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NASA NTRS2006

The Exploration Water Recovery System

The Exploration Water Recovery System is designed towards fulfillment of NASA s Vision for Space Exploration, which will require elevation of existing technologies to higher levels of optimization. This new system, designed for application to the Exploration infrastructure, presents a novel combination of proven air and water purification technologies. The integration of unit operations is modified from that of the current state-of-the-art water recovery system so as to optimize treatment of the various waste water streams, contaminant loads, and flow rates. Optimization is achieved primarily through the removal of volatile organic contaminants from the vapor phase prior to their absorption into the liquid phase. In the current state-of-the-art system, the water vapor in the cabin atmosphere is condensed, and the volatile organic contaminants present in that atmosphere are absorbed into the aqueous phase. Removal of contaminants the5 occurs via catalytic oxidation in the liquid phase. Oxidation kinetics, however, dictate that removal of volatile organic contaminants from the vapor phase can inherently be more efficient than their removal from the aqueous phase. Taking advantage of this efficiency reduces the complexity of the water recovery system. This reduction in system complexity is accompanied by reductions in the weight, volume, power, and resupply requirements of the system. Vapor compression distillation technology is used to treat the urine, condensate, and hygiene waste streams. This contributes to the reduction in resupply, as incorporation of vapor compression distillation technology at this point in the process reduces reliance on the expendable ion exchange and adsorption media used in the current state-of-the-art water recovery system. Other proven technologies that are incorporated into the Exploration Water Recovery System include the Trace Contaminant Control System and the Volatile Removal Assembly.

ORourke, Mary Jane E.↗

NASA NTRS2012

Large Eddy/Reynolds-Averaged Navier-Stokes Simulations of CUBRC Base Heating Experiments

ven with great advances in computational techniques and computing power during recent decades, the modeling of unsteady separated flows, such as those encountered in the wake of a re-entry vehicle, continues to be one of the most challenging problems in CFD. Of most interest to the aerothermodynamics community is accurately predicting transient heating loads on the base of a blunt body, which would result in reduced uncertainties and safety margins when designing a re-entry vehicle. However, the prediction of heat transfer can vary widely depending on the turbulence model employed. Therefore, selecting a turbulence model which realistically captures as much of the flow physics as possible will result in improved results. Reynolds Averaged Navier Stokes (RANS) models have become increasingly popular due to their good performance with attached flows, and the relatively quick turnaround time to obtain results. However, RANS methods cannot accurately simulate unsteady separated wake flows, and running direct numerical simulation (DNS) on such complex flows is currently too computationally expensive. Large Eddy Simulation (LES) techniques allow for the computation of the large eddies, which contain most of the Reynolds stress, while modeling the smaller (subgrid) eddies. This results in models which are more computationally expensive than RANS methods, but not as prohibitive as DNS. By complimenting an LES approach with a RANS model, a hybrid LES/RANS method resolves the larger turbulent scales away from surfaces with LES, and switches to a RANS model inside boundary layers. As pointed out by Bertin et al., this type of hybrid approach has shown a lot of promise for predicting turbulent flows, but work is needed to verify that these models work well in hypersonic flows. The very limited amounts of flight and experimental data available presents an additional challenge for researchers. Recently, a joint study by NASA and CUBRC has focused on collecting heat transfer data on the backshell of a scaled model of the Orion Multi-Purpose Crew Vehicle (MPCV). Heat augmentation effects due to the presence of cavities and RCS jet firings were also investigated. The high quality data produced by this effort presents a new set of data which can be used to assess the performance of CFD methods. In this work, a hybrid LES/RANS model developed at North Carolina State University (NCSU) is used to simulate several runs from these experiments, and evaluate the performance of high fidelity methods as compared to more typical RANS models. .

Salazar, Giovanni↗

NASA NTRS2018

Development of an Inflatable Airlock for Deep Space Exploration

An airlock is a required component of a crewed spacecraft to allow for maintenance, repair and exploration outside of a habitable vehicle. Airlock designs in use today are rigid pressure vessels with complex hatches and seals. Inflatable structures technology utilizes high strength fabric materials and internal pressure to create a stiffened pressure vessel that can replace traditional rigid primary structure in a habitable spacecraft. The flexibility of fabric structures allows them to be compactly stowed for launch and expanded in space. Recent developments towards the design of an inflatable airlock structure show feasibility and a significant launch volume savings over a traditional metallic design. This paper provides a detailed summary of historical and current work in inflatable airlock development and provides guidance for the design of a soft goods airlock system. Accommodations for withstanding crew-induced loads, provisions for human interfaces, the design and development of an internal substructure to provide translation aids and restraints, the thermal considerations of a fabric shell, micrometeoroid protection in deep space, and packaging and deployment of an inflatable airlock are all discussed.

