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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 1,495 records · Page 83

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NASA NTRS1989

Simulation of shuttle flight control system structural interaction with RMS deployed payloads

A simulation of the system made up of the Orbiter, Remote Manipulator System (RMS), and payload grappled by the RMS was completed. The simulation was used to study the stability of this overall system when its attitude is under control of the Orbiter's on-orbit Flight Control System (FCS). The simulation was also used to study the dynamics of the system when the RMS and its associated command software are in active control of the relative Orbiter to payload position and orientation. The simulation models all of the following elements: RMS boom bending (represented by two cubic bending models); RMS boom torsion; RMS joint gearbox compliance (represented by a non-linear wind-up model); flexibility at the RMS to Orbiter interface; flexibility at the RMS to payload interface; joint motor dynamics; joint servo-loop dynamics; RMS on-board computer command logic; data transfer delays between the RMS sensor and the RMS on-board computer and between the RMS on-board computer and RMS joint servos; on-orbit flight control nonlinear control logic; and the Reaction Control System (both Primary and Vernier) jet forces and moments.

Turnball, Joe↗

NASA NTRS1989

Ballistics/mass properties

The propulsion performance and reconstructed mass properties data from Morton Thiokol's RSRM-4 motors, which were assigned to the STS-30R launch, are presented. The composite type solid propellant burn rates were close to predicted. The performance of the pair of motors were compared to some CEI Specification CPW1-3600 for compliance. Some aspects of the CEI Specification could not be compared because of low sampling of data. The performance of the motors were well within the CEI specification requirements. Post flight reconstructured RSRM mass properties are within expected values for the RSRM quarterweight and halfweight configurations.

Drendel, Albert S.↗

NASA NTRS1989

Environmental Projects. Volume 8: Modifications of wastewater evaporation ponds

The Goldstone Deep Space Communications Complex (GDSCC), located in the Mojave Desert about 45 miles north of Barstow, California, and about 160 miles northeast of Pasadena, is part of NASA's Deep Space Network, one of the world's largest and most sensitive scientific telecommunications and radio navigation networks. The Goldstone Complex is managed, technically directed, and operated for NASA by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology in Pasadena, California. Activities at the GDSCC are carried out in support of seven parabolic dish antennas. These activities may give rise to environmental hazards: use of hazardous chemicals, asbestos, and underground storage tanks as well as the generation of hazardous wastes and the disposal of wastewater. Federal, state, and local laws governing the management of hazardous substances, asbestos, underground storage tanks and wastewater disposal have become so complex there is a need to devise specific programs to comply with the many regulations that implement these laws. In support of the national goal of the preservation of the environment and the protection of human health and safety, NASA, JPL, and the GDSCC have adopted a position that their operating installations shall maintain a high level of compliance with these laws. One of the environmental problems at the GDSCC involved four active, operational, wastewater evaporation ponds designed to receive and evaporate sewage effluent from upstream septic tank systems. One pair of active wastewater evaporation ponds is located at Echo Site, while another operational pair is at Mars Site.

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NASA NTRS1990

Dynamic analysis of geared rotors by finite elements

A finite-element model of a geared rotor system on flexible bearings was developed. The model includes the rotary inertia of shaft elements, the axial loading on shafts, flexibility and damping of bearings, material damping of shafts and the stiffness and the damping of gear mesh. The coupling between the torsional and transverse vibrations of gears were considered in the model. A constant mesh stiffness was assumed. The analysis procedure can be used for forced vibration analysis of geared rotors by calculating the critical speeds and determining the response of any point on the shaft to mass unbalances, geometric eccentricities of gears and displacement transmission error excitation at the mesh point. The dynamic mesh forces due to these excitations can also be calculated. The model has been applied to several systems for the demonstration of its accuracy and for studying the effect of bearing compliances on system dynamics.

Kahraman, Ahmet↗

NASA NTRS1989

Load-shortening behavior of an initially curved eccentrically loaded column

To explore the feasibility of using buckled columns to provide a soft support system for simulating a free-free boundary condition in dynamic testing, the nonlinear load-shortening behavior of initially imperfect, eccentrically loaded slender columns is analyzed. Load-shortening curves are obtained for various combinations of load eccentricity and uniform initial curvature and are compared, for reference purposes, with the limiting case of the classical elastica. Results for numerous combinations of initial curvature and load eccentricity show that, over a wide range of shortening, an axially loaded slender column exhibits load-deflection compliance which is of the same order as that of a straight but otherwise identical cantilever beam under lateral tip loading.

