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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 1,693 records · Page 94
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Tests of an alternate mobile transporter and extravehicular activity assembly procedure for the Space Station Freedom truss

Results are presented from a ground test program of an alternate mobile transporter (MT) concept and extravehicular activity (EVA) assembly procedure for the Space Station Freedom (SSF) truss keel. A three-bay orthogonal tetrahedral truss beam consisting of 44 2-in-diameter struts and 16 nodes was assembled repeatedly in neutral buoyancy by pairs of pressure-suited test subjects working from astronaut positioning devices (APD's) on the MT. The truss bays were cubic with edges 15 ft long. All the truss joint hardware was found to be EVA compatible. The average unit assembly time for a single pair of experienced test subjects was 27.6 sec/strut, which is about half the time derived from other SSF truss assembly tests. A concept for integration of utility trays during truss assembly is introduced and demonstrated in the assembly tests. The concept, which requires minimal EVA handling of the trays, is shown to have little impact on overall assembly time. The results of these tests indicate that by using an MT equipped with APD's, rapid EVA assembly of a space station-size truss structure can be expected.

Heard, Walter L., Jr.↗
NASA NTRS1992

Self mobile space manipulator project

A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

Brown, H. Ben↗
NASA NTRS1992

Mobile work platform for initial lunar base construction

Described is a system of equipment intended for site preparation and construction of a lunar base. The proximate era of lunar exploration and the initial phase of outpost habitation are addressed. Drilling, leveling, trenching, and cargo handling are within the scope of the system's capabilities. The centerpiece is a three-legged mobile work platform, named SKITTER. Using standard interfaces, the system is modular in nature and analogous to the farmer's tractor and implement set. Conceptually somewhat different from their Earthbound counterparts, the implements are designed to take advantage of the lunar environment as well as the capabilities of the work platform. The proposed system is mechanically simple and weight efficient.

Brazell, James W.↗
NASA NTRS1991

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗
NASA NTRS1992

Composite materials for the extravehicular mobility unit

The extravehicular mobility unit (EMU), commonly known as the astronaut space suit assembly (SSA) and primary life support system (PLSS), has evolved through the years to incorporate new and innovative materials in order to meet the demands of the space environment. The space shuttle program which is seeing an increasing level of extravehicular activity (EVA), also called space walks, along with interest in an EMU for Lunar-Mars missions means even more demanding conditions are being placed on the suit and PLSS. The project for this NASA-ASEE Summer Program was to investigate new materials for these applications. The focus was to emphasize the use of composite materials for every component of the EMU to enhance the properties while reducing the total weight of the EMU. To accomplish this, development of new materials called fullerene reinforced materials (FRM's) was initiated. Fullerenes are carbon molecules which when added to a material significantly reduce the weight of that material. The Faculty Fellow worked directly on the development of the fullerene reinforced materials. A chamber for fullerene production was designed and assembled and first generation samples were processed. He also supervised with the JSC Colleague, a study of composite materials for the EMU conducted by the student participant in the NASA-ASEE Program, Hector Tello a Rice University graduate student, and by a NASA Aerospace Technologist (Materials Engineer) Evelyne Orndoff, in the Systems Engineering Analysis Office (EC7), also a Rice University graduate student. Hector Tello conducted a study on beryllium and Be alloys and initiated a study of carbon and glass reinforced composites for space applications. Evelyne Orndoff compiled an inventory of the materials on the SSA. Ms. Orndoff also reviewed SSA material requirements and cited aspects of the SSA design where composite materials might be further considered. Hector Tello spent part of his time investigating the solar radiation sensitivity of anodic coatings. This project was directed toward the effects of ultra-violet radiation on high emissivity anodic coatings. The work of both Evelyne Orndoff and Hector Tello is of interest to the Engineering Directorate at NASA/JSC and is also directed toward their research as Rice University graduate students.

