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Results for “oriented attachment”

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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗
NASA NTRS2001

Bioengineered anterior cruciate ligament

The present invention provides a method for producing an anterior cruciate ligament ex vivo. The method comprises seeding pluripotent stem cells in a three dimensional matrix, anchoring the seeded matrix by attachment to two anchors, and culturing the cells within the matrix under conditions appropriate for cell growth and regeneration, while subjecting the matrix to one or more mechanical forces via movement of one or both of the attached anchors. Bone marrow stromal cells are preferably used as the pluripotent cells in the method. Suitable matrix materials are materials to which cells can adhere, such as a gel made from collagen type I. Suitable anchor materials are materials to which the matrix can attach, such as Goinopra coral and also demineralized bone. Optimally, the mechanical forces to which the matrix is subjected mimic mechanical stimuli experienced by an anterior cruciate ligament in vivo. This is accomplished by delivering the appropriate combination of tension, compression, torsion, and shear, to the matrix. The bioengineered ligament which is produced by this method is characterized by a cellular orientation and/or matrix crimp pattern in the direction of the applied mechanical forces, and also by the production of collagen type I, collagen type III, and fibronectin proteins along the axis of mechanical load produced by the mechanical forces. Optimally, the ligament produced has fiber bundles which are arranged into a helical organization. The method for producing an anterior cruciate ligament can be adapted to produce a wide range of tissue types ex vivo by adapting the anchor size and attachment sites to reflect the size of the specific type of tissue to be produced, and also adapting the specific combination of forces applied, to mimic the mechanical stimuli experienced in vivo by the specific type of tissue to be produced. The methods of the present invention can be further modified to incorporate other stimuli experienced in vivo by the particular developing tissue, some examples of the stimuli being chemical stimuli, and electro-magnetic stimuli. Some examples of tissue which can be produced include other ligaments in the body (hand, wrist, elbow, knee), tendon, cartilage, bone, muscle, and blood vessels.

Altman, Gregory↗
NASA NTRS1989

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, B.↗
NASA NTRS1994

The stability of two-phase flow over a swept-wing

We use numerical and asymptotic techniques to study the stability of a two-phase air/water flow above a flat porous plate. This flow is a model of the boundary layer which forms on a yawed cylinder and can be used as a useful approximation to the air flow over swept wings during heavy rainfall. We show that the interface between the water and air layers can significantly destabilize the flow, leading to traveling wave disturbances which move along the attachment line. This instability occurs for lower Reynolds numbers than in the case of the absence of a water layer. We also investigate the instability of inviscid stationary modes. We calculate the effective wavenumber and orientation of the stationary disturbance when the fluids have identical physical properties. Using perturbation methods we obtain corrections due to a small stratification in viscosity, thus quantifying the interfacial effects. Our analytical results are in agreement with the numerical solution which we obtain for arbitrary fluid properties.

Coward, Adrian↗
NASA NTRS2005

Split-Resonator, Integrated-Post Vibratory Microgyroscope

An improved design for a capacitive-sensing, rocking-mode vibratory microgyroscope is more amenable to mass production, relative to a prior design. Both the improved design and the prior design call for a central post that is part of a resonator that partly resembles a cloverleaf or a flower. The prior design is such that the post has to be fabricated as a separate piece, then bonded to the rest of the resonator in the correct position and orientation. The improved design provides for fabrication of the post as an integral part of the resonator and, in so doing, makes it possible to produce a waferful of microgyroscopes, without need to fabricate, position, and attach posts.

Bae, Youngsam↗
DOE OSTI2024

Intake runner for gaseous fuel engine, system, and method

A gaseous fuel engine system includes a hydrogen fuel supply, an engine housing having an intake port extending to a cylinder, and an intake runner. The intake runner includes a valve mount attached to a conduit and having a valve mounting face, and a gaseous fuel admission valve is mounted upon the valve mounting face. A hydrogen fuel passage extends from the valve mount through the conduit and is oriented angularly to at least one of a clamping face of the intake runner or the valve mounting face. Related apparatus and methodology is also disclosed.

Singh, Jaswinder↗
NASA NTRS1987

Generation of intense negative ion beams

An electron gun is used with a mirror electrostatic field to produce zero or near zero velocity electrons by forming a turning point in their trajectories. A gas capable of attaching zero or near zero velocity is introduced at this turning point, and negative ions are produced by the attachment or dissociative attachment process. Operation may be continuous or pulsed. Ions thus formed are extracted by a simple lens system and suitable biasing of grids.

Chutjian, Ara↗
NASA NTRS1976

Rotating launch device for a remotely piloted aircraft

A method and apparatus for launching a remotely piloted aircraft is disclosed, wherein the aircraft is revolved about a fixed pivot point until a predetermined speed is reached whereupon the vehicle is released from the launching apparatus. The vehicle is attached to one end of a rotatable arm, the imbalance on the arm being counteracted by a counter weight attached to the opposite end. The counter weight is released from the arm at the same time as the aircraft so as to avoid structural damage to the apparatus caused by rotation in the unbalanced condition. The arm is oriented such that it rotates in a plane inclined obliquely to the local gravitational field of the launch site.

