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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 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1974

In vivo measurement of mechanical impedance of bone

System of measurement provides indications of ulnar properties independent of characteristics of surrounding soft tissue and other bones. Mechanical modal approximated ulnar response so average bending rigidity could be determined to provide direct index of bone resistance to bending loading.

Young, D. R.↗
NASA NTRSDate not supplied

Challenges Associated with In-Situ Calibration of Load Cells in Force Limited Vibration Testing

The difference in mounting configuration between flight and test can significantly impact the effectiveness of the test in environmental vibration testing. Many tests are performed with large electrodynamic shakers, which utilize interfaces that seek to replicate a fixed base, such as slip tables and head expanders. This fixed base configuration is rarely seen in flight configurations; rather a more realistic configuration would include a flexible mounting structure with its own compliance and dynamics. This causes significant over and under tests in various frequency bands depending on the differences between the test article and fixture dynamics. The traditional way of avoiding these high loads is to limit the acceleration responses at multiple locations on the test article. However, the effectiveness of this approach is highly dependent upon the validity of the test article’s analytical in order to derive accurate acceleration response limit specifications. Also this technique requires limiting the acceleration responses at many locations throughout the test article, which may not be implementable due to such things as access and cleanliness issues An improved environmental vibration testing technique known as force limiting incorporates measurements of the forces between the test article and shaker system interface and limiting them to a specification that more accurately replicates the interface impedance of the structure the test article will be mounted to in flight. In effect this transforms the high mechanical impedance at the test article to shaker interface to more closely match the mechanical impedance of the flight interface, which avoids producing the unrealistically high interface loads. Typically force gauges or load cells are used to measure these interface forces. However, utilizing load cells can present a multitude of challenges depending upon such things as their installation method, geometric layout, and test fixture setup. Regardless, it is extremely important to perform an in-situ calibration of the load cells prior to vibration testing at any significant levels. This paper will discuss the challenges associated with utilizing load cells during the NASA Evolutionary Xenon Thruster – Commercial (NEXT-C) gridded ion thruster proto-flight vibration test performed at the NASA Glenn Research Center’s Structural Dynamics Laboratory.

Kenneth J Pederson↗
NASA NTRSDate not supplied

Challenges Associated with In-Situ Calibration of Load Cells in Force Limited Vibration Testing

The difference in mounting configuration between flight and test can significantly impact the effectiveness of the test in environmental vibration testing. Many tests are performed with large electrodynamic shakers, which utilize interfaces that seek to replicate a fixed base, such as slip tables and head expanders. This fixed base configuration is rarely seen in flight configurations; rather a more realistic configuration would include a flexible mounting structure with its own compliance and dynamics. This causes significant over and under tests in various frequency bands depending on the differences between the test article and fixture dynamics. The traditional way of avoiding these high loads is to limit the acceleration responses at multiple locations on the test article. However, the effectiveness of this approach is highly dependent upon the validity of the test article’s analytical in order to derive accurate acceleration response limit specifications. Also this technique requires limiting the acceleration responses at many locations throughout the test article, which may not be implementable due to such things as access and cleanliness issues An improved environmental vibration testing technique known as force limiting incorporates measurements of the forces between the test article and shaker system interface and limiting them to a specification that more accurately replicates the interface impedance of the structure the test article will be mounted to in flight. In effect this transforms the high mechanical impedance at the test article to shaker interface to more closely match the mechanical impedance of the flight interface, which avoids producing the unrealistically high interface loads. Typically force gauges or load cells are used to measure these interface forces. However, utilizing load cells can present a multitude of challenges depending upon such things as their installation method, geometric layout, and test fixture setup. Regardless, it is extremely important to perform an in-situ calibration of the load cells prior to vibration testing at any significant levels. This paper will discuss the challenges associated with utilizing load cells during the NASA Evolutionary Xenon Thruster – Commercial (NEXT-C) gridded ion thruster proto-flight vibration test performed at the NASA Glenn Research Center’s Structural Dynamics Laboratory.

K. J. Pederson↗
NASA NTRS1995

Direct Adaptive Impedance Control Of Redundant Manipulators

Method of controlling mechanical impedance of end effector of robotic manipulator related to method described in "Adaptive Impedance Control of Redundant Manipulators" (NPO-18606). Present method does not require detailed knowledge and computation of dynamics and inverse kinematic transformation of manipulator. Provides for control globally stable in presence of bounded disturbances. Applicable to both nonredundant and redundant manipulators performing tasks involving impacts between manipulator and objects in its environment, and controlled contact between end effector and object, such as deburring.

Seraji, Homayoun↗
NASA NTRS1994

Adaptive Impedance Control Of Redundant Manipulators

Improved method of controlling mechanical impedance of end effector of redundant robotic manipulator based on adaptive-control theory. Consists of two subsystems: adaptive impedance controller generating force-control inputs in Cartesian space of end effector to provide desired end-effector-impedance characteristics, and subsystem implementing algorithm that maps force-control inputs into torques applied to joints of manipulator. Accurate control of end effector and effective utilization of redundancy achieved simultaneously by use of method. Potential use to improve performance of such typical impedance-control tasks as deburring edges and accommodating transitions between unconstrained and constrained motions of end effectors.

