SEARCH · Engineering Papers

Results for “LEGS”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,441 records · Page 80

All sources NASA NTRS DOE OSTI

NASA NTRS1988

SKITTER/implement mechanical interface

SKITTER (Spacial Kinematic Inertial Translatory Tripod Extremity Robot) is a three-legged transport vehicle designed to perform under the unique environment of the moon. The objective of this project was to design a mechanical interface for SKITTER. This mechanical latching interface will allow SKITTER to use a series of implements such as drills, cranes, etc., and perform different tasks on the moon. The design emphasized versatility and detachability; that is, the interface design is the same for all implements, and connection and detachment is simple. After consideration of many alternatives, a system of three identical latches at each of the three interface points was chosen. The latching mechanism satisfies the design constraints because it facilitates connection and detachment. Also, the moving parts are protected from the dusty environment by housing plates.

Cash, John Wilson, III↗

NASA NTRS1988

Tubular space truss structure for SKITTER 2 robot

The Skitter 2 is a three legged transport vehicle designed to demonstrate the principle of a tripod walker in a multitude of environments. The tubular truss model of Skitter 2 is a proof of principal design. The model will replicate the operational capabilities of Skitter 2 including its ability to self-right itself. The project's focus was on the use of light weight tubular members in the final structural design. A strong design for the body was required as it will undergo the most intense loading. Triangular geometry was used extensively in the body, providing the required structural integrity and eliminating the need for cumbersome shear panels. Both the basic femur and tibia designs also relied on the strong geometry of the triangle. An intense literature search aided in the development of the most suitable weld techniques, joints, linkages, and materials required for a durable design. The hinge design features the use of spherical rod end bearings. In order to obtain a greater range of mobility in the tibia, a four-bar linkage was designed which attaches both to the femur and the tibia. All component designs, specifically the body, femur, and the tibia were optimized using the software package IDEAS 3.8A Supertab. The package provided essential deformation and stress analysis information on each component's design. The final structure incurred only a 0.0544 inch deflection in a maximum (worst case) loading situation. The highest stress experienced by any AL6061-T6 tubular member was 1920 psi. The structural integrity of the final design facilitated the use of Aluminum 6061-T6 tubing. The tubular truss structure of Skitter 2 is an effective and highly durable design. All facets of the design are structurally sound and cost effective.

Beecham, Richard↗

NASA NTRS1987

Proposal for a lunar landing pod for SKITTER

The purpose of this project is to design a lunar landing module for the SKITTER vehicle. SKITTER is a three-legged mobile lunar transport and work platform. This lunar landing module must be able to bring SKITTER, with attached crane, from a lunar orbit to the surface of the Moon. This propulsion system is entirely self-contained and removable after touchdown. SKITTER is unmanned and must be able to touch down on the lunar surface and perform assigned tasks independently of other space or lunar vehicles. The propulsion system is designed to ensure that the vehicle will make a lunar landing within the expected velocity range. A landing gear configuration is presented to safely dissipate landing forces on lunar impact and be removed from the SKITTER structure after touchdown. The overall engineering analysis was conducted to determine an economical design to land SKITTER safely on the Moon. SKITTER will perform various tasks on the surface of the Moon. The completion of this project will determine the feasibility of landing SKITTER with the attached crane safely on the lunar surface.

Herman, David↗

NASA NTRS1988

Mechanical design engineering. NASA/university advanced design program: Lunar Bulk Material Transport Vehicle

The design of a Lunar Bulk Material Transport Vehicle (LBMTV) is discussed. Goals set in the project include a payload of 50 cubic feet of lunar soil with a lunar of approximately 800 moon-pounds, a speed of 15 mph, and the ability to handle a grade of 20 percent. Thermal control, an articulated steering mechanism, a dump mechanism, a self-righting mechanism, viable power sources, and a probable control panel are analyzed. The thermal control system involves the use of small strip heaters to heat the housing of electronic equipment in the absence of sufficient solar radiation and multi-layer insulation during periods of intense solar radiation. The entire system uses only 10 W and weighs about 60 pounds, or 10 moon-pounds. The steering mechanism is an articulated steering joint at the center of the vehicle. It utilizes two actuators and yields a turning radius of 10.3 feet. The dump mechanism rotates the bulk material container through an angle of 100 degree using one actuator. The self-righting mechanism consists of two four bar linkages, each of which is powered by the same size actuator as the other linkages. The LBMTV is powered by rechargeable batteries. A running time of at least two hours is attained under a worst case analysis. The weight of the batteries is 100 pounds. A control panel consisting of feedback and control instruments is described. The panel includes all critical information necessary to control the vehicle remotely. The LBMTV is capable of handling many types of cargo. It is able to interface with many types of removable bulk material containers. These containers are made to interface with the three-legged walker, SKITTER. The overall vehicle is about 15 feet in length and has a weight of about 1000 pounds, or 170 lunar pounds.

