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At least 1,171 records · Page 65
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

High power handling digitizer using photonics

Devices, methods for analog-to-digital converters (ADCs) that perform high-dynamic range measurements based on optical techniques are disclosed. In one example aspect, an optical encoder includes a polarization rotator configured to receive a train of optical pulses, and an electro-optic (EO) modulator coupled to an output of the polarization rotator. The EO modulator is configured to receive a radio frequency (RF) signal and to produce a phase modulated signal in accordance with the RF signal. The optical encoder also includes a polarizing beam splitter coupled to the output of the EO modulator; and an optical hybrid configured to receive two optical signals from the polarizing beam splitter and to produce four optical outputs that are each phase shifted with respect to one another.

DeVore, Peter Thomas Setsuda↗
DOE OSTI2025

A study on dc fault handling of dc-dc converter based on series and parallel connected DABs in MVdc applications

With the increase of direct current (dc) based power generating stations and loads, multi-terminal medium voltage dc (MT-MVdc) systems are gaining popularity. The dc sources and loads are interfaced with the MT-MVdc systems using series and parallel connected dual-active-bridge (SP-DAB). In this paper, the dc fault ride through procedure of SP-DAB meant for MT-MVdc application is analyzed. The need for dc breaker (DCB) under the requirements of MT-MVdc is established through EMT simulation studies. It is shown that an additional dc filter capacitor is essential at the output terminals of the SP-DAB to ride through the dc faults.

Jaldanki, Sreenivasa [ORNL] (ORCID:000000028122322↗
NASA NTRS1997

Multicriteria Gain Tuning for Rotorcraft Flight Controls (also entitled The Development of the Conduit Advanced Control System Design and Evaluation Interface with a Case Study Application Fly by Wire Helicopter Design)

Handling qualities analysis and control law design would seem to be naturally complimenting components of aircraft flight control system design, however these two closely coupled disciplines are often not well integrated in practice. Handling qualities engineers and control system engineers may work in separate groups within an aircraft company. Flight control system engineers and handling quality specialists may come from different backgrounds and schooling and are often not aware of the other group's research. Thus while the handling qualities specifications represent desired aircraft response characteristics, these are rarely incorporated directly in the control system design process. Instead modem control system design techniques are based on servo-loop robustness specifications, and simple representations of the desired control response. Comprehensive handling qualities analysis is often left until the end of the design cycle and performed as a check of the completed design for satisfactory performance. This can lead to costly redesign or less than satisfactory aircraft handling qualities when the flight testing phase is reached. The desire to integrate the fields of handling qualities and flight,control systems led to the development of the CONDUIT system. This tool facilitates control system designs that achieve desired handling quality requirements and servo-loop specifications in a single design process. With CONDUIT, the control system engineer is now able to directly design and control systems to meet the complete handling specifications. CONDUIT allows the designer to retain a preferred control law structure, but then tunes the system parameters to meet the handling quality requirements.

Biezad, Daniel↗
NASA NTRS2007

Screw-locking wrench

A tool comprises a first handle and a second handle, each handle extending from a gripping end portion to a working end portion, the first handle having first screw threads disposed circumferentially about an inner portion of a first through-hole at the working end portion thereof, the second handle having second screw threads disposed circumferentially about an inner portion of a second through-hole at the working end portion thereof, the first and second respective through-holes being disposed concentrically about a common axis of the working end portions. First and second screw locks preferably are disposed concentrically with the first and second respective through-holes, the first screw lock having a plurality of locking/unlocking screw threads for engaging the first screw threads of the first handle, the second screw lock having a plurality of locking/unlocking screw threads for engaging the second screw threads of the second handle. A locking clutch drive, disposed concentrically with the first and second respective through-holes, engages the first screw lock and the second screw lock. The first handle and the second handle are selectively operable at their gripping end portions by a user using a single hand to activate the first and second screw locks to lock the locking clutch drive for either clockwise rotation about the common axis, or counter-clockwise rotation about the common axis, or to release the locking clutch drive so that the handles can be rotated together about the common axis either the clockwise or counter-clockwise direction without rotation of the locking clutch drive.