Deep Space Exploration↗

NASA NTRSDate not supplied

Open-Hole Testing of Resin Infused Carbon Composite Laminates to Facilitate Damage Growth and Failure Analysis Tools for Structural Design

In manufacturing of carbon-fiber reinforced composite aircraft structures, resin infusion offers a highly repeatable process for manufacturing structural components with resin content control, low labor requirements, and complex curvatures. To further understand the structural capabilities of res-in infused composites (RIC), this study – as part of the NASA-led Hi-Rate Composite Aircraft Manufacturing project efforts – performed open hole tension (OHT) and open hole compression (OHC) testing on RIC laminates. This testing provides information on the damage morphology and growth characteristics of RICs, which fuels the development and evaluation of analysis tools for progressive damage growth and failure responses. X-ray computed tomography (XCT) was implemented on each OHC and OHT specimen prior to mechanical testing to identify preexisting damage and/or defects. Two OHT and OHC specimens were loaded monotonically to failure and an additional OHT and OHC specimen were loaded intermittently at defined conditions and XCT scanned after each run. From the data obtained in this study, damage mechanisms leading to failure were identified, damage morphology and size were assessed, and damage initiation and failure loads were measured.

HiCAM↗

NASA NTRS1974

Application of ultrasonic signature analysis for fatigue detection in complex structures

Ultrasonic signature analysis shows promise of being a singularly well-suited method for detecting fatigue in structures as complex as aircraft. The method employs instrumentation centered about a Fourier analyzer system, which features analog-to-digital conversion, digital data processing, and digital display of cross-correlation functions and cross-spectra. These features are essential to the analysis of ultrasonic signatures according to the procedure described here. In order to establish the feasibility of the method, the initial experiments were confined to simple plates with simulated and fatigue-induced defects respectively. In the first test the signature proved sensitive to the size of a small hole drilled into the plate. In the second test, performed on a series of fatigue-loaded plates, the signature proved capable of indicating both the initial appearance and subsequent growth of a fatigue crack. In view of these encouraging results it is concluded that the method has reached a sufficiently advanced stage of development to warrant application to small-scale structures or even actual aircraft.

Zuckerwar, A. J.↗

NASA NTRS1982

Rotor redesign for a highly loaded 1800 ft/sec tip speed fan. 3: Laser Doppler velocimeter report

Laser Doppler velocimeter (LDV) techniques were employed for testing a highly loaded, 550 m/sec (1800 ft/sec) tip speed, test fan stage, the objective to provide detailed mapping of the upstream, intrablade, and downstream flowfields of the rotor. Intrablade LDV measurements of velocity and flow angle were obtained along four streamlines passing through the leading edge at 45%, 69%, 85%, and 95% span measured from hub to tip, at 100% of design speed, peak efficiency; 100% speed, near surge; and 95% speed, peak efficiency. At the design point, most passages appeared to have a strong leading edge shock, which moved forward with increasing strength near surge and at part speeds. The flow behind the shock was of a complex mixed subsonic and supersonic form. The intrablade flowfields were found to be significantly nonperiodic at 100% design speed, peak efficiency.

Harvey, W. B.↗

NASA NTRS1988

Creep rupture analysis of a beam resting on high temperature foundation

A simplified uniaxial strain controlled creep damage law is deduced with the use of experimental observation from a more complex strain dependent law. This creep damage law correlates the creep damage, which is interpreted as the density variation in the material, directly with the accumulated creep strain. Based on the deduced uniaxial strain controlled creep damage law, a continuum mechanical creep rupture analysis is carried out for a beam resting on a high temperature elastic (Winkler) foundation. The analysis includes the determination of the nondimensional time for initial rupture, the propagation of the rupture front with the associated thinning of the beam, and the influence of creep damage on the deflection of the beam. Creep damage starts accumulating in the beam as soon as the load is applied, and a creep rupture front develops at and propagates from the point at which the creep damage first reaches its critical value. By introducing a series of fundamental assumptions within the framework of technical Euler-Bernoulli type beam theory, a governing set of integro-differential equations is derived in terms of the nondimensional bending moment and the deflection. These governing equations are subjected to a set of interface conditions at the propagating rupture front. A numerical technique is developed to solve the governing equations together with the interface equations, and the computed results are presented and discussed in detail.

