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NASA NTRS1993

Toxic substances registry system: Index of material safety data sheets

The Material Safety Data Sheets (MSDS's) listed in this index reflect product inventories and associated MSDS's which were submitted to the Toxic Substances Registry database maintained by the Base Operations Contractor at the Kennedy Space Center. The purpose of this index is to provide KSC government, contractor, and tenant organizations a means to access information on the hazards associated with these chemicals. The Toxic Substance Registry Service (TSRS) was established to manage information dealing with the storage and use of toxic and otherwise hazardous materials at KSC. As a part of this service, the BOC Environmental Health Services maintains a central repository of MSDS's which were provided to TSRS. The data on the TSRS are obtained from NASA, contractor, and tenant organizations who use or store hazardous materials at KSC. It is the responsibility of these organizations to conduct inventories, obtain MSDS's, distribute Hazard Communication information to their employees, and otherwise implement compliance with appropriate Federal, State, and NASA Hazard Communication and Worker Right-to-Know regulations and policies.

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NASA NTRS1992

Flight 20 (STS-45) polysulfide gas path investigation

This report documents the results of the investigation into causes of gas paths on the 20A and 20B case-to-nozzle joints on STS-42. The investigation was conducted by the Investigation Board appointed by the senior vice president and general manager of Space Operations, Mr. R. E. Lindstrom, on 7 Feb. 1992. The probability of gas path occurrence in the nozzle-to-case-joint polysulfide had been identified during joint redesign. However, actual flight gas path incidence has been limited to RSRM-11 and the 20A and 20B segments. The blow-by condition on the 20A segment was a first time occurrence which was a special concern. The investigation covered all technical aspects associated with the gas path and blow-by conditions: materials and processing history, design requirements and as-built compliance to the design, thermal and structural analyses, computer modeling, and laboratory experimentation with the materials involved. The investigation was coordinated with Mr. Ken Jones at NASA Marshall in bi-weekly teleconferences. The Board also supported Dr. James C. Blair's independent NASA investigation team by providing copies of collected data, conducting requested analyses, and supporting several all-day teleconferences to provide understanding and resolve issues. The Dr. Blair support requirement was successfully concluded on 4 Mar. 1992.

Bjorkman, Rey C.↗
NASA NTRS1993

Characterization of fluid physics effects on cardiovascular response to microgravity (G-572)

The recognition and understanding of cardiovascular adaptation to spaceflight has experienced substantial advancement in the last several years. In-flight echocardiographic measurements of astronaut cardiac function on the Space Shuttle have documented a 15 percent reduction in both left ventricular volume index and stroke volume with a compensatory increase in heart rate to maintain cardiac output. To date, the reduced cardiac size and stroke volume have been presumed to be the consequence of the reduction in circulating fluid volume following diuresis and other physiological processes to reduce blood volume within a few days after orbital insertion. However, no specific mechanism for the reduced stroke volume has been elucidated. The following investigation proposes the use of a hydraulic model of the cardiovascular system to examine the possibility that the observed reduction in stroke volume may, in part, be related to fluid physics effects on heart function. The automated model is being prepared to fly as a GAS payload. The experimental apparatus consists of a pneumatically actuated, elliptical artificial ventricle connected to a closed-loop, hydraulic circuit with compliance and resistance elements to create physiologic pressure and flow conditions. The ventricle is instrumented with high-fidelity, acceleration-insensitive, catheter-tip pressure transducers (Millar Instruments) in the apex and base to determine the instantaneous ventricular pressures and (delta)P(sub LV) across the left ventricle (LVP(sub apex)-LVP(sub base). The ventricle is also instrumented with a flow probe and pressure transducers immediately upstream of the inflow valve and downstream of the outflow valve. The experiment will be microprocessor controlled with analog signals stored on the FM data tape recorder. By varying the circulating fluid volume, ventricular function can be determined for varying preload pressures with fixed afterload pressure. Pilot experiments on board the NASA KC-135 aircraft have demonstrated proof-of-concept and provided early support for the proposed hypothesis. A review of the pilot experiments and developmental progress on the GAS version of this experiment will be presented.