Barrera, Enrique V.↗
NASA NTRS1990

The mobile servicing system

Viewgraphs on the mobile servicing system (MSS) are presented. Topics covered include: MSS overall configuration; MSS (space segment) hierarchy; functional requirements for special purpose dexterous manipulator (SPDM); SPDM configuration; objective of advanced technology development basic requirements for advanced technology; automation and robotics technologies MSS baseline; and automation and robotics technologies planned for incorporation.

Hunter, David G.↗
NASA NTRS1991

Integrated mobile robot control

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Amidi, Omead↗
NASA NTRS1993

Low-frequency mobility response functions for the central plasma sheet with application to tearing modes

Consideration is given to the effect of constant cross-tail magnetic field By on the collisionless conductivity produced by chaotic scattering and stochastic diffusion of particles in the current sheet for a parabolic geometry. It is shown that the correlation time scales as (By/Bz)-squared, and from this strong By scaling a strong tendency toward stabilization of the linear tearing modes with increasing values of By is inferred. This effect of increased dawn-dusk mobility is particularly dramatic when electrons are introduced in the calculation, and is in agreement with the results of kinetic particle simulations. The collisionless conductivity is expressed in terms of the ensemble-averaged power spectrum of the single particle trajectories, which makes it possible to calculate directly the linear conductivity instead of deriving it from the calculation of the irreversible heating rates.

Hernandez, J.↗
NASA NTRS1992

HAZBOT - A hazardous materials emergency response mobile robot

The authors describe the progress that has been made towards the development of a mobile robot that can be used by hazardous materials emergency response teams to perform a variety of tasks including incident localization and characterization, hazardous material identification/classification, site surveillance and monitoring, and ultimately incident mitigation. In September of 1991, the HAZBOT II vehicle performed its first end-to-end demonstration involving a scenario in which the vehicle: navigated to the incident location from a distant (150-200 ft.) deployment site; entered a building through a door with thumb latch style handle and door closer; located and navigated to the suspected incident location (a chemical storeroom); unlocked and opened the storeroom's door; climbed over the storeroom's 12 in. high threshold to enter the storeroom; and located and identified a broken container of benzene.

Stone, H. W.↗
NASA NTRS1992

Mobile continuous lunar excavation

A novel approach to the concept of lunar mining and the use of in situ oxygen, metallics, and ceramics is presented. The EVA time required to set up, relocate, and maintain equipment, as well as the cost per pound of shipping the mining and processing equipment to the moon are considered. The proposed soil fracturing/loading mechanisms are all based loosely on using the Apollo Lunar Roving Vehicle (LRV) Frame. All use motor driven tracks for mobility in the forward/reverse and left/right direction. All mechanisms employ the concept of rototillers which are attached to a gantry which, through the use of motor-driven lead screws, provide the rototillers with an up/down capability. A self-reactant excavator, a local mass enhanced excavator, and a soil reactant excavator are illustrated.

Paterson, John L.↗
NASA NTRS1988

Three-legged mobile platform: SKITTER

Described herein is a system of equipment intended for site preparation and construction of a lunar base. The proximate era of lunar exploration and the initial phase of outpost habitation are addressed. Drilling, mining, and benefication of lunar soil prior to pilot-plant oxygen extraction and other soil processing techniques are included within the scope of this system's capabilities. The centerpiece of the design is the SKITTER mobile walking, site preparation, and construction planform. The SKITTER system is modular in nature and includes a series of interchangeable implements whose individual use tends to be seasonal or intermittent. The concept is analogous to the farmer's tractor and implement set. The proposed system is mechanically simple and weight efficient and the individual implements are designed to take advantage of the lunar environment while operating within the constraints imposed by that environment. The system's implement interfaces can also be used for transporting containerized cargo on the lunar surface. A proposed lunar orbit to lunar surface landing pod might also be used to deliver the walker and crane boom combination in a ready-to-work configuration.

