in the current frame is correlated with the object in the previous frame to obtain the relative location of the object in the two frames. An optical joint transform correlator apparatus is provided to carry out the process. Such joint transform correlator apparatus forms the basis for laser eye surgical apparatus where an image of the fundus of an eyeball is stabilized and forms the basis for the correlator apparatus to track the position of the eyeball caused by involuntary movement. With knowledge of the eyeball position, a surgical laser can be precisely pointed toward a position on the retina.

Juday, Richard D.↗
NASA NTRS1989

Dynamic modeling of multi-jointed mechanical systems for space applications

The dynamic formulation, modeling and motion simulation of multijointed open-chained mechanical systems as applied to space-based robotic systems are presented. Equations of motion are formulated in a unique manner based on a form of Lagrange's equations for quasi-coordinates (Boltzmann-Hamel equations). In order that kinematic joint constraints can be satisfied for the situation where some joints have less than three degrees of freedom, the equations are transformed into forms in terms of relative angular velocities and Euler angles. Rigid multibody examples are presented which show that the method can provide a dynamic model of systems of varying complexity.

Quinn, R. D.↗
NASA NTRS1991

Eigenvalue sensitivity analysis of planar frames with variable joint and support locations

Two sensitivity equations are derived in this study based upon the continuum approach for eigenvalue sensitivity analysis of planar frame structures with variable joint and support locations. A variational form of an eigenvalue equation is first derived in which all of the quantities are expressed in the local coordinate system attached to each member. Material derivative of this variational equation is then sought to account for changes in member's length and orientation resulting form the perturbation of joint and support locations. Finally, eigenvalue sensitivity equations are formulated in either domain quantities (by the domain method) or boundary quantities (by the boundary method). It is concluded that the sensitivity equation derived by the boundary method is more efficient in computation but less accurate than that of the domain method. Nevertheless, both of them in terms of computational efficiency are superior to the conventional direct differentiation method and the finite difference method.

Chuang, Ching H.↗
NASA NTRS1990

Multi-target tracking using a hybrid joint transform correlator

A technique using data association target tracking in a motion sequence via an adaptive joint transform correlator is presented. The massive data in the field of view can be reduced to a few correlation peaks. The average velocity of a target during the tracking cycle is then determined from the location of the correlation peak. A data-association algorithm is used for the analysis of these correlation signals, for which multiple targets can be tracked. A phase-mostly liquid-crystal TV is used in the hybrid joint transform correlation system, and simultaneous tracking of three targets is demonstrated.

Yu, Francis T. S.↗
NASA NTRS1992

Robot Would Assemble Collet/Flexible-Drive Truss Joint

Proposed truss joint designed for assembly by robot. Requires only simple motions of end effector of robot, tolerates relatively large initial misalignment of strut, and assembled with little feedback. Principal features of joint: expanding collet latches it to node ball and collet expanded by flexible drive shaft operated by robot. Developed for Space Station, also used for robotic construction in hazardous or undersea locations.

Evenson, Erik E.↗
NASA NTRS1991

Space Station Freedom solar alpha joint growth capability

The Solar Alpha Rotary Joint (SARJ) helps to align the power generation system, onboard the Space Station Freedom, with the sun. The SARJ is responsible for providing structural continuity and controlled rotation to the outboard transverse booms. The SARJ also provides continuous power, data, and video transfer across the joint.

Snyder, David↗
NASA NTRS1991

Welding technology transfer task/laser based weld joint tracking system for compressor girth welds

Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.

Looney, Alan↗
NASA NTRS1991

Maximum aposteriori joint source/channel coding

A maximum aposteriori probability (MAP) approach to joint source/channel coder design is presented in this paper. This method attempts to explore a technique for designing joint source/channel codes, rather than ways of distributing bits between source coders and channel coders. For a nonideal source coder, MAP arguments are used to design a decoder which takes advantage of redundancy in the source coder output to perform error correction. Once the decoder is obtained, it is analyzed with the purpose of obtaining 'desirable properties' of the channel input sequence for improving overall system performance. Finally, an encoder design which incorporates these properties is proposed.