Pantalos, George M.↗
NASA NTRS1993

Data management for support of the Oregon Transect Ecosystem Research (OTTER) project

Management of data collected during projects that involve large numbers of scientists is an often overlooked aspect of the experimental plan. Ecosystem science projects like the Oregon Transect Ecosystem Research (OTTER) Project that involve many investigators from many institutions and that run for multiple years, collect and archive large amounts of data. These data range in size from a few kilobytes of information for such measurements as canopy chemistry and meteorological variables, to hundreds of megabytes of information for such items as views from multi-band spectrometers flown on aircraft and scenes from imaging radiometers aboard satellites. Organizing and storing data from the OTTER Project, certifying those data, correcting errors in data sets, validating the data, and distributing those data to other OTTER investigators is a major undertaking. Using the National Aeronautics and Space Administration's (NASA) Pilot Land Data System (PLDS), a Support mechanism was established for the OTTER Project which accomplished all of the above. At the onset of the interaction between PLDS and OTTER, it was not certain that PLDS could accomplish these tasks in a manner that would aid researchers in the OTTER Project. This paper documents the data types that were collected under the auspices of the OTTER Project and the procedures implemented to store, catalog, validate, and certify those data. The issues of the compliance of investigators with data-management requirements, data use and certification, and the ease of retrieving data are discussed. We advance the hypothesis that formal data management is necessary in ecological investigations involving multiple investigators using many data gathering instruments and experimental procedures. The issues and experience gained in this exercise give an indication of the needs for data management systems that must be addressed in the coming decades when other large data-gathering endeavors are undertaken by the ecological science community.

Skiles, J. W.↗
NASA NTRS1993

Automating a human factors evaluation of graphical user interfaces for NASA applications: An update on CHIMES

Capturing human factors knowledge about the design of graphical user interfaces (GUI's) and applying this knowledge on-line are the primary objectives of the Computer-Human Interaction Models (CHIMES) project. The current CHIMES prototype is designed to check a GUI's compliance with industry-standard guidelines, general human factors guidelines, and human factors recommendations on color usage. Following the evaluation, CHIMES presents human factors feedback and advice to the GUI designer. The paper describes the approach to modeling human factors guidelines, the system architecture, a new method developed to convert quantitative RGB primaries into qualitative color representations, and the potential for integrating CHIMES with user interface management systems (UIMS). Both the conceptual approach and its implementation are discussed. This paper updates the presentation on CHIMES at the first International Symposium on Ground Data Systems for Spacecraft Control.

Jiang, Jian-Ping↗
NASA NTRS1994

Kinematic functions for redundancy resolution using configuration control

The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix of the end-effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.

Seraji, Homayoun↗
NASA NTRS1993

A compact roller-gear pitch-yaw joint module: Design and control issues

Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated.

Dohring, Mark E.↗
NASA NTRS1994

Robotic NDE inspection of advanced solid rocket motor casings

The Advanced Solid Rocket Motor program determined the need to inspect ASRM forgings and segments for potentially catastrophic defects. To minimize costs, an automated eddy current inspection system was designed and manufactured for inspection of ASRM forgings in the initial phases of production. This system utilizes custom manipulators and motion control algorithms and integrated six channel eddy current data acquisition and analysis hardware and software. Total system integration is through a personal computer based workcell controller. Segment inspection demands the use of a gantry robot for the EMAT/ET inspection system. The EMAT/ET system utilized similar mechanical compliancy and software logic to accommodate complex part geometries. EMAT provides volumetric inspection capability while eddy current is limited to surface and near surface inspection. Each aspect of the systems are applicable to other industries, such as, inspection of pressure vessels, weld inspection, and traditional ultrasonic inspection applications.

