Shuttle flight experiment preliminary proposal: Demonstration of welding applications in space

In June 1991 work was initiated at MSFC on an end-effector for 'Robotic Assembly of Welded Truss Structures in Space'. The case for welded joint assembly on orbit was discussed in the 1991 SFFP Final Report 'D'. Data drawn from Aerobrake studies (supported by the ISAAC program) allowed the more detailed investigations that accompany a design with relatively concrete goals. This principle guides current efforts to develop scenarios that further demonstrate the utility of welding for space construction and/or repair

Water distribution rules and water distribution performance: a case study in the Tambraparani Irrigation System

Irrigation management / Irrigation systems / Performance / Irrigation operation / Irrigation scheduling / Water distribution / Water allocation / Water delivery / Water users' associations / Legislation / Large-scale systems / Bananas / Case studies / India / Tamil Nadu / Tambraparani Irrigation System

Gift Horses, Choosy Beggars, and Other Reflections on the Role and Utility of Social Enterprise Law

The U.S. law of social enterprise is growing rapidly. Since 2008, one-half of all U.S. states have modified their business law to establish special legal forms designed for social enterprise. Meanwhile, even with twenty-five states adopting special laws for social enterprise, the legal debate surrounding social enterprise continues. Rather than rehashing that debate, this essay sets forth the author’s personal perspective on the role and utility of social enterprise. The essay argues that, except in limited circumstances, social enterprise is superior to traditional philanthropy when it comes to solving longstanding humanitarian or environmental problems. U.S. business law thus should continue to evolve to facilitate social enterprise

Gift Horses, Choosy Beggars, and Other Reflections on the Role and Utility of Social Enterprise Law

The U.S. law of social enterprise is growing rapidly. Since 2008, one-half of all U.S. states have modified their business law to establish special legal forms designed for social enterprise. Meanwhile, even with twenty-five states adopting special laws for social enterprise, the legal debate surrounding social enterprise continues. Rather than rehashing that debate, this essay sets forth the author’s personal perspective on the role and utility of social enterprise. The essay argues that, except in limited circumstances, social enterprise is superior to traditional philanthropy when it comes to solving longstanding humanitarian or environmental problems. U.S. business law thus should continue to evolve to facilitate social enterprise

Space Station racks weight and CG measurement using the rack insertion end-effector

The objective was to design a method to measure weight and center of gravity (C.G.) location for Space Station Modules by adding sensors to the existing Rack Insertion End Effector (RIEE). Accomplishments included alternative sensor placement schemes organized into categories. Vendors were queried for suitable sensor equipment recommendations. Inverse mathematical models for each category determine expected maximum sensor loads. Sensors are selected using these computations, yielding cost and accuracy data. Accuracy data for individual sensors are inserted into forward mathematical models to estimate the accuracy of an overall sensor scheme. Cost of the schemes can be estimated. Ease of implementation and operation are discussed

Advanced Payload Transfer Measurement System (APT-MS) Mechanical Features

During the last two feet or so of transfer, for a large or heavy payload to its restraining fixture, the consequences of unplanned contact (or impact) between payload and support structure can range from merely annoying to something approaching disaster. Current transfer methods employ technicians with meter sticks stationed at the various hold-down locations to estimate the distances to contact. This information is communicated orally to the crane operator. It is understandable that this work proceeds carefully and therefore slowly. The objectives of this study are (1) to explore mechanical sources of measurement error; and (2) to develop an improved prototype design that is compact, inexpensive, and addresses the measurement error issues. APT is a relatively inexpensive electro-mechanical device that reduces both time and manpower required to make shuttle payload transfers. APT measurement system would provide a GUI for the 'move-conductor' (crane operator) so he could see the displacements of all hold-down interfaces as they move together and thus have a more accurate, comprehensive and 'real-time' picture of the engagement activity. An error model attempts to include all estimatable sources of mechanical error and design features were introduced to reduce or eliminate major sources of error

End-effector-joint conjugates for robotic assembly of large truss structures in space: A second generation

Attachment of strut to node can be accomplished with a variety of mechanisms. All require extensive standoff elements (called scars) added to the nodes. These increase packaging volume for the nodes by as much as 300 percent. First generation designs also tend to be either heavy or expensive due to complex parts. Screws thread mechanisms are discussed simplest and most easily manufactured of alternatives. Torque and rotational motion must be transmitted across the strut to end-effector interface accomplishing the joining process and establishing a specific preload. Four drive mechanisms are considered: worm, helical, bevel, and differential gears

Rocket Propellant Ducts (Cryogenic Fuel Lines): First Cut Approximations and Design Guidance

The design team has to set parameters before analysis can take place. Analysis is customarily a thorough and time consuming process which can take weeks or even months. Only when analysis is complete can the designer obtain feedback. If margins are negative, the process must be repeated to a greater or lesser degree until satisfactory results are achieved. Reduction of the number of iterations thru this loop would beneficially conserve time and resources. The task was to develop relatively simple, easy to use, guidelines and analytic tools that allow the designer to evaluate what effect various alternatives may have on performance as the design progresses. "Easy to use" is taken to mean closed form approximations and the use of graphic methods. "Simple" implies that 2-d and quasi 3-d approximations be exploited to whatever degree is useful before more resource intensive methods are applied. The objective is to avoid the grosser violation of performance margins at the outset. Initial efforts are focused on thermal expansion/contraction and rigid body kinematics as they relate to propellant duct displacements in the gimbal plane loop (GPL). The purpose of the loop is to place two flexible joints on the same two orthogonal intersecting axes as those of the rocket motor gimbals. This supposes the ducting will flex predictably with independent rotations corresponding to those of the motor gimbal actions. It can be shown that if GPL joint axes do not coincide with motor gimbal axes, displacement incompatibilities result in less predictable movement of the ducts