Sayood, Khalid↗
NASA NTRS1992

Analysis of multifastener composite joints

A new numerical procedure for determining load proportioning in multiple-hole mechanical joints in composite plates is presented. The joints are loaded in double lap fashion in tension with pins through the holes. The commercial finite-element program ABAQUS is used to predict the load proportioning among holes using two independent plane stress finite-element models, one representing the composite inner lap and one representing the two steel outer laps, interacting through rigid circular surfaces. The circular surfaces effectively represent rigid pins. Load proportioning is predicted for a number of geometries. Excellent correlation with experimental data is obtained. Experimental and computed surface strains are also found to compare well. The assumption of a radial cosine distribution of contact stress between pin and hole is shown to be substantially in error for some holes.

Griffin, O. H., Jr.↗
NASA NTRS1992

Joints in Venusian lava flows

The bright polygonal patterns seen in some Magellan images of the volcanic plains are interpreted as joint networks. Several areas displaying such patterns are identified, noting their areal extent, the presence of volcanic features, and the regional topography. Intersection geometries of the lineations defining the polygonal patterns are typical of those found in tensile networks. In addition, the polygonal patterns exhibit no preferred orientation, implying that they are the result of horizontally isotropic stress fields. It is demonstrated that sufficient tensile stresses develop in a cooling Venusian flow to allow joints to form and that the thermal strain predicted is not incompatible with that observed. It is suggested that the tensioned networks are the result of a thermally stressed layer much thicker than a single lava flow. A second model is also considered in which thermal stresses develop as a result of regional elevation of the temperature gradient.

Johnson, Catherine L.↗
NASA NTRS1992

An assumed joint-Beta PDF approach for supersonic turbulent combustion

In a recent experiment, Cheng et al. (1991) used ultraviolet spontaneous vibrational Raman scattering and laser-induced predissociative fluorescence techniques for simultaneous measurements of temperature and concentrations of O2, H2, H2O, OH, and N2 (and their rms) in supersonic turbulent reacting shear layers. Because present computational techniques are not suited for prediction of all of the above measurements, a new approach has been developed and is being used to predict all relevant flow properties and their rms (where appropriate). The approach explores the use of a joint-Beta PDF for concentrations. It was found that the general expression of this PDF was impractical because of decoding problems resulting from determining the various parameters of the PDF. Thus, a special case of this general expression was considered. Calculations using this simplified version of the joint-Beta PDF were not consistent with the available data from the experiment.

Baurle, R. A.↗
NASA NTRS1993

Truss Slip Joint

Truss slip joint has few parts, strong, and assembled and disassembled easily. Designed to carry axial loads as large as 100,000 lb and to accommodate slight initial axial-displacement and angular misalignments. Joint assembled or disassembled by astronaut in space suit or, on Earth, by technician in heavy protective clothing; simple enough to be operable by robot. Modified to accommodate welding.

Thomas, Frank↗
NASA NTRS1992

Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators

A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.

Sicard, Pierre↗
NASA NTRS1992

Demonstration of a joint US-Russian very long baseline interferometry tracking capability

This article discusses results of the first very long baseline interferometric (VLBI) measurements between antennas of the NASA DSN and the Russian three-station spacecraft tracking network. The VLBI systems of the U.S. and Russian tracking networks are described, and their compatibility for joint U.S.-Russian measurements is discussed. The results of a series of VLBI measurements involving Deep Space Stations and Russian tracking antennas are presented. The purpose of these first observations is to establish the compatibility of the two VLBI recording systems and verify that data recorded on these systems can be successfully correlated. The delay and delay rate observables produced by correlation of the recorded data are then used to estimate the locations of the Russian tracking stations relative to the Deep Space Stations. These first experiments, carried out at 1.7 GHz, are precursors to a future series of observations at 2 and 8 GHz, which will provide far more accurate station location estimates. The capability of the VLBI systems for joint U.S.-Russian spacecraft navigation measurements is also discussed.

Kroger, P. M.↗