Gregory, T. J.↗
DOE OSTI2026

Simulations of a hypersonic turbulent boundary layer over wavy surfaces

Here, we conduct large-eddy simulations of a Mach 5.84 cold wall turbulent boundary layer over one-dimensional wavy walls with varying amplitudes and wavelengths. Across all wall topologies, a series of alternating shock and expansion waves is shown to influence the entire boundary layer, and generate repeating wave patterns in the turbulent stresses, dispersive stresses, and turbulent kinetic energy budget. The series of alternating shocks and expansions imposes repeating adverse and favourable pressure gradients across the wavy wall, and at sufficient wall amplitude, triggers flow separation in the trough of the wave. Flow separation is demonstrated to influence the behaviour of wall pressure fluctuations over the wavy wall. In attached flows, the prominent frequencies are consistent with integral-scale boundary layer turbulence, whereas in separated flows, a two-decade frequency range is present, akin to two-dimensional shock–boundary layer interactions. Counter-rotating streamwise-oriented structures are observed on the windward side of the wave, which diminish over the wave crest. A conditional analysis demonstrates that these structures are present in the upstream boundary layer, and are amplified with increasing wall amplitude. An examination of the Görtler number and probability density function (PDF) of the fluctuating lateral wall shear stress demonstrates the strong correlation between a large Görtler number and growth of the PDF tail density, suggesting that the amplification of the counter-rotating streamwise-oriented structures are linked to centrifugal instabilities in regions of streamline concavity.

boundary layers↗
NASA NTRS1992

Life prediction and constitutive models for engine hot section anisotropic materials program

This report presents the results from a 35 month period of a program designed to develop generic constitutive and life prediction approaches and models for nickel-based single crystal gas turbine airfoils. The program is composed of a base program and an optional program. The base program addresses the high temperature coated single crystal regime above the airfoil root platform. The optional program investigates the low temperature uncoated single crystal regime below the airfoil root platform including the notched conditions of the airfoil attachment. Both base and option programs involve experimental and analytical efforts. Results from uniaxial constitutive and fatigue life experiments of coated and uncoated PWA 1480 single crystal material form the basis for the analytical modeling effort. Four single crystal primary orientations were used in the experiments: (001), (011), (111), and (213). Specific secondary orientations were also selected for the notched experiments in the optional program. Constitutive models for an overlay coating and PWA 1480 single crystal material were developed based on isothermal hysteresis loop data and verified using thermomechanical (TMF) hysteresis loop data. A fatigue life approach and life models were selected for TMF crack initiation of coated PWA 1480. An initial life model used to correlate smooth and notched fatigue data obtained in the option program shows promise. Computer software incorporating the overlay coating and PWA 1480 constitutive models was developed.

Nissley, D. M.↗
NASA NTRS1992

Life prediction and constitutive models for engine hot section anisotropic materials program

This report presents a summary of results from a 7 year program designed to develop generic constitutive and life prediction approaches and models for nickel-based single crystal gas turbine airfoils. The program was composed of a base program and an optional program. The base program addressed the high temperature coated single crystal regime above the airfoil root platform. The optional program investigated the low temperature uncoated single crystal regime below the airfoil root platform including the notched conditions of the airfoil attachment. Both base and option programs involved experimental and analytical efforts. Results from uniaxial constitutive and fatigue life experiments of coated and uncoated PWA 1480 single crystal material formed the basis for the analytical modeling effort. Four single crystal primary orientations were used in the experiments: group of zone axes (001), group of zone axes (011), group of zone axes (111), and group of zone axes (213). Specific secondary orientations were also selected for the notched experiments in the optional program. Constitutive models for an overlay coating and PWA 1480 single crystal materials were developed based on isothermal hysteresis loop data and verified using thermomechanical (TMF) hysteresis loop data. A fatigue life approach and life models were developed for TMF crack initiation of coated PWA 1480. A life model was developed for smooth and notched fatigue in the option program. Finally, computer software incorporating the overlay coating and PWA 1480 constitutive and life models was developed.

Nissley, D. M.↗
NASA NTRS1990

Calibration Fixture For Welding Robot

Compact, lightweight device used in any position or orientation. Calibration fixture designed for use on robotic gas/tungsten-arc welding torch equipped with vision-based seam-tracking system. Through optics in hollow torch cylinder, video camera obtains image of weld, viewing along line of sight coaxial with welding electrode. Attaches to welding-torch cylinder in place of gas cup normally attached in use. By use of longer or shorter extension tube, fixture accommodates welding electrode of unusual length.

Holly, Krisztina J.↗
NASA NTRS2007

Ultracapacitor-Powered Cordless Drill

The figure depicts a portable, hand-held power drill with its attached power-supply unit, in which ultracapacitors, rather than batteries, are used to store energy. This ultra capacitor-powered drill is a product of continuing efforts to develop the technological discipline known as hybrid power management (HPM), which is oriented toward integration of diverse electric energy-generating, energy-storing, and energy-consuming devices in optimal configurations.