Gu, Randy J.↗

NASA NTRS2015

SMART Rotor Wind Tunnel Test Report

The Boeing Company, Mesa Arizona, has been developing smart material actuated rotor technology (SMART) under in-house, DARPA (Defense Advanced Research Projects Agency), NASA and Army funding. A whirl tower test of the SMART active flap rotor system was successfully conducted at the remote test facility (RTF) in Mesa, Arizona, in 2003. Under DARPA and NASA funding, the SMART rotor system was tested in the NASA Ames National Full Scale Aerodynamic Complex (NFAC) 40- by 80-Foot Wind Tunnel in 2008. The DARPA program objectives were to demonstrate the active flap impact on rotor acoustics in forward flight and establish a validation database for noise prediction tools. Under NASA funding, additional wind tunnel tests were conducted, with the objective to demonstrate and quantify vibration, noise, and performance improvements.Wind tunnel testing was successfully and safely concluded, meeting all high priority objectives. The authority, effectiveness, and reliability of the flap actuation system were demonstrated in 65 hours of testing at up to 155 knots and 7,700 pound thrust. Validation data was successfully acquired for four test conditions; blade loads were too high for the high speed condition. The effectiveness of the flap for noise and vibration control was demonstrated conclusively, with results showing significant reductions in BVI (Blade-Vortex Interaction) and in-plane noise as well as vibratory hub loads. The impact of the flap on control power and rotor smoothing was also demonstrated. Data evaluating any benefits in aerodynamic performance and impact on flight controls were acquired, but will need more detailed evaluation. Both open loop control and closed loop feedback control, using continuous time and higher harmonic controllers, were applied.The purpose of the Test Report is to provide a comprehensive document that describes the preparation for and conduct of the wind tunnel test and summarizes the processing and evaluation of wind tunnel test data for the DARPA and the NASA portion of the test. An overview of the wind tunnel test and results can be found in Reference 1. Details on the testing and results for BVI noise, in-plane noise, and vibrations can be found in References 2-4, respectively. These references are four papers, presented at the American Helicopter Society Annual Forum in 2009. A brief description of the delivered electronic data is provided in Reference 5.

Rotor↗

NASA NTRS2010

Fabrication and Modification of Nanoporous Silicon Particles

Silicon-based nanoporous particles as biodegradable drug carriers are advantageous in permeation, controlled release, and targeting. The use of biodegradable nanoporous silicon and silicon dioxide, with proper surface treatments, allows sustained drug release within the target site over a period of days, or even weeks, due to selective surface coating. A variety of surface treatment protocols are available for silicon-based particles to be stabilized, functionalized, or modified as required. Coated polyethylene glycol (PEG) chains showed the effective depression of both plasma protein adsorption and cell attachment to the modified surfaces, as well as the advantage of long circulating. Porous silicon particles are micromachined by lithography. Compared to the synthesis route of the nanomaterials, the advantages include: (1) the capability to make different shapes, not only spherical particles but also square, rectangular, or ellipse cross sections, etc.; (2) the capability for very precise dimension control; (3) the capacity for porosity and pore profile control; and (4) allowance of complex surface modification. The particle patterns as small as 60 nm can be fabricated using the state-of-the-art photolithography. The pores in silicon can be fabricated by exposing the silicon in an HF/ethanol solution and then subjecting the pores to an electrical current. The size and shape of the pores inside silicon can be adjusted by the doping of the silicon, electrical current application, the composition of the electrolyte solution, and etching time. The surface of the silicon particles can be modified by many means to provide targeted delivery and on-site permanence for extended release. Multiple active agents can be co-loaded into the particles. Because the surface modification of particles can be done on wafers before the mechanical release, asymmetrical surface modification is feasible. Starting from silicon wafers, a treatment, such as KOH dipping or reactive ion etching (RIE), may be applied to make the surface rough. This helps remove the nucleation layer. A protective layer is then deposited on the wafer. The protective layer, such as silicon nitride film or photoresist film, protects the wafer from electrochemical etching in an HF-based solution. A lithography technique is applied to pattern the particles onto the protective film. The undesired area of the protective film is removed, and the protective film on the back side of the wafer is also removed. Then the pattern is exposed to HF/surfactant solution, and a larger DC electrical current is applied to the wafers for a selected time. This step removes the nucleation layer. Then a DC current is applied to generate the nanopores. Next, a large electrical current is applied to generate a release layer. The particles are mechanically suspended in the solvent and collected by filtration or centrifuge.

