Development of a prototype kinestatic platform for application to space and ground servicing tasks. Phase 1: Concept Modeling

The Center for Intelligent Machines and Robotics (CIMAR) of the University of Florida, in conjunction with Rockwell International is developing an electro-mechanical device called a Kinestatic Platform (KP) for aerospace applications. The goal of the current project is to develop a prototype KP which is capable of manipulating a 50 lb. payload. This prototype will demonstrate the feasibility of implementing a scaled up version to perform high precision manipulation of distributed systems and to control contact forces and allowable motions (rotations and translations), which is defined here as Kinestatic Control, in a six dimensional, partially constrained environment, simultaneously and independently. The objectives of the Phase 1 effort were as follows: (1) Identify specific NASA applications where the KP technology can be applied. (2) Select one application for development. (3) Develop a conceptual design of the KP specifically for the selected application. This includes the steps of developing a set of detailed performance criteria, establishing and making selection of the mechanism design parameters, and evaluating the expected system response. (4) Develop a computer graphics animation of the KP as it performs the selected application. This report will proceed by providing a technical description of the KP followed by how each of these objectives was addressed

Research reports: 1991 NASA/ASEE Summer Faculty Fellowship Program

The basic objectives of the programs, which are in the 28th year of operation nationally, are: (1) to further the professional knowledge of qualified engineering and science faculty members; (2) to stimulate an exchange of ideas between participants and NASA; (3) to enrich and refresh the research and teaching activities of the participants' institutions; and (4) to contribute to the research objectives of the NASA Centers. The faculty fellows spent 10 weeks at MSFC engaged in a research project compatible with their interests and background and worked in collaboration with a NASA/MSFC colleague. This is a compilation of their research reports for summer 1991

Third International Symposium on Magnetic Suspension Technology

In order to examine the state of technology of all areas of magnetic suspension and to review recent developments in sensors, controls, superconducting magnet technology, and design/implementation practices, the Third International Symposium on Magnetic Suspension Technology was held at the Holiday Inn Capital Plaza in Tallahassee, Florida on 13-15 Dec. 1995. The symposium included 19 sessions in which a total of 55 papers were presented. The technical sessions covered the areas of bearings, superconductivity, vibration isolation, maglev, controls, space applications, general applications, bearing/actuator design, modeling, precision applications, electromagnetic launch and hypersonic maglev, applications of superconductivity, and sensors

Hypersonic rocket manoeuvre in the TUSQ facility

A number of methods are currently used for the design and testing of hypersonic vehicles, of particular focus in this research is those techniques employed in hypersonic wind tunnels. Current approaches to this testing use fixed sting mounted models, tethered models, and free-flight models to study its behaviour. An addition to these testing techniques and the focus of this project is the use of models with actuated control surfaces to allow the study of a hypersonic vehicle under dynamic conditions. This project aimed to design, construct, and validate; through demonstration of a pitching manoeuvre, a subscale model with an on-board control surface actuation system suitable for use in the University of Southern Queensland hypersonic wind tunnel (TUSQ). A tethered model with actuated control surfaces would indicate how the full-scale vehicle would behave whilst undertaking a manoeuvre. The first phase of design was a development of a semi-analytical analysis to determine the expected forces and therefore response of the model. This provides data to later compare with the experimental results and parameters for the design of the model. The design of the model covered all components including the fin actuation system, tethering and support system and model housing design. The final phase was building and testing of the model in the TUSQ facility. Two runs in the hypersonic facility were completed as part of the research. Unfortunately neither run resulted in a demonstration of an entire successful manoeuvre. Analysis of the results revealed that the motor controlling the fin operations was providing insufficient torque and the fin control was not occurring as expected. In addition the model exited the Mach cone of developed flow during its pitching manoeuvre. These two factors caused discrepancies between theoretical calculations and experimental data. Analysis of the results and high-speed footage of the model indicate that the technique has the potential to be valid however it will require some further work to make it practical and effective for use in design of hypersonic vehicles

Technology for large space systems: A bibliography with indexes (supplement 20)

This bibliography lists 694 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July, 1988 and December, 1988. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

Flight Mechanics/Estimation Theory Symposium, 1990

This conference publication includes 32 papers and abstracts presented at the Flight Mechanics/Estimation Theory Symposium on May 22-25, 1990. Sponsored by the Flight Dynamics Division of Goddard Space Flight Center, this symposium features technical papers on a wide range of issues related to orbit-attitude prediction, determination and control; attitude sensor calibration; attitude determination error analysis; attitude dynamics; and orbit decay and maneuver strategy. Government, industry, and the academic community participated in the preparation and presentation of these papers

Technology for large space systems: A special bibliography with indexes (supplement 04)

This bibliography lists 259 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1980 and December 31, 1980. Its purpose is to provide information to the researcher, manager, and designer in technology development and mission design in the area of the Large Space Systems Technology Program. Subject matter is grouped according to systems, interactive analysis and design. Structural concepts, control systems, electronics, advanced materials, assembly concepts, propulsion, solar power satellite systems, and flight experiments

Flight Mechanics/Estimation Theory Symposium, 1992

This conference publication includes 40 papers and abstracts presented at the Flight Mechanics/Estimation Theory Symposium on May 5-7, 1992. Sponsored by the Flight Dynamics Division of Goddard Space Flight Center, this symposium featured technical papers on a wide range of issues related to orbit-attitude prediction, determination, and control; attitude sensor calibration; attitude determination error analysis; attitude dynamics; and orbit decay and maneuver strategy. Government, industry, and the academic community participated in the preparation and presentation of these papers