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At least 1,639 records · Page 91

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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.

Source record↗

NASA NTRS1993

Structurally-compliant rocket engine combustion chamber: Experimental/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 in life over that of rectangular channel designs, the current state-of-the-art. Greater structural compliance in the circumferential direction gives rise to lower thermal strains during hot firing, resulting in lower thermal strain ratcheting and longer predicted fatigue lives. Thermal/durability analyses of the combustion chamber design, involving cyclic temperatures, strains, and low-cycle fatigue lives have corroborated the experimental observations.

Robert S. Jankovsky↗

NASA NTRS1994

Multi-lab comparison on R-curve methodologies: Alloy 2024-T3

In an effort to determine an optimum method for ranking the fracture toughness of developmental aluminum alloys for High Speed Civil Transport applications, five labs performed K and/or J based fracture tests on aluminum alloy 2024-T3. Two material thicknesses were examined: 0.063 in. and 0.125 in. Middle crack tension and compact tension specimens were excised from 60 in. wide middle crack tension panels which had been previously tested at Boeing. The crack resistance curves generated were compared to the R-curves from 60 in. wide specimens. The experimental program indicated that effective stress intensity from secant compliance based crack length and stress intensity calculated from J-integral testing were equivalent. In addition, comparison of different specimen sizes and configurations indicated that standard validity requirements for compact tension specimens may be overly restrictive.

Reynolds, Anthony P.↗

NASA NTRS1994

A roadmap for regulatory survival in the 1990s

There have been many changes over the last several years in the ways that we're required to label, handle, and dispose of the products of our manufacturing processes...and we all know there will be more, not fewer, environmental regulations to deal with in the years to come. It is important to be aware of how a chemical is listed by federal or state regulations or recommending bodies. For example, if a chemical has been listed by OSHA, IARC (International Agency for Research on Cancer), or NTP (the National Toxicology Program) as a carcinogen, this listing will trigger hazard communication requirements. It may cause restrictions on the levels of a chemical that you may release into the air or water as well as how you manage your plant wastes. Understanding how a chemical is listed is the first critical step in overall compliance. Once a chemical makes one of these lists as a hazardous material or a carcinogen, your emissions, labelling, or MSD sheets may need to be changed in order to comply with federal or state regulations. Being fully aware of how the chemicals you use are listed by all pertinent bodies is the essential compass that you must have to follow the regulatory road map.

Sayad, R. S.↗

NASA NTRS1995

An investigation of the effects of pitch-roll (de)coupling on helicopter handling qualities

An extensive investigation of the effects of pitch-roll coupling on helicopter handling qualities was performed by the U.S. Army and Deutsche Forschungsanstalt fur Luft- und Raumfahrt (DLR), using a NASA ground-based and a DLR in-flight simulator. Over 90 different coupling configurations were evaluated using a high gain roll-axis tracking task. The results show that although the current ADS-33C coupling criterion discriminates against those types of coupling typical of conventionally controlled helicopters, it is not always suited for the prediction of handling qualities of helicopters with modern control systems. Based on the observation that high frequency inputs during tracking are used to alleviate coupling, a frequency domain pitch-roll coupling criterion that uses the average coupling ratio between the bandwidth and neutral stability frequency is formulated. This criterion provides a more comprehensive coverage with respect to the different types of coupling, shows excellent consistency, and has the additional benefit that compliance testing data are obtained from the bandwidth/phase delay tests, so that no additional flight testing is needed.

Blanken, C. L.↗

NASA NTRS1995

Assessment of pollution prevention and control technology for plating operations

The National Center for Manufacturing Sciences (NCMS) is sponsoring an on-going project to assess pollution prevention and control technology available to the plating industry and to make this information available to those who can benefit from it. Completed project activities include extensive surveys of the plating industry and vendors of technologies and an indepth literature review. The plating industry survey was performed in cooperation with the National Association of Metal Finishers. The contractor that conducted the surveys and prepared the project products was CAI Engineering. The initial products of the project were made available in April, 1994. These products include an extensive report that presents the results of the surveys and literature review and an electronic database. The project results are useful for all those associated with pollution prevention and control in the plating industry. The results show which treatment, recovery and bath maintenance technologies have been most successful for different plating processes and the costs for purchasing and operating these technologies. The project results also cover trends in chemical substitution, the identification of compliance-problem pollutants, sludge generation rates, off-site sludge recovery and disposal options, and many other pertinent topics.

Chalmer, Paul D.↗

NASA NTRS1995

Environmentally regulated aerospace coatings

Aerospace coatings represent a complex technology which must meet stringent performance requirements in the protection of aerospace vehicles. Topcoats and primers are used, primarily, to protect the structural elements of the air vehicle from exposure to and subsequent degradation by environmental elements. There are also many coatings which perform special functions, i.e., chafing resistance, rain erosion resistance, radiation and electric effects, fuel tank coatings, maskants, wire and fastener coatings. The scheduled promulgation of federal environmental regulations for aerospace manufacture and rework materials and processes will regulate the emissions of photochemically reactive precursors to smog and air toxics. Aerospace organizations will be required to identify, qualify and implement less polluting materials. The elimination of ozone depleting chemicals (ODC's) and implementation of pollution prevention requirements are added constraints which must be addressed concurrently. The broad categories of operations affected are the manufacture, operation, maintenance, and repair of military, commercial, general aviation, and space vehicles. The federal aerospace regulations were developed around the precept that technology had to be available to support the reduction of organic and air toxic emissions, i.e., the regulations cannot be technology forcing. In many cases, the regulations which are currently in effect in the South Coast Air Quality Management District (SCAQMD), located in Southern California, were used as the baseline for the federal regulations. This paper addresses strategies used by Southern California aerospace organizations to cope with these regulatory impacts on aerospace productions programs. All of these regulatory changes are scheduled for implementation in 1993 and 1994, with varying compliance dates established.

Morris, Virginia L.↗