Ferrari, Mauro↗

NASA NTRS2014

Habitat Demonstration Unit (HDU) Vertical Cylinder Habitat

NASA's Constellation Architecture Team defined an outpost scenario optimized for intensive mobility that uses small, highly mobile pressurized rovers supported by portable habitat modules that can be carried between locations of interest on the lunar surface. A compact vertical cylinder characterizes the habitat concept, where the large diameter maximizes usable flat floor area optimized for a gravity environment and allows for efficient internal layout. The module was sized to fit into payload fairings for the Constellation Ares V launch vehicle, and optimized for surface transport carried by the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) mobility system. Launch and other loads are carried through the barrel to a top and bottom truss that interfaces with a structural support unit (SSU). The SSU contains self-leveling feet and docking interfaces for Tri-ATHLETE grasping and heavy lift. A pressurized module needed to be created that was appropriate for the lunar environment, could be easily relocated to new locations, and could be docked together in multiples for expanding pressurized volume in a lunar outpost. It was determined that horizontally oriented pressure vessels did not optimize floor area, which takes advantage of the gravity vector for full use. Hybrid hard-inflatable habitats added an unproven degree of complexity that may eventually be worked out. Other versions of vertically oriented pressure vessels were either too big, bulky, or did not optimize floor area. The purpose of the HDU vertical habitat module is to provide pressurized units that can be docked together in a modular way for lunar outpost pressurized volume expansion, and allow for other vehicles, rovers, and modules to be attached to the outpost to allow for IVA (intra-vehicular activity) transfer between them. The module is a vertically oriented cylinder with a large radius to allow for maximal floor area and use of volume. The modular, 5- m-diameter HDU vertical habitat module consists of a 2-m-high barrel with 0.6-mhigh end domes forming the 56-cubicmeter pressure vessel, and a 19-squaremeter floor area. The module has up to four docking ports located orthogonally from each other around the perimeter, and up to one docking port each on the top or bottom end domes. In addition, the module has mounting trusses top and bottom for equipment, and to allow docking with the ATHLETE mobility system. Novel or unique features of the HDU vertical habitat module include the nodelike function with multiple pressure hatches for docking with other versions of itself and other modules and vehicles; the capacity to be carried by an ATHLETE mobility system; and the ability to attach inflatable 'attic' domes to the top for additional pressurized volume.

Howe, Alan↗

NASA NTRS2011

Radiolytic Cryovolcanism Revisited

Location of Enceladus within the inner magnetosphere of Saturn makes it likely that energetic electron irradiation, ion-neutral chemistry of the emergent cryovolcanic plume gas, and resultant radiolytic modification of surface ice composition could impact long-term evolution of molecular composition in the global ice crust. Thermally-driven convection of ice in the south polar terrain would bring radiolytic oxidant products into contact with subsurface reservoirs of primordial organics on million-year time scales. The chemical reactions leading to CO2 gas production as a primary gas-piston driver of cryovolcanic activity would be exponentially elevated in the warm-ice margins of a heated fluid. The fluid temperature is typically assumed to be below 273 K but could be much higher in a gas-pressurized deep subsurface environment. The Perrier Ocean model has demonstrated how a CO2-loaded fluid could account for the observed jets, while the heat content of the fluid arising from the moon's deeper interior could support high levels of chemical reactivity in the thermal margins. Since mass loss and tidal dissipation arguments do not support continuous activity over billions of years, the activity is likely very episodic so that even low-level energy sources including irradiation-driven radiolysis of surface ices could substantially contribute to the chemical dynamics of the activity apparently now in high phase. A multi-phase thermochemical model, and supporting laboratory measurements of temperature-dependent reaction rates, are needed to investigate these potentially complex processes.