Vranish, John M.↗
NASA NTRS1990

Integrated Aerodynamic and Control System Design of Oblique Wing Aircraft

An efficient high speed aircraft design must achieve a high lift to drag ratio at transonic and supersonic speeds. In 1952 Dr. R. T. Jones proved that for any flight Mach number minimum drag at a fixed lift is achieved by an elliptic wing planform with an appropriate oblique sweep angle. Since then, wind tunnel tests and numerical flow models have confirmed that the compressibility drag of oblique wing aircraft is lower than similar symmetrical sweep designs. At oblique sweep angles above thirty degrees the highly asymmetric planform gives rise to aerodynamic and inertia couplings which affect stability and degrade the aircraft's handling qualities. In the case of the NASA-Rockwell Oblique Wing Research Aircraft, attempts to improve the handling qualities by implementing a stability augmentation system have produced unsatisfactory results because of an inherent lack of controllability in the proposed design. The present work focuses on improving the handling qualities of oblique wing aircraft by including aerodynamic configuration parameters as variables in the control system synthesis to provide additional degrees of freedom with which to further decouple the aircraft's response. Handling qualities are measured using a quadratic cost function identical to that considered in optimal control problems, but the controller architecture is not restricted to full state feedback. An optimization procedure is used to simultaneously solve for the aircraft configuration and control gains which maximize a handling qualities measure, while meeting imposed constraints on trim. In some designs wing flexibility is also modeled and reduced order controllers are implemented. Oblique wing aircraft synthesized by this integrated design method show significant improvement in handling qualities when compared to the originally proposed closed loop aircraft. The integrated design synthesis method is then extended to show how handling qualities may be traded for other types of mission performance (drag, weight, etc.). Examples are presented which show how performance can be maximized while maintaining a desired level of handling quality.

Morris, Stephen James↗
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.↗
NASA NTRS2011

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. 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.↗
NASA NTRS2016

Green Propellant Landing Demonstration at U.S. Range

The Green Propellant Loading Demonstration (GPLD) was conducted December 2015 at Wallops Flight Facility (WFF), leveraging work performed over recent years to bring lower toxicity hydrazine replacement green propellants to flight missions. The objective of this collaboration between NASA Goddard Space Flight Center (GSFC), WFF, the Swedish National Space Board (SNSB), and Ecological Advanced Propulsion Systems (ECAPS) was to successfully accept LMP-103S propellant at a U.S. Range, store the propellant, and perform a simulated flight vehicle propellant loading. NASA GSFC Propulsion (Code 597) managed all aspects of the operation, handling logistics, preparing the procedures, and implementing the demonstration. In addition to the partnership described above, Moog Inc. developed an LMP-103S propellant-compatible titanium rolling diaphragm flight development tank and loaned it to GSFC to act as the GPLD flight vessel. The flight development tank offered the GPLD an additional level of flight-like propellant handling process and procedures. Moog Inc. also provided a compatible latching isolation valve for remote propellant expulsion. The GPLD operation, in concert with Moog Inc. executed a flight development tank expulsion efficiency performance test using LMP-103S propellant. As part of the demonstration work, GSFC and WFF documented Range safety analyses and practices including all elements of shipping, storage, handling, operations, decontamination, and disposal. LMP-103S has not been previously handled at a U.S. Launch Range. Requisite for this activity was an LMP-103S Risk Analysis Report and Ground Safety Plan. GSFC and WFF safety offices jointly developed safety documentation for application into the GPLD operation. The GPLD along with the GSFC Propulsion historical hydrazine loading experiences offer direct comparison between handling green propellant versus safety intensive, highly toxic hydrazine propellant. These described motives initiated the GPLD operation in order to investigate the handling and process safety variances in project resources between LMP-103S and typical in-space propellants. The GPLD risk reduction operation proved successful for many reasons including handling the green propellant at a U.S. Range, loading and pressurizing a flight-like tank, expelling the propellant, measuring the tank expulsion efficiency, and most significantly, GSFC propulsion personnel's new insight into the LMP-103S propellant handling details.

