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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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The design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system is presented. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 DOF. The implementation of the derived control scheme does not require the computation of manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications.
Tests with specially instrumented NASA B-737 and FAA B-727 aircraft together with several different ground friction measuring devices have been conducted for a variety of runway surface types and wetness conditions. This effort is part of the Joint FAA/NASA Aircraft Ground Vehicle Runway Friction Program aimed at obaining a better understanding of aircraft ground handling performance under adverse weather conditions and defining relationships between aircraft and ground vehicle tire friction measurements. Aircraft braking performance on dry, wet, snow-, and ice-covered runway conditions is discussed together with ground vehicle friction data obtained under similar runway conditions. For the wet, compacted snow- and ice-covered runway conditions, the relationship between ground vehicles and aircraft friction data is identified. The influence of major test parameters on friction measurements such as speed, test tire characteristics, and surface contaminant type are discussed. The test results indicate that use of properly maintained and calibrated ground vehicles for monitoring runway friction conditions should be encouraged particularly under adverse weather conditions. The current status of the runway friction program is summarized and future test plans are identified.
Technological and organizational aspects of joint efforts by NASA and the Italian space agency ASI to develop tethered spacecraft systems are briefly discussed. The members of the ASI/NASA Task Group for Tether Flight Demonstrations are listed; the history of Task Group activities since 1986 is reviewed; and the current status of the main projects is indicated in a series of charts. Particular attention is given to the Tether Initiated Space Recovery System, a 450-lb spacecraft with a 20-km tether scheduled for Space Shuttle or Delta II launch to a 250-km 27.5-deg circular orbit in 1992.
Adjustable-angle holder enables use of standard straight electrode with custom-fabricated bent gas cup for welding in difficult-to-reach places. Electrode replaced easily, without removing cup, with aid of tool loosening miniature collet nut on holder. Consumes fewer electrodes for given amount of welding. Angle of holder continuously adjustable to fit angle of gas cup or geometry of part welded. Holder made double-jointed to accommodate gas cup having compound angles.
The solder fatigue specimen designed by NASA-GSFC/UNISYS is analyzed in order to obtain the inelastic strain history during two different representative temperature cycles specified by UNISYS. In previous reports (dated July 25, 1990, and November 15, 1990), results were presented of the elastic-plastic and creep analysis for delta T = 31 C cycle, respectively. Subsequent results obtained during the current phase, from viscoplastic finite element analysis of the solder fatigue specimen for delta T = 113 C cycle are summarized. Some common information is repeated for self-completeness. Large-deformation continuum formulations in conjunction with a standard linear solid model is utilized for modeling the solder constitutive creep-plasticity behavior. Relevant material properties are obtained from the literature. Strain amplitudes, mean strains, and residual strains (as well as stresses) accumulated due to a representative complete temperature cycle are obtained as a result of this analysis. The partitioning between elastic strains, time-independent inelastic (plastic) strains, and time-dependent inelastic (creep) strains is also explicitly obtained for two representative cycles. Detailed plots are presented for two representative temperature cycles. This information forms an important input for fatigue damage models, when predicting the fatigue life of solder joints under thermal cycling
Research conducted during the academic year 1989-90 under the NASA/FAA sponsored Joint University Program for Air Transportation research is discussed. Completed works, status reports and annotated bibliographies are presented for research topics, which include navigation, guidance and control theory and practice, aircraft performance, human factors, and expert systems concepts applied to airport operations. An overview of the year's activities for each university is also presented.
Joint inversion of magnetic, earth rotation, geoid, and seismic data for a unified model of the coupled core-mantle system is proposed and shown to be possible. A sample objective function is offered and simplified by targeting results from independent inversions and summary travel time residuals instead of original observations. These data are parameterized in terms of a very simple, closed model of the topographically coupled core-mantle system. Minimization of the simplified objective function leads to a nonlinear inverse problem; an iterative method for solution is presented. Parameterization and method are emphasized; numerical results are not presented.
An optimal trajectory planning problem for a single-link, flexible joint manipulator is studied. A global feedback-linearization is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formula for the optimal solution of the problem is derived and the solution is shown to be unique. It turns out that the optimal trajectory planning and control can be done off-line, so that the proposed method is applicable to both theoretical analysis and real time tele-robotics control engineering.
Mesoscale phytoplankton chlorophyll variability near the Joint Global Ocean Flux study sites along the 20 W meridian at 34 N, 47 N, and 59 N is discussed. The NASA P-3 aircraft and the Airborne Oceanographic Lidar (AOL) system provides remote sensing support for the North Atlantic Bloom Experiment. The principal instrument of the AOL system is the blue-green laser that stimulates fluorescence from photoplankton chlorophyll, the principal photosynthetic pigment. Other instruments on the NASA P-3 aircraft include up- and down-looking spectrometers, PRT-5 for infrared measurements to determine sea surface temperature, and a system to deploy and record AXBTs to measure subsurface temperature structure.