Daugherty, Paul↗

NASA NTRS1987

Man-machine interface for the control of a lunar transport machine

A proposed first generation human interface control panel is described which will be used to control SKITTER, a three-legged lunar walking machine. Under development at Georgia Tech, SKITTER will be a multi-purpose, un-manned vehicle capable of preparing a site for the proposed lunar base in advance of the arrival of men. This walking machine will be able to accept modular special purpose tools, such as a crane, a core sampling drill, and a digging device, among others. The project was concerned with the design of a human interface which could be used, from earth, to control the movements of SKITTER on the lunar surface. Preliminary inquiries were also made into necessary modifications required to adapt the panel to both a shirt-sleeve lunar environment and to a mobile unit which could be used by a man in a space suit at a lunar work site.

Ashley, Richard↗

NASA NTRS1990

A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Simmons, Reid↗

NASA NTRS1990

Experiment K-6-27. Analysis of radiographs and biosamples from primate studies

Serial high-contrast radiographs were obtained of both arms and the right leg of two flight and four control monkeys for the period L-60 to S+16. Longitudinal growth of the tibia, radius and ulna was linear over this period in the control monkeys. In the flight monkey for whom the feeder malfunctioned, there were significant decreases in growth of the long bones. There were also hypermineralized growth arrest lines produced in the distal radial and ulnar metaphyses following resumption of growth. In the other flight monkey, there was a suggestion of decreased long bone growth during flight and immediate postflight periods, but this recovered by the end of the postflight control experiment. There was also an increase in intracortical resorption, indicative of skeletal activation. No major changes in cortical thickness or other parameters were noted, but modification of the techniques to obtain very high quality radiographs in further studies should allow subtle changes in these processes to be quantified.

Cann, C.↗

NASA NTRS1990

FIRE aircraft observations of horizontal and vertical transport in marine stratocumulus

A major goal of research on marine stratocumulus is to try to understand the processes that generate and dissipate them. One approach to studying this problem is to investigate the boundary layer structure in the vicinity of a transition from a cloudy to a cloud-free region to document the differences in structure on each side of the transition. Since stratiform clouds have a major impact on the radiation divergence in the boundary layer, the transition from a cloudy to a clear boundary layer is a region of large horizontal inhomogeneity in air temperature and turbulence intensity. This leads to a considerable difference in horizontal and vertical transports between the cloudy and cloud-free regions. Measurements are used from the NCAR Electra aircraft during flights 5 (7 July 1987) and 10 (18 July 1987) of FIRE for this purpose. Flight 5 coincided with a LANDSAT overflight, and was designed to investigate the transition across a well-defined N-S cloud boundary, since the LANDSAT image can document the cloud cover in considerable detail. Turbulence legs were flown about 60 km on both sides of the cloud boundary. Flight 10 was flown at night in an area of scattered small cumuli and broken cloud patches.

Paluch, Ilga R.↗

NASA NTRS1990

Spatial scales of cirrus cloud properties

Research in studying the spatial scales of the cirrus, used data collected during the flight legs of the NCAR Sabreliner aircraft on four days during the FIRE Cirrus IFO to study the spatial scales of the cirrus, and will concentrate on the scales of horizontal wind. The spatial scales of the cloud features can be described by power spectra (or spectral density graphs) and cumulative variance graphs. The cumulative variance graphs were created by first using a Fast Fourier Transform (FFT) to create variance spectra. The variances were then summed in a cumulative fashion from the largest scalelengths (wavelengths) to the smallest. No detrending was done to the original data, and no smoothing or averaging was done to the spectral points. All the spectral points were included. This means that the values of the first five to ten spectral points of the large scalelengths should only be considered to be qualitatively correct. The cumulative variance at smaller scalelengths should be correct because a more accurate representation of the variance at the larger scalelengths should only redistribute the energy amongst the larger scalelengths.

