ALBERT

Description: NASA Glenn Research Center s Capillary Flow Experiments (CFE) program is developing experiment payloads to explore fluid interfaces in microgravity on the International Space Station. The information to be gained from the CFE is relevant to the design of fluid-bearing systems in which capillary forces predominate, for example in the passive positioning of liquids in spacecraft fuel tanks. To achieve the science goals of CFE, Glenn researchers constructed several types of experiment vessels. One type of vessel, known as the interior corner flow (ICF), will be used to determine important transients for low-gravity liquid management in a two-phase system. Each vessel has a cylindrical fluid reservoir connected to each end of the test chamber by internal transport tubes, each with a quarter-turn shutoff valve (see the following photograph). These multipiece vessels are made from polymethylmethacrylate (PMMA) because of its excellent optical properties (i.e., the fluids can be observed easily in the vessel). Because of the complexity of certain vessels, the test chamber had to be manufactured in pieces and welded chemically. Some past experience with adhesive bonded plastic showed that the experiment fluid degraded the adhesive to the point of failure. Therefore, it was necessary to see if the fluid also degraded the chemically welded PMMA joints.

Description: An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

Description: In support of the Capillary Flow Experiments (CFE) program, several polymethylmethacrylate (PMMA) flight vessels were constructed. Some vessels used a multipiece design, which was chemically welded together. Due to questions regarding the effects of the experiment fluid (silicone oil) on the weld integrity, a series of tests were conducted to provide evidence of the adequacy of the current vessel design. Tensile tests were conducted on PMMA samples that were both in the as-received condition, and also aged in air or oil for up to 8 weeks. Both welded and unwelded samples were examined. Fracture of the joints was studied using notched tensile specimens and Brazilian disk tests. Results showed that aging had no effect on tensile properties. While the welded samples were weaker than the base parent material, the weld strength was found to be further degraded by bubbles in the weld zone. Finally a fracture analysis using the worst-case fracture conditions of the vessel was performed, and the vessel design was found to have a factor of three safety margin.

Description: This report provides a summary of the experimental, analytical, and numerical results of the Capillary Flow Experiment (CFE) performed aboard the International Space Station (ISS). The experiments were conducted in space beginning with Increment 9 through Increment 16, beginning August 2004 and ending December 2007. Both primary and extra science experiments were conducted during 19 operations performed by 7 astronauts including: M. Fincke, W. McArthur, J. Williams, S. Williams, M. Lopez-Alegria, C. Anderson, and P. Whitson. CFE consists of 6 approximately 1 to 2 kg handheld experiment units designed to investigate a selection of capillary phenomena of fundamental and applied importance, such as large length scale contact line dynamics (CFE-Contact Line), critical wetting in discontinuous structures (CFE-Vane Gap), and capillary flows and passive phase separations in complex containers (CFE-Interior Corner Flow). Highly quantitative video from the simply performed flight experiments provide data helpful in benchmarking numerical methods, confirming theoretical models, and guiding new model development. In an extensive executive summary, a brief history of the experiment is reviewed before introducing the science investigated. A selection of experimental results and comparisons with both analytic and numerical predictions is given. The subsequent chapters provide additional details of the experimental and analytical methods developed and employed. These include current presentations of the state of the data reduction which we anticipate will continue throughout the year and culminate in several more publications. An extensive appendix is used to provide support material such as an experiment history, dissemination items to date (CFE publication, etc.), detailed design drawings, and crew procedures. Despite the simple nature of the experiments and procedures, many of the experimental results may be practically employed to enhance the design of spacecraft engineering systems involving capillary interface dynamics.