Eichenberg, Dennis J.↗
NASA NTRS1988

A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

Smith, Jeffrey H.↗
NASA NTRS1994

Measurement and characterization of force dynamics in high T(sub c) superconductors

Magnetic bearing implementations using more exotic superconducting phenomena have been proliferating in recent years because they have important advantages over conventional implementations. For example, the stable suspension of a six degrees-of-freedom object by superconducting means can be achieved without a control system and with the use of only a single superconductor. It follows that the construction becomes much simpler with decreased need for position sensors and stabilizers. However, it is recognized that the design of superconducting systems can be difficult because important characteristics relating to the 6 degree-of-freedom dynamics of an object suspended magnetically are not readily available and the underlying principles of superconducting phenomena are not yet completely understood. To eliminate some of the guesswork in the design process, this paper proposes a system which can resolve the mechanical properties of suspension by superconductivity and provide position and orientation dependent data about the system's damping, stiffness, and frequency response characteristics. This system employs an actively-controlled magnetically-suspended fine-motion device that can also be used as a six degree-of-freedom force sensor. By attaching the force sensor to a permanent magnet that is being levitated above a superconducting magnet, mechanical characteristics of the superconductor levitation can be extracted. Such information would prove useful for checking the validity of theoretical models and may even give insights into superconducting phenomena.

Higuchi, Toshiro↗
NASA NTRS2014

Successful Starshade Petal Deployment Tolerance Verification in Support of NASA's Technology Development for Exoplanet Missions

A Starshade is a sunflower-shaped satellite with a large inner disk structure surrounded by petals that flies in formation with a space-borne telescope, creating a deep shadow around the telescope over a broad spectral band to permit nearby exoplanets to be viewed. Removing extraneous starlight before it enters the observatory optics greatly loosens the tolerances on the telescope and instrument that comprise the optical system, but the nature of the Starshade dictates a large deployable structure capable of deploying to a very precise shape. These shape requirements break down into key mechanical requirements, which include the rigid-body position and orientation of each of the petals that ring the periphery of the Starshade. To verify our capability to meet these requirements, we modified an existing flight-like Astromesh reflector, provided by Northrup Grumman, as the base ring to which the petals attach. The integrated system, including 4 of the 30 flight-like subscale petals, truss, connecting spokes and central hub, was deployed tens of times in a flight-like manner using a gravity compensation system. After each deployment, discrete points in prescribed locations covering the petals and truss were measured using a highly-accurate laser tracker system. These measurements were then compared against the mechanical requirements, and the as-measured data shows deployment accuracy well within our milestone requirements and resulting in a contrast ratio consistent with exoplanet detection and characterization.

External occulters↗
NASA NTRS2002

Tetragonal Lysozyme Nucleation and Crystal Growth: The Role of the Solution Phase

Lysozyme, and most particularly the tetragonal form of the protein, has become the default standard protein for use in macromolecule crystal nucleation and growth studies. There is a substantial body of experimental evidence, from this and other laboratories, that strongly suggests this proteins crystal nucleation and growth is by addition of associated species that are preformed by standard reversible concentration-driven self association processes in the bulk solution. The evidence includes high resolution AFM studies of the surface packing and of growth unit size at incorporation, fluorescence resonance energy transfer measurements of intermolecular distances in dilute solution, dialysis kinetics, and modeling of the growth rate data. We have developed a selfassociation model for the proteins crystal nucleation and growth. The model accounts for the obtained crystal symmetry, explains the observed surface structures, and shows the importance of the symmetry obtained by self-association in solution to the process as a whole. Further, it indicates that nucleation and crystal growth are not distinct mechanistically, but identical, with the primary difference being the probability that the particle will continue to grow or dissolve. This model also offers a possible mechanism for fluid flow effects on the growth process and how microgravity may affect it. While a single lysozyme molecule is relatively small (M.W. = 14,400), a structured octamer in the 4(sub 3) helix configuration (the proposed average sized growth unit) would have a M.W. = 115,000 and dimensions of 5.6 x 5.6 x 7.6 nm. Direct AFM measurements of growth unit incorporation indicate that units as wide as 11.2 nm and as long as 11.4 nm commonly attach to the crystal. These measurements were made at approximately saturation conditions, and they reflect the sizes of species that both added or desorbed from the crystal surface. The larger and less isotropic the associated species the more likely that it will be oriented to some degree in a flowing boundary layer, even at the low flow velocities measured about macromolecule crystals. Flow-driven effects resulting in misorientation upon addition to and incorporation into the crystal need only be a small fraction of a percentage to significantly affect the resulting crystal. One Earth, concentration gradient driven flow will maintain a high interfacial concentration, i.e., a high level (essentially that of the bulk solution) of solute association at the interface and higher growth rate. Higher growth rates mean an increased probability that misaligned growth units are trapped by subsequent growth layers before they can be desorbed and try again, or that the desorbing species will be smaller than the adsorbing species. In microgravity the extended diffusive boundary layer will lower the interfacial concentration. This results in a net dissociation of aggregated species that diffuse in from the bulk solution, i.e., smaller associated species, which are more likely able to make multiple attempts to correctly bind, yielding higher quality crystals.

Pusey, Marc L.↗