Mcneelege, Glenn E.↗
NASA NTRS1994

Dexterity enhancement in microsurgery using telemicro-robotics

The presentation will focus on finding the spectrum of dexterity performance while performing microsurgery in various specialties. It will be noted that individuals vary markedly in their performance in the position, velocity, stability, and force domains. There are surgeons who have a tremor who otherwise move very slowly and carefully while there are other surgeons who apply excessive force, but never have a tremor or move excessively fast. There are yet other surgeons who move excessively fast, yet they do not have a tremor. Dexterity enhancement includes position down scaling, tremor filtering, fatigue elimination, and other second-order issues such as confining the work space, velocities, accelerations, or forces. It will be described that the hand's position performance is degraded when it is asked to actuate the tools and that remote actuation alone increases the positioning capabilities. It will be noted that rotary and telescopic functions are far more difficult than writing or engraving-like motions. The safety issues concerning velocities and forces will be discussed and the need for impedance control pointed out. Simplistically, the devices should be made with variable compliance so that they can function rigidly as a robot would or compliantly as a human would, depending on the setting of this parameter. Tool interfaces will be discussed with an emphasis on the overall performance of the position, end effector, and tool as a unit. Space constraints, force, and velocity requirements will be discussed in this section as well. Referencing the coordinate system to pre- or inter-operative imaging systems will be discussed as well as an emphasis on the system architecture.

Charles, Steve↗
NASA NTRS1994

Structural damping studies at cryogenic temperatures

Results of an engineering study to measure changes in structural damping properties of two cryogenic wind tunnel model systems and two metallic test specimens at cryogenic temperatures are presented. Data are presented which indicate overall, a trend toward reduced structural damping at cryogenic temperatures (-250 degrees F) when compared with room temperature damping properties. The study was focused on structures and materials used for model systems tested in the National Transonic Facility (NTF). The study suggests that the significant reductions in damping at extremely cold temperatures are most likely associated with changes in mechanical joint compliance damping rather than changes in material (solid) damping.

Young, Clarence P., Jr.↗
NASA NTRS1992

Douglas Aircraft HSCT status and future research needs

Current activities on the High Speed Civil Transport (HSCT) at Douglas are focussed on baseline vehicle development at Mach 1.6 and 2.4. Parallel design activities incorporating the latest technologies in structures/materials, propulsion/noise, and aerodynamics are also being conducted and incorporated into the baseline to establish performance, economic viability, and environmental compliance. Studies are also being conducted to establish the feasibility of incorporating laminar flow control and minimized sonic boom concepts into the baseline. A decision point on these last two technologies is targeted prior to the start of the NASA HSR Phase 2 Program in 1993.

Welge, H. Robert↗
NASA NTRS1994

Hardware interface for isolation of vibrations in flexible manipulators: Development and applications

NASA's Langley Research Center (LaRC) is addressing the problem of isolating the vibrations of the Shuttle remote manipulator system (RMS) from its end-effector and/or payload by modeling an RMS flat-floor simulator with a dynamic payload. Analysis of the model can lead to control techniques that will improve the speed, accuracy, and safety of the RMS in capturing satellites and eventually facilitate berthing with the space station. Rockwell International Corporation, also involved in vibration isolation, has developed a hardware interface unit to isolate the end-effector from the vibrations of an arm on a Shuttle robotic tile processing system (RTPS). To apply the RTPS isolation techniques to long-reach arms like the RMS, engineers have modeled the dynamics of the hardware interface unit with simulation software. By integrating the Rockwell interface model with the NASA LaRC RMS simulator model, investigators can study the use of a hardware interface to isolate dynamic payloads from the RMS. The interface unit uses both active and passive compliance and damping for vibration isolation. Thus equipped, the RMS could be used as a telemanipulator with control characteristics for capture and berthing operations. The hardware interface also has applications in industry.

Manouchehri, Davoud↗
NASA NTRS1994

Structurally compliant rocket engine combustion chamber: Experimental and analytical validation

A new, structurally compliant rocket engine combustion chamber design has been validated through analysis and experiment. Subscale, tubular channel chambers have been cyclically tested and analytically evaluated. Cyclic lives were determined to have a potential for 1000 percent increase over those of rectangular channel designs, the current state of the art. Greater structural compliance in the circumferential direction gave rise to lower thermal strains during hot firing, resulting in lower thermal strain ratcheting and longer predicted fatigue lives. Thermal, structural, and durability analyses of the combustion chamber design, involving cyclic temperatures, strains, and low-cycle fatigue lives, have corroborated the experimental observations.