Propellant↗
NASA NTRS2016

Green Propellant Loading Demonstration at U.S. Range

The Green Propellant Loading Demonstration (GPLD) was conducted December 2015 at Wallops Flight Facility (WFF), leveraging work performed over recent years to bring lower toxicity hydrazine replacement green propellants to flight missions. The objective of this collaboration between NASA Goddard Space Flight Center (GSFC), WFF, the Swedish National Space Board (SNSB), and Ecological Advanced Propulsion Systems (ECAPS) was to successfully accept LMP-103S propellant at a U.S. Range, store the propellant, and perform a simulated flight vehicle propellant loading. NASA GSFC Propulsion (Code 597) managed all aspects of the operation, handling logistics, preparing the procedures, and implementing the demonstration. In addition to the partnership described above, Moog Inc. developed an LMP-103S propellant-compatible titanium rolling diaphragm flight development tank and loaned it to GSFC to act as the GPLD flight vessel. The flight development tank offered the GPLD an additional level of flight-like propellant handling process and procedures. Moog Inc. also provided a compatible latching isolation valve for remote propellant expulsion. The GPLD operation, in concert with Moog Inc. executed a flight development tank expulsion efficiency performance test using LMP-103S propellant. As part of the demonstration work, GSFC and WFF documented Range safety analyses and practices including all elements of shipping, storage, handling, operations, decontamination, and disposal. LMP-103S has not been previously handled at a U.S. Launch Range. Requisite for this activity was an LMP-103S Risk Analysis Report and Ground Safety Plan. GSFC and WFF safety offices jointly developed safety documentation for application into the GPLD operation. The GPLD along with the GSFC Propulsion historical hydrazine loading experiences offer direct comparison between handling green propellant versus safety intensive, highly toxic hydrazine propellant. These described motives initiated the GPLD operation in order to investigate the handling and process safety variances in project resources between LMP-103S and typical in-space propellants. The GPLD risk reduction operation proved successful for many reasons including handling the green propellant at a U.S. Range, loading and pressurizing a flight-like tank, expelling the propellant, measuring the tank expulsion efficiency, and most significantly, GSFC propulsion personnel's new insight into the LMP-103S propellant handling details.

Green Propellant↗
NASA NTRS2014

Rotorcraft Flight Dynamics and Controls Research at NASA

In recent years, NASA has invested in key activities in the areas of flight controls, handling qualities and operations of rotorcraft for civilian applications. More specifically, the flight dynamics and control discipline has focused on analyzing the unique flight control and handling qualities challenges of large rotary wing vehicles anticipated for future passenger service, and examining the effect of control system augmentation on handling qualities for current civilian helicopters in order to improve safety and reduce accident rates. This paper highlights two recent research efforts in these areas. The first is an examination of flight control and handling qualities aspects of large rotorcraft. A series of experiments were performed in the large-motion Vertical Motion Simulator at NASA Ames Research Center to quantify the effects of vehicle size on flight control requirements and piloted handling qualities. These experiments used a large tilt-rotor concept (~100 passengers) to also investigate the control augmentation required to obtain Level 1 handling qualities for a vehicle of this size. The second is an examination of the effect of control system augmentation on handling qualities for current civil rotorcraft, like those currently used for Emergency Medical Service type operations. Many current civilian helicopters have rate response type control systems and little or no control system augmentation, although current technologies allow helicopters to be fitted with stability augmentation systems, either as standard equipment or aftermarket options. A simulation experiment was conducted in the Vertical Motion Simulator to quantify the effects of advanced control modes available with a partial authority stability augmentation system on task performance and handling qualities in both good and degraded visual conditions. In addition to providing an overview of the rotary wing flight dynamics and controls research at NASA, this paper will provide an overview of these two research activities along with key results and conclusions.

Research at NASA↗
NASA NTRS2014

Rotorcraft Flight Dynamics and Controls Research at NASA

In recent years, NASA has invested in key activities in the areas of flight controls, handling qualities and operations of rotorcraft for civilian applications. More specifically, the flight dynamics and control discipline has focused on analyzing the unique flight control and handling qualities challenges of large rotary wing vehicles anticipated for future passenger service, and examining the effect of control system augmentation on handling qualities for current civilian helicopters in order to improve safety and reduce accident rates. This paper highlights two recent research efforts in these areas. The first is an examination of flight control and handling qualities aspects of large rotorcraft. A series of experiments were performed in the large-motion Vertical Motion Simulator at NASA Ames Research Center to quantify the effects of vehicle size on flight control requirements and piloted handling qualities. These experiments used a large tilt-rotor concept (~100 passengers) to also investigate the control augmentation required to obtain Level 1 handling qualities for a vehicle of this size. The second is an examination of the effect of control system augmentation on handling qualities for current civil rotorcraft, like those currently used for Emergency Medical Service type operations. Many current civilian helicopters have rate response type control systems and little or no control system augmentation, although current technologies allow helicopters to be fitted with stability augmentation systems, either as standard equipment or aftermarket options. A simulation experiment was conducted in the Vertical Motion Simulator to quantify the effects of advanced control modes available with a partial authority stability augmentation system on task performance and handling qualities in both good and degraded visual conditions. In addition to providing an overview of the rotary wing flight dynamics and controls research at NASA, this paper will provide an overview of these two research activities along with key results and conclusions.