Seraji, Homayoun↗
NASA NTRS1990

Adaptive impedance control of redundant manipulators

A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F (is a member of Rm) required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T (is a member of Rn). The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for on-line implementation.

Colbaugh, R.↗
NASA NTRS1992

Robust manipulator controller specification and design

This paper suggests the use of a model based control law which uses joint rate feedback to stabilize the contact modes, and joint velocity feedforward to provide the required freespace performance throughout a task. An additional benefit of this controller is the capability to stiffen a soft manipulator. This provides an option for impedance control to provide any desired manipulator stiffness. Impedance control is implemented as an outer Cartesian loop which uses the dynamic relationship between manipulator commanded position and applied force to change the mechanical impedance through programmable filter coefficients. The impedance control discussed in this paper does not give the capability to specify the full impedance of the manipulator. However, it does give the capability to specify the manipulator Cartesian stiffness while maintaining stability in contact with the environment. This controller was designed for the Flight Telerobotic Servicer dextrous manipulator and has been validated experimentally on a single joint controller, as well as on 3 DOF planar arms.

Goldenberg, Stewart↗
NASA NTRS1997

A review of adaptive change in musculoskeletal impedance during space flight and associated implications for postflight head movement control

We present a review of converging sources of evidence which suggest that the differences between loading histories experienced in 1-g and weightlessness are sufficient to stimulate adaptation in mechanical impedance of the musculoskeletal system. As a consequence of this adaptive change we argue that we should observe changes in the ability to attenuate force transmission through the musculoskeletal system both during and after space flight. By focusing attention on the relation between human sensorimotor activity and support surfaces, the importance of controlling mechanical energy flow through the musculoskeletal system is demonstrated. The implications of such control are discussed in light of visual-vestibular function in the specific context of head and gaze control during postflight locomotion. Evidence from locomotory biomechanics, visual-vestibular function, ergonomic evaluations of human vibration, and specific investigations of locomotion and head and gaze control after space flight, is considered.

Review, Tutorial↗
NASA NTRS1991

Damping of structural vibrations with piezoelectric materials and passive electrical networks

The possibility of dissipating mechanical energy with piezoelectric material shunted with passive electrical circuits is investigated. The effective mechanical impedance for the piezoelectric element shunted by an arbitrary circuit is derived. The shunted piezoelectric is shown to possess frequency dependent stiffness and loss factor which are also dependent on the shunting circuit. The generally shunted model is specialized for two shunting circuits: the case of a resistor alone and that of a resistor and inductor. For resistive shunting, the material properties exhibit frequency dependence similar to viscoelastic materials, but are much stiffer and more independent of temperature. Shunting with a resistor and inductor introduces an electrical resonance, which can be optimally tuned to structural resonances in a manner analogous to a mechanical vibration arsorber. Techniques for analyzing systems which incorporate these shunting cases are presented and applied to a cantilevered beam experiment. The experimental results for both the resistive and resonant shunting circuits validate the shunted piezoelectric damping models.

Hagood, N. W.↗
DOE OSTI2026

Anisotropic Hot Spot Formation at a Grain Boundary in Shock-Compressed TATB High Explosive Crystal

Secondary high explosives (HEs) exhibit rich microstructure that promotes the formation of hot spots responsible for detonation initiation, but the role of microstructural interfaces remains poorly quantified. To this end, we develop extensions for the generalized crystal-cutting method (GCCM) to prepare molecular dynamics (MD) simulation cells containing grain boundaries (GBs) and other crystal–crystal interfaces with prescribed tilt and twist orientations. Using the GCCM, we perform MD simulations of shock interactions with a GB between the (001) and (100) crystal facets in the secondary HE TATB (1,3,5-triamino-2,4,6-trinitrobenzene). Our MD simulations reveal a strong directional dependence to the formation of a hot spot at the GB interface. In particular, transmission of the shock from the (001) grain to the (100) grain yields a hot spot in the (100) grain at the GB interface, whereas no hot spot is produced when an equivalent shock transits the GB in the opposite direction. We trace the origin of this GB anisotropy to three dominant factors: (1) the intrinsic differences in shock-deformation mechanisms and wave structures for the bulk (100) and (001) grains, which leads to distinct geometries and mechanical impedances upon shock arrival to the GB depending on which grains are donor or acceptor for the transmitted shock; (2) the different time intervals separating the initial shock rise and the formation of steady wave structures in the respective donor–acceptor configurations; and (3) the differences in time scales required to re-establish local thermal equilibrium. Interfacial hot spots form when these factors combine to impede development of a steady two-wave structure and instead induce a localized, pseudosingly shocked region that undergoes a higher rate of work production (resulting in a higher temperature) compared to when the steady two-wave structure develops further from the interface. The extensions to the GCCM approach presented here are anticipated to facilitate a wide range of MD studies that focus on understanding the role of crystal–crystal interfaces in molecular materials.

organic↗