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At least 1,081 records · Page 60

A smart end-effector for assembly of space truss structures

A unique facility, the Automated Structures Research Laboratory, is being used to investigate robotic assembly of truss structures. A special-purpose end-effector is used to assemble structural elements into an eight meter diameter structure. To expand the capabilities of the facility to include construction of structures with curved surfaces from straight structural elements of different lengths, a new end-effector has been designed and fabricated. This end-effector contains an integrated microprocessor to monitor actuator operations through sensor feedback. This paper provides an overview of the automated assembly tasks required by this end-effector and a description of the new end-effector's hardware and control software.

Doggett, William R.↗

Nonlinear Attitude Control of Planar Structures in Space Using Only Internal Controls

An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero. The control strategy utilizes the nonintegrability of the expression for the angular momentum. Large angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is summarized.

Reyhanoglu, Mahmut↗

Establishing a relationship between maximum torque production of isolated joints to simulate EVA ratchet push-pull maneuver: A case study

As manned exploration of space continues, analytical evaluation of human strength characteristics is critical. These extraterrestrial environments will spawn issues of human performance which will impact the designs of tools, work spaces, and space vehicles. Computer modeling is an effective method of correlating human biomechanical and anthropometric data with models of space structures and human work spaces. The aim of this study is to provide biomechanical data from isolated joints to be utilized in a computer modeling system for calculating torque resulting from any upper extremity motions: in this study, the ratchet wrench push-pull operation (a typical extravehicular activity task). Established here are mathematical relationships used to calculate maximum torque production of isolated upper extremity joints. These relationships are a function of joint angle and joint velocity.

Pandya, Abhilash↗

Identification and control of structures in space

During the last phase of the project, emphasis has changed to flexible space robotics, by mutual agreement between Dr. R. C. Montgomery, NASA Technical Officer, and the Principal Investigator. Significant advances have been achieved over the period covered by this report. Research has been concerned with two main subjects: (1) the maneuvering and control of freely floating flexible space robots, and (2) the development of a theory for the motion of flexible multibody systems. Work on the first subject has resulted in two papers, both of them concerned with planar maneuvers. The first is concerned with the maneuvering and delivery of a payload to a certain point and in a certain orientation in space. The second is concerned with the docking maneuver with a target whose motion is not known a priori. Both papers will appear in the 'Journal of Guidance, Control, and Dynamics.' The second subject is concerned with the development of hybrid (ordinary and partial) differential equations for the three dimensional motion of flexible multibody systems, a subject of vital interest in flexible space robotics. The paper will appear in the 'Journal of Guidance, Control and Dynamics' in an issue dedicated to the memory of Lawrence W. Taylor, Jr. Abstracts and copies of the papers are hereby included.

Meirovitch, Leonard↗

Structural Health Monitoring of Large Structures

This paper describes a damage detection and health monitoring method that was developed for large space structures using on-orbit modal identification. After evaluating several existing model refinement and model reduction/expansion techniques, a new approach was developed to identify the location and extent of structural damage with a limited number of measurements. A general area of structural damage is first identified and, subsequently, a specific damaged structural component is located. This approach takes advantage of two different model refinement methods (optimal-update and design sensitivity) and two different model size matching methods (model reduction and eigenvector expansion). Performance of the proposed damage detection approach was demonstrated with test data from two different laboratory truss structures. This space technology can also be applied to structural inspection of aircraft, offshore platforms, oil tankers, ridges, and buildings. In addition, its applications to model refinement will improve the design of structural systems such as automobiles and electronic packaging.

Kim, Hyoung M.↗

Particle Identification in the ACCESS Mission

ACCESS (Assembly Concept for Construction of Erectable Space Structures) is a planned Space Station mission to measure the elemental energy spectra of Galactic cosmic rays at energies above 100 GeV/nuc. ACCESS consists of a transition radiation detector (TRD) mounted on top of an ionization calorimeter (IC). A silicon matrix detector placed on top of the IC determines the elemental identity of each cosmic ray measured by the IC. The silicon matrix must be designed to identify each cosmic ray in the presence of backscatter from the calorimeter. Because the TRD is mounted above the IC, the matrix must also recognize cosmic rays that have interacted within the TRD before reaching the IC. We will report the results of detailed GEANT simulations of the silicon matrix in ACCESS. Results will be presented on backscatter interference with charge identification and the ability of the matrix to recognize cosmic rays that interacted in the TRD.

