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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Small Dog-Like Quadruped Robot Powered With McKibben Air Muscles

Planetary surface robotic exploration is typically done by wheeled robots, which are limited to traveling on relatively flat terrain. The goal of this project was to design a bio-inspired robot to mimic the movements and agility of animals to navigate in various types of natural terrain, such as found on Mars. My objective for the summer was to design and construct a quadruped robot with a locomotion gait similar to a small dog. The design includes four legs and an actuated flexible spine for added mobility and performance; each leg has three joints - hip, knee, and ankle. I created 3D CAD models and machined the pieces for the assemblies of each part. One of the key areas of concern is weight vs. power issues for the driving force of locomotion. To maximize the power-to-weight ratio, I used McKibben air muscles to drive the motion of the quadruped. The prototype went through several iterations to analyze performance, with adjustments made to each assembly. We expect the final working prototype will be capable of standing unassisted and pronking into the air without active control. It will serve as a research platform for future bio-inspired control algorithms.

Lacy, John M.↗
NASA NTRS1992

Role of O2 in regulating tissue respiration in dog muscle working in situ

This study was designed to investigate the role of tissue oxygenation in some of the factors that are thought to regulate muscle respiration and metabolism. Tissue oxygenation was altered by reductions in O2 delivery (muscle blood flow x arterial O2 content), induced by decreases in arterial PO2 (PaO2). O2 uptake (VO2) was measured in isolated in situ canine gastrocnemius at rest and while working at two stimulation intensities (isometric tetanic contractions at 0.5 and 1 contractions/s) on three separate occasions, with only the level of PaO2 (78, 30, and 21 Torr) being different for each occasion. Muscle blood flow was held constant (pump perfusion) at each work intensity for the three different levels of PaO2. Muscle biopsies were obtained at the end of each rest and work period. Muscle VO2 was significantly less (P less than 0.05) at both stimulation intensities for the hypoxemic conditions, whereas [ATP] was reduced only during the highest work intensity during both hypoxemic conditions (31% reduction at 21 Torr PaO2 and 17% at 30 Torr). For each level of PaO2, the relationships between the changes that occurred in VO2 and levels of phosphocreatine, ADP, and ATP/ADP.P(i) as the stimulation intensity was increased were significantly correlated; however, the slopes and intercepts of these lines were significantly different for each PaO2. Thus a greater change in any of the proposed regulators of tissue respiration (e.g., phosphocreatine, ADP) was required to achieve a given VO2 as PaO2 was decreased.(ABSTRACT TRUNCATED AT 250 WORDS).

NASA Discipline Musculoskeletal↗
NASA NTRS1986

Estimation of left ventricular mass in conscious dogs

A method for the assessment of the development or the regression of left ventricular hypertrophy (LVH) in a conscious instrumented animal is described. First, the single-slice short-axis area-length method for estimating the left-ventricular mass (LVM) and volume (LVV) was validated in 24 formaldehyde-fixed canine hearts, and a regression equation was developed that could be used in the intact animal to correct the sonomicrometrically estimated LVM. The LVM-assessment method, which uses the combined techniques of echocardiography and sonomicrometry (in conjunction with the regression equation), was shown to provide reliable and reproducible day-to-day estimates of LVM and LVV, and to be sensitive enough to detect serial changes during the development of LVH.

Coleman, Bernell↗