Hein, Paul F.↗

NASA NTRS1990

NASA Langley Research Center National Aero-Space Plane Mission simulation profile sets

To provide information on the potential for long life service of oxidation resistant carbon-carbon (ORCC) materials in the National Aero-Space Plane (NASP) airframe environment, NASP ascent, entry, and cruise trajectories were analytically flown. Temperature and pressure profiles were generated for 20 vehicle locations. Orbital (ascent and entry) and cruise profile sets from four locations are presented along with the humidity exposure and testing sequences that are being used to evaluate ORCC materials. The four profiles show peak temperatures during the ascent leg of an orbital mission of 2800, 2500, 2000, and 1700 F. These profiles bracket conditions where carbon-carbon might be used on the NASP vehicle.

Ohlhorst, Craig W.↗

NASA NTRS1989

First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Krotkov, E.↗

NASA NTRS1989

Simple autonomous Mars walker

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.↗

NASA NTRS1989

Perception for rugged terrain

A three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.

Kweon, In SO↗

NASA NTRS1989

Mars Mission profile options and opportunities

Mars Mission profile options and mission requirements data are presented for earth-Mars opposition and conjuction class round-trip flyby and stopover mission opportunities. The opposition class flyby and sprint mission uses direct transfer trajectories to and on return from Mars. The opposition-class stopover mission employs the gravitational field of Venus to accelerate the space vehicle on either the outbound or inbound leg in order to reduce the propulsion requirement associated with the opposition-class mission. The conjuction-class mission minimizes propulsion requirements by optimizing the stopover time at Mars. Representative interplanetary space vehicle systems are sized to compare and show sensitivity of the initial mass required in low earth orbit to one mission profile option and mission opportunity to another.

Young, Archie C.↗

NASA NTRS1989

Can cool loop flows explain 'transition region' redshifts?

Observations of solar active regions reveal extensive areas of redshifted emission lines in the extreme ultraviolet, indicative of down flowing plasma. Redshifts are seen also in the magnetic network of the quiet sun and in magnetically active stars. The inferred velocities are large and appear to represent steady flows. Redshifts are not observed at higher coronal temperatures. It is shown here that steady flow in 'cool' loops driven by the buoyancy force set up by a small heating asymmetry between the two legs of the loop, offers a possible theoretical explanation of the observed features.

Mcclymont, Alexander N.↗

NASA NTRS1989

Effects of stretching and disuse on amino acids in muscles of rat hind limbs

The effects of disuse and passive stretch on the concentrations of amino acids and ammonia in the unloaded soleus muscle was investigated in hindquarter-suspended (for six days by casting one foot in dorsiflexion) tail-casted rats. For a comparison with the condition of unloading, amino acids and ammonia were also measured in shortened extensor digitorum longus in the same casted limb and in denervated leg muscles. The results obtained suggest that passive stretch diminishes some of the characteristic alterations of amino acid concentrations due to unloading. This effect of stretch is considered to be due to the maintenance of muscle tension.

Jaspers, Stephen R.↗

NASA NTRS1990

Determination of Comet Halley gas emission characteristics from mass loading of the solar wind

The velocity profile of the solar wind during Giotto's approach to Comet Halley is fitted with the mass loading produced by a simple model of the neutral particle distribution. The model is used to calculate the implanted ion flux at Giotto for any given time and position along the spacecraft trajectory. Comparing the added flux with Giotto's solar wind proton data from the inbound leg outside the bow shock, the ratio of the total mass-loaded ion flux to the solar wind flux at the spacecraft is computed. Hence, using equations given by Galeev et al. (1985) values of the solar wind velocity, u-infinity, far upstream from the comet are inferred. Imposing the condition that u-infinity should be as nearly as possible constant in time, values of gas production rate and the ratio between radial expansion velocity and ionization rate required to fit the model to data are derived. The values obtained are consistent with those derived by more direct methods.

Huddleston, D. E.↗

NASA NTRS1990

Continuum radiation at Uranus

One Uranian radio emission which has thus far escaped attention is an analog of continuum radiation at earth, Jupiter, and Saturn. The emission is found to be propagating in the ordinary mode in the range of one to a few kHz on the inbound leg of the Voyager 2 encounter, shortly after the magnetopause crossing. The Uranian continuum radiation is notably weak, making it more like that detected at Saturn than the extremely intense Jovian continuum radiation. The Uranian emission shows some evidence for narrow-band components lying in the same frequency regime as the continuum, completing the analogy with the other planets, which also show narrow-band components superimposed on the continuum spectrum. It is argued that the low intensity of the Uranian continuum is most likely related to the lack of a density cavity within the Uranian magnetosphere that is deep relative to the solar wind plasma density.

Kurth, W. S.↗