Fichter, W. B.↗

NASA NTRS1989

Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

Zia, Omar↗

NASA NTRS1989

Approximate minimum-time trajectories for 2-link flexible manipulators

Powell's nonlinear programming code, VF02AD, was used to generate approximate minimum-time tip trajectories for 2-link semi-rigid and flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for an n-link, m-joint system with horizontal-plane bending only. Constraints on the trajectory include boundary conditions on position and energy for a rest-to-rest maneuver, straight-line tracking between boundary positions, and motor torque limits. Trajectory comparisons utilize a change in the link stiffness, EI, to transition from the semi-rigid to flexible case. Results show the level of compliance necessary to excite significant modal behavior. Quiescence of the final configuration is examined with the finite-element model.

Eisler, G. R.↗

NASA NTRS1990

Advanced tube-bundle rocket thrust chamber

An advanced rocket thrust chamber for future space application is described along with an improved method of fabrication. Potential benefits of the concept are improved cyclic life, reusability, and performance. Performance improvements are anticipated because of the enhanced heat transfer into the coolant which will enable higher chamber pressure in expander cycle engines. Cyclic life, reusability and reliability improvements are anticipated because of the enhanced structural compliance inherent in the construction. The method of construction involves the forming of the combustion chamber with a tube-bundle of high conductivity copper or copper alloy tubes, and the bonding of these tubes by an electroforming operation. Further, the method of fabrication reduces chamber complexity by incorporating manifolds, jackets, and structural stiffeners while having the potential for thrust chamber cost and weight reduction.

Kazaroff, John M.↗

NASA NTRS1990

The human factors of workstation telepresence

The term workstation telepresence has been introduced to describe human-telerobot compliance, which enables the human operator to effectively project his/her body image and behavioral skills to control of the telerobot itself. Major human-factors considerations for establishing high fidelity workstation telepresence during human-telerobot operation are discussed. Telerobot workstation telepresence is defined by the proficiency and skill with which the operator is able to control sensory feedback from direct interaction with the workstation itself, and from workstation-mediated interaction with the telerobot. Numerous conditions influencing such control have been identified. This raises the question as to what specific factors most critically influence the realization of high fidelity workstation telepresence. The thesis advanced here is that perturbations in sensory feedback represent a major source of variability in human performance during interactive telerobot operation. Perturbed sensory feedback research over the past three decades has established that spatial transformations or temporal delays in sensory feedback engender substantial decrements in interactive task performance, which training does not completely overcome. A recently developed social cybernetic model of human-computer interaction can be used to guide this approach, based on computer-mediated tracking and control of sensory feedback. How the social cybernetic model can be employed for evaluating the various modes, patterns, and integrations of interpersonal, team, and human-computer interactions which play a central role is workstation telepresence are discussed.

Smith, Thomas J.↗

NASA NTRS1990

Engineering test results for the Moog Single Line Disconnect

New and innovative types of disconnects will be required to service, resupply, and maintain future spacecraft subsystems. Efficiently maintaining orbiting scientific instruments, spacecraft support systems, and a manned space station over a long period of time will require the periodic replenishment of consumables and the replacement of components. To accomplish these tasks, the fluid disconnect must be designed to allow the connection and separation of fluid lines and components with minimal hazard to crew and equipment. The capability to simply connect a refueling line or to easily replace a failed component greatly extends the life of a space based fluid system. A test program was initiated to evaluate the Moog Single Line Disconnect. The objective of the test program was to demonstrate the operational characteristics of the disconnect and to verify compliance with current safety regulations. The results of the program are summarized in the referenced document.

Glubke, Scott E.↗

NASA NTRS1990

QM-6 final performance evaluation report igniter, volume 6

The Space Shuttle Redesigned Solid Rocket Motor (RSRM) static test of Qualification Motor (QM-6) was conducted 20 April 1988 at Morton Thiokol, Inc., Space Operations. The QM-6 was a full scale, full duration test. The objective is to document the post test condition of the igniters and associated components, and to show QM-6 static test compliance with specification CPW1-3600, Addendum D. All tests results are not included, but rather, the performance of the igniter, safing and arming device, and their associated seals is addressed.