Source record↗
NASA NTRS1994

Steerable K/Ka-Band Antenna For Land-Mobile Satellite Applications

Prototype steerable microwave antenna tracks and communicates with geostationary satellite. Designed to mount on roof of vehicle and only 10 cm tall. K/Ka-band antenna rugged and compact to suit rooftop mobile operating environment. More-delicate signal-processing and control equipment located inside vehicle.

Densmore, Arthur↗
NASA NTRS1993

Telerobotic control of a mobile coordinated robotic server

The annual report on telerobotic control of a mobile coordinated robotic server is presented. The goal of this effort is to develop advanced control methods for flexible space manipulator systems. As such, an adaptive fuzzy logic controller was developed in which model structure as well as parameter constraints are not required for compensation. The work builds upon previous work on fuzzy logic controllers. Fuzzy logic controllers have been growing in importance in the field of automatic feedback control. Hardware controllers using fuzzy logic have become available as an alternative to the traditional PID controllers. Software has also been introduced to aid in the development of fuzzy logic rule-bases. The advantages of using fuzzy logic controllers include the ability to merge the experience and intuition of expert operators into the rule-base and that a model of the system is not required to construct the controller. A drawback of the classical fuzzy logic controller, however, is the many parameters needed to be turned off-line prior to application in the closed-loop. In this report, an adaptive fuzzy logic controller is developed requiring no system model or model structure. The rule-base is defined to approximate a state-feedback controller while a second fuzzy logic algorithm varies, on-line, parameters of the defining controller. Results indicate the approach is viable for on-line adaptive control of systems when the model is too complex or uncertain for application of other more classical control techniques.

Lee, Gordon↗
NASA NTRS1991

DC and small-signal physical models for the AlGaAs/GaAs high electron mobility transistor

Analytical and numerical models are developed for the microwave small-signal performance, such as transconductance, gate-to-source capacitance, current gain cut-off frequency and the optimum cut-off frequency of the AlGaAs/GaAs High Electron Mobility Transistor (HEMT), in both normal and compressed transconductance regions. The validated I-V characteristics and the small-signal performances of four HeMT's are presented.

Sarker, J. C.↗
NASA NTRS1993

SAW based systems for mobile communications satellites

Modern mobile communications satellites, such as INMARSAT 3, EMS, and ARTEMIS, use advanced onboard processing to make efficient use of the available L-band spectrum. In all of these cases, high performance surface acoustic wave (SAW) devices are used. SAW filters can provide high selectivity (100-200 kHz transition widths), combined with flat amplitude and linear phase characteristics; their simple construction and radiation hardness also makes them especially suitable for space applications. An overview of the architectures used in the above systems, describing the technologies employed, and the use of bandwidth switchable SAW filtering (BSSF) is given. The tradeoffs to be considered when specifying a SAW based system are analyzed, using both theoretical and experimental data. Empirical rules for estimating SAW filter performance are given. Achievable performance is illustrated using data from the INMARSAT 3 engineering model (EM) processors.

Peach, R. C.↗
NASA NTRS1993

Architectures and protocols for an integrated satellite-terrestrial mobile system

This paper aims to depict some basic concepts related to the definition of an integrated system for mobile communications, consisting of a satellite network and a terrestrial cellular network. In particular three aspects are discussed: (1) architecture definition for the satellite network; (2) assignment strategy of the satellite channels; and (3) definition of 'internetworking procedures' between cellular and satellite network, according to the selected architecture and the satellite channel assignment strategy.

Delre, E.↗
NASA NTRS1993

Handover procedures in integrated satellite and terrestrial mobile systems

The integration of satellite and terrestrial mobile systems is investigated in terms of the strategies for handover across the integrated cellular coverage. The handover procedure is subdivided into an initialization phase, where the need for issuing a handover request must be identified, and an execution phase, where the request must be satisfied, if possible, according to a certain channel assignment strategy. A modeling approach that allows the design of the parameters that influence the performance of the overall handover procedure is presented, along with a few numerical results.

Corazza, G. E.↗