A program was conducted to develop the technology for joints and cutouts in a composite fuselage that meets all design requirements of a large transport aircraft for the 1990s. An advanced trijet derivative of the DC-10 was selected as the baseline aircraft. Design and analysis of a 30-foot-long composite fuselage barrel provided a realistic basis for the test effort. The primary composite material was Hexcel F584 resin on 12 K IM6 fiber, in tape and broadgoods form. Fiberglass broadgoods were used in E-glass and S-glass fiber form in the cutout region of some panels. Additionally, injection-molded chopped graphite fiber/PEEK was used for longeron-to-frame shear clips. The test effort included four groups of test specimens, beginning with coupon specimens of mono-layer and cross-piled laminates, progressing through increasingly larger and more complex specimens, and ending with two 4- by 5-foot curved fuselage side panels. One of the side panels incorporated a transverse skin splice, while the second included two cabin window cutouts.
The JOVE (NASA/university Joint Venture in space science) initiative is a point program between NASA and institutions of higher education whose aim is to bring about an extensive merger between these two communities. The project is discussed with emphasis on suggested contributions of partnership members, JOVE process timeline, and project schedules and costs. It is suggested that NASA provide a summer resident research associateship (one ten week stipend); scientific on-line data from space missions; an electronic network and work station, providing a link to the data base and to other scientists; matching student support, both undergraduate and graduate; matching summer salary for up to three faculty participants; and travel funds. The universities will be asked to provide research time for faculty participants, matching student support, matching summer salary for faculty participants, an instructional unit in space science, and an outreach program to pre-college students.
The synthetic estimation filter (SEF) combines a set of input images into a much smaller set of filters. Those input images correspond to views of a known object taken with a variety of values of the pose parameter to be estimated. The response of the filter to variations in the pose parameter is tailored so that estimation can be done to a precision considerably finer than the intervals between filters in the pose space. The technique is extended to the joint transform correlator; as a reference, the composite image from which the SEF is conventionally calculated is used. Precautions are necessary for practical reasons. For example, the SEF algorithm may call for negative values in the image, an unrealizable condition with amplitude encoding, whereas with phase-mostly filtering in the SEF, negative image values are easily accommodated.
A joint U.S./French mission, which represents a merging of the prior NASA Topex and CNES Poseidon progams, is described. The Topex/Poseidon satellite will contribute to two of the World Climate Research Program's phases: the World Ocean Circulation Experiment and the Tropical Ocean Global Atmosphere experiment. The satellite's instruments will measure the ocean currents and their variability on the global basis via satellite altimetry and precision orbit determinations. The paper describes the satellite configuration and characteristics and the mission instruments and system elements. The Topex/Poseidon's design diagrams and block diagrams are included.
A dual-control test system measuring the strength of graphite/epoxy specimens under tension and compression for a wide range of bearing-bypass load ratios is presented. The bearing-bypass strengths of single-fastener specimens are measured for damage onset and ultimate failure and are plotted against one another. The results indicate that an initiated damage grows to failure in the same mode for most cases. However, if the damage is initiated in the compression-reacted-bearing mode, the specimens fail in the offset-compression mode. It is concluded that this type of transition can occur in multi-fastener joints under compression and complicate the strength predictions.
Visual and IRAS data for an optically selected sample of 183 late-type galaxies are compiled in tables and graphs and analyzed in detail to determine the joint FIR-optical luminosity function Psi from the FIR/blue luminosity ratio, r = L(FIR)/L(B). It is found that Psi can be approximated by a function of a single variable psi(r-prime), where r-prime is defined as r times L(B)/L(asterisk) exp -delta, with L(asterisk) a constant and delta = about 0.08. A lognormal curve peaking at r-prime = 0.35 and with dispersion of 0.28 is shown to give a good fit to psi(r-prime). From a lack of galaxies with very low r-prime in the present sample it is inferred that there are few spiral galaxies with low interstellar-dust abundances. Also included are data on the distribution function of r-prime for the more distant clusters Abell 400 and Cancer.
Soft-capture mechanism part of latching-and-rigidifying mechanism joining strut rigidly to node on truss. Latching-and-rigidifying mechanism of spreading-collet type, in which collet inserted into base that mates with collet to assure proper alignment, then collet spread to rigidify joint, fixing alignment. Designed to be operable by heavily gloved hand or by robot.
Horizontal and head-down positions investigated at two research centers. Report presents results of joint experimental study of effects of bed rest conducted at Ames Research Center in California and Institute for Biomedical Problems in Moscow. Study conducted under identical conditions at both locations. In addition to generating useful scientific data, provided basis for comparison of physiological reactions and standardization of procedures and methods.
Compact robotic wrist-joint assembly includes two motor subassemblies providing two concentric output rotations about axis of wrist: outer output flange on front face of assembly rotated to, and held at, any predetermined roll angle within range of plus or minus 180 degrees, and inner output flange concentric with outer output flange capable of unlimited rotation relative to outer flange. Each motor subassembly includes concentric rotor and stator and harmonic drive.