Hale, E. J.↗

NASA NTRS1989

The JAU-JPL anthropomorphic telerobot

Work in progress on the new anthropomorphic telerobot is described. The initial robot configuration consists of a seven DOF arm and a sixteen DOF hand, having three fingers and a thumb. The robot has active compliance, enabling subsequent dual arm manipulations. To control the rather complex configuration of this robot, an exoskeleton master arm harness and a glove controller were built. The controller will be used for teleoperational tasks and as a research tool to efficiently teach the computer controller advanced manipulation techniques.

Jau, Bruno M.↗

NASA NTRS1989

Force-reflective teleoperated system with shared and compliant control capabilities

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Szakaly, Z.↗

NASA NTRS1989

Dynamic analysis of geared rotors by finite elements

The finite element model of a geared rotor system on flexible bearings has been developed. The model includes the rotary inertia of shaft elements, the axial loading on shafts, flexibility and damping of bearings, material damping of shafts and the stiffness and the damping of gear mesh. The coupling between the torsional and transverse vibrations of gears were considered in the model. A constant mesh stiffness was assumed. The analysis procedure can be used for forced vibration analysis of geared rotors by calculating the critical speeds and determining the response of any point on the shaft to mass unbalances, geometric eccentricities of gears and displacement transmission error excitation at the mesh point. The dynamic mesh forces due to these excitations can also be calculated. The model has been applied to several systems for the demonstration of its accuracy and for studying the effect of bearing compliances on system dynamics.

Kahraman, A.↗

NASA NTRS1989

Strain intensity factor approach for predicting the strength of continuously reinforced metal matrix composites

A method was previously developed to predict the fracture toughness (stress intensity factor at failure) of composites in terms of the elastic constants and the tensile failing strain of the fibers. The method was applied to boron/aluminum composites made with various proportions of 0 deg and +/- 45 deg plies. Predicted values of fracture toughness were in gross error because widespread yielding of the aluminum matrix made the compliance very nonlinear. An alternate method was develolped to predict the strain intensity factor at failure rather than the stress intensity factor because the singular strain field was not affected by yielding as much as the stress field. Far-field strains at failure were calculated from the strain intensity factor, and then strengths were calculated from the far-field strains using uniaxial stress-strain curves. The predicted strengths were in good agreement with experimental values, even for the very nonlinear laminates that contained only +/- 45 deg plies. This approach should be valid for other metal matrix composites that have continuous fibers.

Poe, Clarence C., Jr.↗

NASA NTRS1990

Mode I delamination of a three-dimensional fabric composite

Finite-element analysis was conducted on a double-cantilever-beam (DCB) specimen of carbon-epoxy (T300/3501-6) orthogonal interlocked fabric composites. The mode I strain-energy release rate G(I) was evaluated to investigate the influence of through-the-thickness (z-axis) fibers on crack driving force as a function of crack length. The analysis showed good agreement with experimental results for both compliance and G(I). The presence of z-axis fibers sharply reduced G(I) in comparison to the traditional two-dimensional laminated material. A parametric study revealed that increasing the z-axis fiber stiffness reduces G(I). Progressive debonding of the z-axis reinforcement was also modeled. G(I) increased as the fiber debonded but was significantly less than in the two-dimensional laminated material in all cases.

Byun, Joon-Hyung↗

NASA NTRS1990

Advanced tube-bundle rocket thrust chamber

Kazaroff, John M.↗

NASA NTRS1990

Automated Fluid Interface System (AFIS)

Automated remote fluid servicing will be necessary for future space missions, as future satellites will be designed for on-orbit consumable replenishment. In order to develop an on-orbit remote servicing capability, a standard interface between a tanker and the receiving satellite is needed. The objective of the Automated Fluid Interface System (AFIS) program is to design, fabricate, and functionally demonstrate compliance with all design requirements for an automated fluid interface system. A description and documentation of the Fairchild AFIS design is provided.

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