Cooper, John F.↗

NASA NTRS2001

Issues Related to Cleaning Complex Geometry Surfaces with ODC-Free Solvents

Implementing ozone depleting chemicals (ODC)-free solvents into full-scale reusable solid rocket motor cleaning operations has presented problems due to the low vapor pressures of the solvents. Because of slow evaporation, solvent retention is a problem on porous substrates or on surfaces with irregular geometry, such as threaded boltholes, leak check ports, and nozzle backfill joints. The new solvents are being evaluated to replace 1,1,1-trichloroethane, which readily evaporates from these surfaces. Selection of the solvents to be evaluated on full-scale hardware was made based on results of subscale tests performed with flat surface coupons, which did not manifest the problem. Test efforts have been undertaken to address concerns with the slow-evaporating solvents. These concerns include effects on materials due to long-term exposure to solvent, potential migration from bolthole threads to seal surfaces, and effects on bolt loading due to solvent retention in threads. Tests performed to date have verified that retained solvent does not affect materials or hardware performance. Process modifications have also been developed to assist drying, and these can be implemented if additional drying becomes necessary.

Bradford, Blake F.↗

NASA NTRS1982

Creep-fatigue life prediction for engine hot section materials (isotropic)

The objectives of this program are the investigation of fundamental approaches to high temperature crack initiation life prediction, identification of specific modeling strategies and the development of specific models for component relevant loading conditions. A survey of the hot section material/coating systems used throughout the gas turbine industry is included. Two material/coating systems will be identified for the program. The material/coating system designated as the base system shall be used throughout Tasks 1-12. The alternate material/coating system will be used only in Task 12 for further evaluation of the models developed on the base material. In Task II, candidate life prediction approaches will be screened based on a set of criteria that includes experience of the approaches within the literature, correlation with isothermal data generated on the base material, and judgements relative to the applicability of the approach for the complex cycles to be considered in the option program. The two most promising approaches will be identified. Task 3 further evaluates the best approach using additional base material fatigue testing including verification tests. Task 4 consists of technical, schedular, financial and all other reporting requirements in accordance with the Reports of Work clause.

Moreno, V.↗

NASA NTRS2006

Reconfigurable Software for Controlling Formation Flying

Software for a system to control the trajectories of multiple spacecraft flying in formation is being developed to reflect underlying concepts of (1) a decentralized approach to guidance and control and (2) reconfigurability of the control system, including reconfigurability of the software and of control laws. The software is organized as a modular network of software tasks. The computational load for both determining relative trajectories and planning maneuvers is shared equally among all spacecraft in a cluster. The flexibility and robustness of the software are apparent in the fact that tasks can be added, removed, or replaced during flight. In a computational simulation of a representative formation-flying scenario, it was demonstrated that the following are among the services performed by the software: Uploading of commands from a ground station and distribution of the commands among the spacecraft, Autonomous initiation and reconfiguration of formations, Autonomous formation of teams through negotiations among the spacecraft, Working out details of high-level commands (e.g., shapes and sizes of geometrically complex formations), Implementation of a distributed guidance law providing autonomous optimization and assignment of target states, and Implementation of a decentralized, fuel-optimal, impulsive control law for planning maneuvers.

Mueller, Joseph B.↗

NASA NTRS2004

Characterization of Asian Dust Properties Near Source Region During ACE-Asia

Asian dust typically originates in desert areas far from polluted urban regions. During transport, dust layers can interact with anthropogenic sulfate and soot aerosols from heavily polluted urban areas. Added to the complex effects of clouds and natural marine aerosols, dust particles reaching the marine environment can have drastically different properties than those from the source. Thus, understanding the unique temporal and spatial variations of Asian aerosols is of special importance in regional-to-global climate issues such as radiative forcing, the hydrological cycle, and primary biological productivity in the mid-Pacific Ocean. During ACE-Asia campaign, we have acquired ground- based (temporal) and satellite (spatial) measurements to infer aerosol physical/optical/radiative properties, column precipitable water amount, and surface reflectivity over this region. The inclusion of flux measurements permits the determination of aerosol radiative flux in addition to measurements of loading and optical depth. At the time of the Terra/MODIS, SeaWiFS, TOMS and other satellite overpasses, these ground-based observations can provide valuable data to compare with satellite retrievals over land. In this paper, we will demonstrate new capability of the Deep Blue algorithm to track the evolution of the Asian dust storm from sources to sinks. Although there are large areas often covered by clouds in the dust season in East Asia, this algorithm is able to distinguish heavy dust from clouds over the entire regions. Examination of the retrieved daily maps of dust plumes over East Asia clearly identifies the sources contributing to the dust loading in the atmosphe~~. We have compared the satellite retrieved aerosol optical thickness to the ground-based measurements and obtained a reasonable agreement between these two. Our results also indicate that there is a large difference in the retrieved value of spectral single scattering albedo of windblown dust between different sources in East Asia.