Wang, J. Z.↗

New Measurements of Aerosol Vertical Structure from Space using the NASA Geoscience Laser Altimeter System (GLAS): Applications for Aerosol Transport Models

In the past, satellite measurements of aerosols have only been possible using passive sensors. Analysis of passive satellite data has lead to an improved understanding of aerosol properties, spatial distribution, and their effect on the earth,s climate. However, direct measurement of aerosol vertical distribution has not been possible using only the passive data. Knowledge of aerosol vertical distribution is important to correctly assess the impact of aerosol absorption, for certain atmospheric correction procedures, and to help constrain height profiles in aerosol transport models. On January 12,2003 NASA launched the first satellite-based lidar, the Geoscience Laser Altimeter System (GLAS), onboard the ICESat spacecraft. GLAS is both an altimeter and an atmospheric lidar, and obtains direct measurements of aerosol and cloud heights. Here we show an overview of GLAS, provide an update of its current status, and discuss how GLAS data will be useful for modeling efforts. In particular, a strategy of using GLAS to characterize the height profile of dust plumes over source regions will be presented, along with initial results. Such information can be used to validate and improve output from aerosol transport models. Aerosol height profile comparisons between GLAS and transport models will be shown for regions downwind of aerosol sources. We will also discuss the feasibility of assimilating GLAS profiles into the models in order to improve their output.

Welton, E. J.↗

New Measurements of Aerosol Vertical Structure from Space Using the NASA Geoscience Laser Altimeter System (GLAS): Applications for Aerosol Transport Models

In the past, satellite measurements of aerosols have only been possible using passive sensors. Analysis of passive satellite data has lead to an improved understanding of aerosol properties, spatial distribution, and their effect on the earth s climate. However, direct measurement of aerosol vertical distribution has not been possible using only the passive data. Knowledge of aerosol vertical distribution is important to correctly assess the impact of aerosol absorption, for certain atmospheric correction procedures, and to help constrain height profiles in aerosol transport models. On January 12,2003 NASA launched the first satellite-based lidar, the Geoscience Laser Altimeter System (GLAS), onboard the ICESat spacecraft. GLAS is both an altimeter and an atmospheric lidar, and obtains direct measurements of aerosol and cloud heights. Here we show an overview of GLAS, provide an update of its current status, and discuss how GUS data will be useful for modeling efforts. In particular, a strategy of using GLAS to characterize the height profile of dust plumes over source regions will be presented, along with initial results. Such information can be used to validate and improve output from aerosol transport models. Aerosol height profile comparisons between GLAS and transport models will be shown for regions downwind of aerosol sources. We will also discuss the feasibility of assimilating GLAS profiles into the models in order to improve their output,

Welton, Ellsworth J.↗

Inflatable Hangar for Assembly of Large Structures in Space

The NASA Human Space Flight program is interested in projects where humans, beyond low-Earth orbit (LEO), can make an important and unique contribution that cannot be reasonably accomplished purely by robotic means, and is commensurate with the effort and cost associated with human spaceflight. Robotic space telescope missions have been conceived and launched as completed assemblies (e.g., Hubble) or as jack-in-the-box one-time deployments (e.g., James Webb). If it were possible to assemble components of a very large telescope from one or two launches into a telescope that was vastly greater in light-gathering power and resolution, that would constitute a breakthrough. Large telescopes on Earth, like all one-off precision assembly tasks, are done by humans. Humans in shirtsleeves (or cleanroom bunny suits) can perform tasks of remarkable dexterity and precision. Unfortunately, astronauts in pressure suits cannot perform such dexterous and precise tasks because of the limitations of the pressurized gloves. If a large, inflatable hangar were placed in high orbit, along with all the components needed for a large assembly such as a large telescope, then humans in bunny suits could perform the same sorts of extremely precise and dexterous assembly that they could be expected to perform on Earth. Calculations show that such an inflatable hangar, and the necessary gas to make it safe to occupy by shirtsleeves humans wearing oxygen masks, fits within the mass and volume limitations of the proposed "Space Launch System" heavy-lift rocket. A second launch could bring up all the components of an approximately 100-meter-diameter or larger telescope. A large [200 ft (approximately 61 m) in diameter] inflated fabric sphere (or hangar) would contain four humans in bunny suits. The sphere would contain sufficient atmospheric pressure so that spacesuits would not be necessary [about 3.2 psi (approximately 22 kPa)]. The humans would require only oxygen masks and small backpacks similar to SCUBA tanks. The oxygen content of the gas would be about 35%, low enough to reduce fire risk but high enough to sustain life in the event of a failure of an oxygen mask. The bunnysuited astronauts could ride on long "cherry-picker" robots with foot restraints somewhat similar to the arm on the International Space Station. Other astronauts would maneuver freely with small propeller fans on their backpacks to provide thrust in the zero-g environment.

Wilcox, Brian H.↗

Modeling and simulation challenges for softgoods in space deployable structures

This paper examines modeling and simulation challenges for deployable spacecraft structures with softgood components. Previous studies highlighted the numerical challenges due to the mixture of high stiffness and low stiffness contact in this class of structures. This paper examines the use of the commercial LS-DYNA nonlinear finite element code on a set of relevant benchmark problems.

Mobrem, Mehran↗