Rotorcraft↗
DOE OSTI2024

Interparticle Characterization of Mechanical Biomass Particle-Particle and Particle-Wall Interactions

The biomass materials industry faces significant challenges in managing material variability and its impact on storage and handling systems. Physical properties such as moisture content, particle size, and density fluctuate considerably, leading to operational issues like bridging and ratholing that disrupt material flow. These variations create a complex cascade effect throughout the process chain, affecting transportation, storage, and conversion processes. The economic consequences of this variability manifest in increased operational costs, maintenance requirements, and system downtime. Environmental factors further complicate the situation, as weather conditions and seasonal availability influence material properties and system performance. Engineers employ specialized equipment design, material characterization protocols, and pre-processing steps like size reduction and homogenization to address these challenges. A critical knowledge gap exists between continuous-level constitutive models and particle-scale behavior. This project developed a novel device to quantify interparticle mechanics between biomass particles, measuring friction and adhesion forces between particles and wall materials. The research focused on corn stover and southern pine forest residue, creating a comprehensive database of particle interactions. This breakthrough enables direct application in particle-based computational modeling, advancing the field's understanding of biomass handling characteristics and supporting the development of more reliable and efficient storage and handling systems. The project's outcomes contribute significantly to understanding biomass's mechanical and flow characteristics, particularly how variability at the particle level affects larger-scale handling operations. This knowledge is crucial for engineering feedstock supply systems that consistently meet quality and cost specifications for various conversion processes. The innovative experimental setup developed through this research represents a significant advancement in biomass characterization methodology. Providing precise measurements of particle-level interactions establishes a foundation for more accurate predictive modeling of bulk material behavior. This enhanced understanding of fundamental particle mechanics enables engineers to anticipate better and address handling challenges before they manifest in full-scale operations. This research opens new avenues for optimizing biomass handling systems through data-driven design approaches. The comprehensive database of particle interactions serves as a valuable resource for future research and development efforts, potentially leading to more efficient and cost-effective biomass processing solutions. This advancement in particle-level mechanics could revolutionize how biomass handling systems are designed and operated, contributing to more sustainable and reliable renewable energy production.

09 BIOMASS FUELS↗
DOE OSTI2018

Crickets{sup TM} and Curies: Lessons Learned from the Steel Industry - 18221

The global nuclear power industry, and to a lesser extent, the decommissioning and demolition of old nuclear weapons plants, obviously present challenges to those in the radioactive waste management field. Some if not many of these challenges have already been dealt with, and resolved, in the steel industry, including its recycling component. This paper presents proven state-of-the-art radiation detection systems used in steel and related recycling facilities, emphasizing current, reliable and flexible technologies for characterization, volume reduction, and remote handling of recyclable solid wastes contaminated and, just as important, not contaminated, with a wide range of radioactive isotopes. It will also cover features of remotely operated waste handling equipment effective in reducing or eliminating exposure of workers engaged in decontamination and demolition work on active and/or inactive nuclear installations. The industry group identified above has a long-standing policy regarding any radioactivity in potentially recyclable as well as waste materials it receives: if it is detected, it is rejected. The US Steel Manufacturers Association (SMA) put it this way in one of their Public Policy Statements: 'SMA members have not, and will not, accept scrap that is known to be radioactively contaminated' (emphasis included in the original) (1). This policy, adopted around the globe, obviously has major implications for decommissioning and demolition projects. To put it bluntly, if rad-contaminated metal, concrete, or other materials are sent to a facility for possible recycling, reuse or even disposal, they may well be rejected. If so, the materials will be returned to the generator--at the generator's cost-and a new solution will have to be found. This also results in additional costs for the generator. Facilities in the steel making and metal recycling industries have access to, and routinely count on, a wide range of proven detection technologies and techniques for monitoring incoming shipments and sorting the materials in them. The approaches range from using sensitive handheld instruments for pinpointing and isolating small devices such as isotope-containing gauges and radium dials all the way up to technologies effective for large volumes and weights of contaminated construction and demolition material. In this latter realm, the most suitable, robust, and field-proven system for decommissioning and demolition work is a radiation detection system fitted to a grappling and/or magnetic device, known as the Crickets{sup TM} technology, which automatically scans bulk material with no added effort or time in material handling operations. Highly versatile, a Crickets{sup TM} system can be put to work on any material-handling system, including grapples handling volumes ranging from 1 up to 18 cubic yards, while detecting radioactivity in real-time over a very wide dose range, from nSv to Sv levels. Other field-proven real-time measuring radiation detection devices can be fixed to conveyor belts with traverse speeds up 3 meters/second, also measuring in real time and over the same dose range, allowing both recyclable and waste materials with a pre-set level of radioactivity to be diverted off the belt. Finally, there are highly sensitive radiation portal installations for detecting radiation from materials being transported by vehicles, including those with roll-offs, dump trailers, and other containers, again in real-time and for the same dose ranges. For vehicles, the speed must be carefully controlled-the vehicles need to travel from 5 to 10 km/h through the scanning zone to ensure that maximum detection capability is maintained. When radiation detection systems at recycling and steel making facilities detect radioactive material in an incoming shipment, these facilities have a zero tolerance for accepting the cargo. Therefore, it is imperative that material from a demolition operation that is slated to be sent for recycling or other reuse be checked at the point of demolition at similar detection levels to avoid possible rejection later of a shipment because of its radioactivity. In addition to measuring overall radiation levels (for example, total gamma), when necessary, combinations of different radiation detection media can be used to detect the presence and intensities of specific isotopes such as U-235, Cs-137, Co-60, Am-241, etc., again in real-time and over a similar dose range. These detection technologies can be fixed or transportable. More important for the rad-waste management profession, this overall systems approach can be tailored and adapted during use on-site in any dismantling, demolition or remediation project, to allow materials to be thoroughly scanned before being released to the recycling stream for reuse, or to appropriate long-term storage and disposal facilities. Potentially recyclable materials with contamination such as steel beams and rebar will set off alarms at recycling facilities, resulting in unnecessary added expenses to the generator, primarily due to increased transportation costs, time delays and additional rad-waste handling and disposal charges. Additionally, there are situations where relatively lightly contaminated materials, once identified and appropriately characterized, can be reused in new construction applications, such as concrete from demolition being used in the base layer for roads or recycled steel used for repair or construction of bridges. In other cases, specific smaller volumes can be sent to specialized rad-waste disposal sites. These radiation detection systems can also be custom tailored to ensure proper handling and disposition of contaminated materials destined for reuse in specific applications where, for example, acceptable levels of radioactivity in NORM or TENORM can be reused or safely disposed of. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1981