Jankovsky, Robert S.↗
NASA NTRS1994

Simulation study of the ROMPS robot control system

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1994

The Role of Crack Formation in Chevron-Notched Four-Point Bend Specimens

The failure sequence following crack formation in a chevron-notched four-point bend 1 specimen is examined in a parametric study using the Bluhm slice synthesis model. Premature failure resulting from crack formation forces which exceed those required to propagate a crack beyond alpha (min) is examined together with the critical crack length and critical crack front length. An energy based approach is used to establish factors which forecast the tendency of such premature failure due to crack formation for any selected chevron-notched geometry. A comparative study reveals that, for constant values of alpha (1) and alpha (0), the dimensionless beam compliance and stress intensity factor are essentially independent of specimen width and thickness. The chevron tip position, alpha (0) has its primary effect on the force required to initiate a sharp crack. Small values for alpha (0) maximize the stable region length, however, the premature failure tendency is also high for smaller alpha (0) values. Improvements in premature failure resistance can be realized for larger values of alpha (0) with only a minor reduction in the stable region length. The stable region length is also maximized for larger chevron based positions, alpha (1) but the chance for premature failure is also raised. Smaller base positions improve the premature failure resistance with only minor decreases in the stable region length. Chevron geometries having a good balance of premature failure resistance, stable region length, and crack front length are 0.20 less than or equal to alpha (0) is less than or equal to 0.30 and 0.70 is less than or equal to alpha (1) is less than or equal to 0.80.

Calomino, Anthony M.↗
NASA NTRS1994

SeaWiFS Technical Report Series. Volume 22: Prelaunch Acceptance Report for the SeaWiFS Radiometer

The final acceptance, or rejection, of the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) will be determined by the instrument's on-orbit operation. There is, however, an extensive set of laboratory measurements describing the operating characteristics of the radiometer. Many of the requirements in the Ocean Color Data Mission (OCDM) specifications can be checked only by laboratory measurements. Here, the calibration review panel examines the laboratory characterization and calibration of SeaWiFS in the light of the OCDM performance specification. Overall, the performance of the SeaWiFS instrument meets or exceeds the requirements of the OCDM contract in all but a few unimportant details. The detailed results of this examination are presented here by following the outline of the specifications, as found in the Contract. The results are presented in the form of requirements and compliance pairs. These results give conclusions on many, but not all, of the performance specifications. The acceptance by this panel of the performance of SeaWiFS must only be considered as an intermediate conclusion. The ultimate acceptance (or rejection) of the SeaWiFS data set will rely on the measurements made by the instrument on orbit.

Hooker, Stanford B.↗
NASA NTRS1994

Brush seal numerical simulation: Concepts and advances

The development of the brush seal is considered to be most promising among the advanced type seals that are presently in use in the high speed turbomachinery. The brush is usually mounted on the stationary portions of the engine and has direct contact with the rotating element, in the process of limiting the 'unwanted' leakage flows between stages, or various engine cavities. This type of sealing technology is providing high (in comparison with conventional seals) pressure drops due mainly to the high packing density (around 100 bristles/sq mm), and brush compliance with the rotor motions. In the design of modern aerospace turbomachinery leakage flows between the stages must be minimal, thus contributing to the higher efficiency of the engine. Use of the brush seal instead of the labyrinth seal reduces the leakage flow by one order of magnitude. Brush seals also have been found to enhance dynamic performance, cost less, and are lighter than labyrinth seals. Even though industrial brush seals have been successfully developed through extensive experimentation, there is no comprehensive numerical methodology for the design or prediction of their performance. The existing analytical/numerical approaches are based on bulk flow models and do not allow the investigation of the effects of brush morphology (bristle arrangement), or brushes arrangement (number of brushes, spacing between them), on the pressure drops and flow leakage. An increase in the brush seal efficiency is clearly a complex problem that is closely related to the brush geometry and arrangement, and can be solved most likely only by means of a numerically distributed model.

Braun, M. J.↗
NASA NTRS1994

John F. Kennedy Space Center, Safety, Reliability, Maintainability and Quality Assurance, Survey and Audit Program

This document is the product of the KSC Survey and Audit Working Group composed of civil service and contractor Safety, Reliability, and Quality Assurance (SR&QA) personnel. The program described herein provides standardized terminology, uniformity of survey and audit operations, and emphasizes process assessments rather than a program based solely on compliance. The program establishes minimum training requirements, adopts an auditor certification methodology, and includes survey and audit metrics for the audited organizations as well as the auditing organization.

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