Mechanical Components

Platform for Testing Robotic Vehicles on Simulated Terrain

Slope, ground material, and obstacles can be varied. The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes.

Posted in: Mechanical Components, Briefs

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Low-Cost Propellant Launch From a Tethered Balloon

A document presents a concept for relatively inexpensive delivery of propellant to a large fuel depot in low orbit around the Earth, for use in rockets destined for higher orbits, the Moon, and for remote planets. The propellant is expected to be at least 85 percent of the mass needed in low Earth orbit to support the NASA Exploration Vision. The concept calls for the use of many small (≈10 ton) spin-stabilized, multistage, solid-fuel rockets to each deliver ≈250 kg of propellant. Each rocket would be winched up to a balloon tethered above most of the atmospheric mass (optimal altitude 26 ±2 km). There, the rocket would be aimed slightly above the horizon, spun, dropped, and fired at a time chosen so that the rocket would arrive in orbit near the depot. Small thrusters on the payload (powered, for example, by boil-off gasses from cryogenic propellants that make up the payload) would precess the spinning rocket, using data from a low-cost inertial sensor to correct for small aerodynamic and solid rocket nozzle misalignment torques on the spinning rocket; would manage the angle of attack and the final orbit insertion burn; and would be fired on command from the depot in response to observations of the trajectory of the payload so as to make small corrections to bring the payload into a rendezvous orbit and despin it for capture by the depot. The system is low-cost because the small rockets can be mass-produced using the same techniques as those to produce automobiles and low-cost munitions, and one or more can be launched from a U.S. territory on the equator (Baker or Jarvis Islands in the mid-Pacific) to the fuel depot on each orbit (every 90 minutes, e.g., any multiple of 6,000 per year).

Posted in: Mechanics, Mechanical Components, Briefs

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Integral Flexure Mounts for Metal Mirrors for Cryogenic Use

These mounts are compact and relatively inexpensive. Semi-kinematic, six-degree-of-freedom flexure mounts have been incorporated as integral parts of metal mirrors designed to be used under cryogenic conditions as parts of an astronomical instrument. The design of the mirrors and their integral flexure mounts can also be adapted to other instruments and other operating temperatures. In comparison with prior kinematic cryogenic mirror mounts, the present mounts are more compact and can be fabricated easily using Ram-EDM (electrical discharge machining) process.

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Fastener Options for Clinching Into Stainless

Differing stainless hardness levels and degrees of corrosion resistance can complicate fastener selection. Designers often turn to self-clinching fasteners when they need a practical method to provide threads in thin metal sheets. The fasteners install permanently, reduce hardware, and promote thinner and lighter designs. In stainless applications, though, designers may run into some particularly hard choices. A prevalent misconception is that all stainless self-clinching fasteners will perform as intended in all stainless sheets. But, the relative hardness of the fastener and sheet looms as an overriding influence, because self-clinching requires that the fastener always be harder than its host sheet. In general, installation of self-clinching fasteners is accomplished by pressing the fastener into place in a properly sized drilled or punched hole. This process causes displaced sheet material (softer than the fastener) to cold-flow into a specially designed annular recess in the shank or pilot of the fastener, permanently locking the fastener in place.

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Controlling Attitude of a Solar-Sail Spacecraft Using Vanes

A paper discusses a concept for controlling the attitude and thrust vector of a three-axis stabilized Solar Sail spacecraft using only four single degree of freedom articulated spar-tip vanes. The vanes, at the corners of the sail, would be turned to commanded angles about the diagonals of the square sail. Commands would be generated by an adaptive controller that would track a given trajectory while rejecting effects of such disturbance torques as those attributable to offsets between the center of pressure on the sail and the center of mass. The controller would include a standard proportional + derivative part, a feed forward part, and a dynamic component that would act like a generalized integrator. The controller would globally track reference signals, and in the presence of such control actuator constraints as saturation and delay, the controller would utilize strategies to cancel or reduce their effects. The control scheme would be embodied in a robust, nonlinear algorithm that would allocate torques among the vanes, always finding a stable solution arbitrarily close to the global optimum solution of the control effort allocation problem. The solution would include an acceptably small angle, slow limit-cycle oscillation of the vanes, while providing overall thrust vector pointing stability and performance.

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Tool for Coupling a Torque Wrench to a Round Cable Connector

Torque is applied without offset. A tool makes it possible to couple a torque wrench to an externally knurled, internally threaded, round cable connector. The purpose served by the tool is to facilitate the tightening of multiple such connectors (or the repeated tightening of the same connector) to repeatable torques.

Posted in: Mechanics, Mechanical Components, Briefs

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Excitations for Rapidly Estimating Flight-Control

Parameters Parameters are estimated, in nearly real time, from responses to these excitations. A flight test on an F-15 airplane was performed to evaluate the utility of prescribed simultaneous independent surface excitations (PreSISE) for real-time estimation of flight-control parameters, including stability and control derivatives. The ability to extract these derivatives in nearly real time is needed to support flight demonstration of intelligent flight-control system (IFCS) concepts under development at NASA, in academia, and in industry. Traditionally, flight maneuvers have been designed and executed to obtain estimates of stability and control derivatives by use of a post-flight analysis technique. For an IFCS, it is required to be able to modify control laws in real time for an aircraft that has been damaged in flight (because of combat, weather, or a system failure).

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