Cervix-to-rectum measuring device in a radiation applicator for use in the treatment of cervical cancer

A cervix-to-rectum measuring device to be used in the treatment of cervical cancer is described. It includes a handle and a probe pivotably connected to the handle for insertion in the rectum. The measuring device further includes means for coupling the handle to an intrauterine radiation applicator when the latter is positioned in the uterine cervix and the probe is inserted in the rectum to pivot the handle about the probe. A gear is provided which is adapted to pivot with the probe. A pinion pivotably connected to the handle meshes with the gear. A pointer fixed to the pinion is displaced in response to the pivoting of the handle about the probe, and this displacement can be read from a scale on the handle, providing an indication of the cervix-to-rectum distance.

Fischell, D. R.↗
NASA NTRS1991

Flying quality analysis and flight evaluation of a highly augmented combat rotorcraft

This paper discusses implications of digital flight control system design for rotorcraft and illustrates the analysis of the resulting handling qualities obtained with the Advanced Digital Optical Control System demonstrator in the context of the proposed new handling-qualities specification for rotorcraft. Topics covered are digital flight control design and analysis methods, flight testing techniques, handling-qualities evaluation results, and correlation of flight test results with analytical models and the proposed handling-qualities specification. The evaluation of the demonstrator system indicates desirable response characteristics based on equivalent damping and frequency, but undersirably large effective time delays (exceeding 240 ms in all axes). Piloted handling qualities are found to be desirable or adequate for all low, medium, and high pilot gain tasks, but handling qualities are inadequate for ultrahigh gain tasks such as slope and running landings. Correlation of these results with the proposed handling-qualities specification indicates good agreement for the bandwidth boundaries, but suggests the need for more stringent limits on allowable phase delay. Analytical models based on emulation (s-plane) techniques compare favorably with flight-extracted frequency-domain characteristics of the overall (end-to-end) system responses.

Tischler, Mark B.↗
NASA NTRS1993

Double-V block fingers with cruciform recess

In a robot having a gripper including a pair of fingers and a drive motor for driving the fingers toward and away from one another while the fingers remain parallel to each other, the fingers consist of finger pads, which interface with a handle on an object to be grasped, and a shank, which attaches the fingers to the robot gripper. The double-V finger has two orthogonal V-grooves forming in the center of the finger pads and recessed cruciform. The double-V finger is used with a handle on the object to be grasped which is the negative of the finger pads. The handle face consists of V-shaped pads capped with a rectangular cruciform. As the gripper is brought into place near the handle, the finger pads are lined up facing the handle pads. When the finger pad and the handle pad are in proper alignment, the rectangular ridges on the handle fall inside the rectangular grooves on the finger, and the grip is complete.

Voellmer, George M.↗