Tsay, Si-Chee↗

NASA NTRS1998

Thermal High- and Low-Cycle Fatigue Behavior of Thick Thermal Barrier Coating Systems

Ceramic thermal barrier coatings have received increasing attention for advanced gas turbine and diesel engine applications because of their ability to provide thermal insulation to engine components. However, the durability of these coatings under the severe thermal cycling conditions encountered in a diesel engine (ref. 1) still remains a major issue. In this research at the NASA Lewis Research Center, a high-power laser was used to investigate the thermal fatigue behavior of a yttria-stabilized zirconia coating system under simulated diesel engine conditions. The mechanisms of fatigue crack initiation and propagation, and of coating failure under complex thermal low-cycle fatigue (LCF, representing stop/start cycles) and thermal high-cycle fatigue (HCF, representing operation at 1300 rpm) are described. Continuous wave and pulse laser modes were used to simulate pure LCF and combined LCF/HCF, respectively (ref. 2). The LCF mechanism was found to be closely related to the coating sintering and creep at high temperatures. These creep strains in the ceramic coating led to a tensile stress state during cooling, thus providing the major driving force for crack growth under LCF conditions. The combined LCF/HCF tests induced more severe coating surface cracking, microspallation, and accelerated crack growth than did the pure LCF test. HCF thermal loads also facilitated lateral crack branching and ceramic/bond coat interface delaminations. HCF is associated with the cyclic stresses originating from the high-frequency temperature fluctuation at the ceramic coating surface. The HCF thermal loads act on the crack by a wedging mechanism (ref. 1), resulting in continuous crack growth at temperature. The HCF stress intensity factor amplitude increases with the interaction depth and temperature swing, and decreases with the crack depth. HCF damage also increases with the thermal expansion coefficient and the Young's modulus of the ceramic coating (refs. 1 and 3).

Miller, Robert A.↗

NASA NTRS2010

Experimental Creep Life Assessment for the Advanced Stirling Convertor Heater Head

The United States Department of Energy is planning to develop the Advanced Stirling Radioisotope Generator (ASRG) for the National Aeronautics and Space Administration (NASA) for potential use on future space missions. The ASRG provides substantial efficiency and specific power improvements over radioisotope power systems of heritage designs. The ASRG would use General Purpose Heat Source modules as energy sources and the free-piston Advanced Stirling Convertor (ASC) to convert heat into electrical energy. Lockheed Martin Corporation of Valley Forge, Pennsylvania, is integrating the ASRG systems, and Sunpower, Inc., of Athens, Ohio, is designing and building the ASC. NASA Glenn Research Center of Cleveland, Ohio, manages the Sunpower contract and provides technology development in several areas for the ASC. One area is reliability assessment for the ASC heater head, a critical pressure vessel within which heat is converted into mechanical oscillation of a displacer piston. For high system efficiency, the ASC heater head operates at very high temperature (850 C) and therefore is fabricated from an advanced heat-resistant nickel-based superalloy Microcast MarM-247. Since use of MarM-247 in a thin-walled pressure vessel is atypical, much effort is required to assure that the system will operate reliably for its design life of 17 years. One life-limiting structural response for this application is creep; creep deformation is the accumulation of time-dependent inelastic strain under sustained loading over time. If allowed to progress, the deformation eventually results in creep rupture. Since creep material properties are not available in the open literature, a detailed creep life assessment of the ASC heater head effort is underway. This paper presents an overview of that creep life assessment approach, including the reliability-based creep criteria developed from coupon testing, and the associated heater head deterministic and probabilistic analyses. The approach also includes direct benchmark experimental creep assessment. This element provides high-fidelity creep testing of prototypical heater head test articles to investigate the relevant material issues and multiaxial stress state. Benchmark testing provides required data to evaluate the complex life assessment methodology and to validate that analysis. Results from current benchmark heater head tests and newly developed experimental methods are presented. In the concluding remarks, the test results are shown to compare favorably with the creep strain predictions and are the first experimental evidence for a robust ASC heater head creep life.

Krause, David L.↗

NASA NTRS1989

Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system

It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.

Soloway, Donald I.↗