ALBERT

Description: Viewgraphs from a presentation on multiple robot systems in space are included. Topics covered include categories of robots in space; scenarios of robot applications in space; some characteristics of robots in space; and some interesting problems and issues.

Description: Growing interest in a future manned mission to Mars illuminated a critical need for more information on the Martian environment, surface conditions, weather patterns, topography, etc. While the Viking landers provided valuable information of this type, the information came from fixed locations. There is a real need for Viking type of information from a number of locations on the Martian surface in order to adequately survey the planet for future landing and exploration sites. Current site survey mission discussions range from Mars orbiters to sample return missions. The limited data return from the former and the extreme expense of the latter suggest consideration of a 'middle ground' mission which provides needed survey information for an acceptable investment. Utah State University (USU) designed a Mars Lander/Rover (MLR) for use in gathering needed environmental and surface information from Mars. Philosophically, the MLR resembles a mobile Viking; that is, it moves from location to location on the Martian surface, measuring environmental conditions, analyzing soil samples, charting topographical features etc. Measured data is then telemetered to earth for further analysis. Conceptually, it was envisioned that MLR survey locations would be rather widely separated. In that sense the MLR was not a terrestrial vehicle limited to local movement about a fixed location. Rather, it would have the capability for movement over long distances to reach widely separated locations. The design focus, then, was upon a Mars Lander/Rover that leaves an orbit around Mars, reenters and soft lands on the Martian surface and moves sequentially to widely scattered locations to sample, measure, and analyze Martian environmental and surface conditions. Primary goals were payload mass and size definition, characterization of the Martian atmosphere, selection of sampling locations, identification of alternative design concepts, selection of a preferred concept, team organization, and preparation for the detailed design phase.

Description: Photovoltaic converters are of interest for converting laser power to electrical power in a space-based laser power system. This paper describes a model for photovoltaic laser converters and the application of this model to a neodymium laser silicon photovoltaic converter system. A parametric study which defines the sensitivity of the photovoltaic parameters is described. An optimized silicon photovoltaic converter has an efficiency greater than 50 percent for 1000 W/sq cm of neodymium laser radiation.

Description: New methods for generating spur, helical, and spiral-bevel gears are proposed. These methods provide the gears with conjugate gear tooth surfaces, localized bearing contact, and reduced sensitivity to gear misalignment. Computer programs have been developed for simulating gear meshing and bearing contact.

Description: Some recent work on a lithium-oxygen secondary battery is reported in which stabilized zirconia oxygen vacancy conducting solid electrolytes were used for the effective separation of respective half-cell reactions. The electroactive material consisted of alloys possessing the general composition Li(x)FeSi2 immersed in a ternary molten salt comprising LiF, LiCl, and Li2O. The manufacture of the cell is described, and discharge-current voltage curves for partially charged cells are shown and discussed. A galvanostatic IR free-changing curve and an IR-free charge-discharge curve are also shown.

Description: Systematic methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture are presented. The force controller tracks the desired force setpoints while the position controller tracks the desired position trajectories. The present control schemes are computationally efficient and suitable for implementation in online control with high sampling rates.

Description: A combination solar photovoltaic heat engine converter is proposed. Such a system is suitable for either terrestrial or space power applications. The combination system has a higher efficiency than either the photovoltaic array or the heat engine alone can attain. Advantages in concentrator and radiator area and receiver mass of the photovoltaic heat engine system over a heat-engine-only system are estimated. A mass and area comparison between the proposed space station organic Rankine power system and a combination PV-heat engine system is made. The critical problem for the proposed converter is the necessity for high temperature photovoltaic array operation. Estimates of the required photovoltaic temperature are presented.

Description: High-pressure, high-temperature seal flow (leakage) data for nonrotating and rotating Raleigh-step and convergent-tapered-bore seals were characterized in terms of a normalized flow coefficient. The data for normalized Rayleigh-step and nonrotating tapered-bore seals were in reasonable agreement with theory, but data for the rotating tapered-bore seals were not. The tapered-bore-seal operational clearances estimated from the flow data were significantly larger than calculated. Although clearances are influenced by wear from conical to cylindrical geometry and errors in clearance corrections, the problem was isolated to the shaft temperature - rotational speed clearance correction. The geometric changes support the use of some conical convergence in any seal. Under these conditions rotation reduced the normalized flow coefficiently by nearly 10 percent.

Description: A combinatorial reliability approach was used to identify potential dynamic power conversion systems for space mission applications. A reliability and mass analysis was also performed, specifically for a 100-kWe nuclear Brayton power conversion system with parallel redundancy. Although this study was done for a reactor outlet temperature of 1100 K, preliminary system mass estimates are also included for reactor outlet temperatures ranging up to 1500 K.

Description: Thermodynamic calculations based on the available data for flouride salt systems reveal that a number of congruently melting compositions and eutectics exist which have the potential to meet the lightweight, high energy storage requirements imposed for advanced solar dynamic systems operating between about 1000 and 1400 K. Compatibility studies to determine suitable containment alloys to be used with NaF-22CaF2-13MgF2, NaF-32CaF2, and NaF-23MgF2 have been conducted at the eutectic temperature + 25 K for each system. For these three NaF-based eutectics, none of the common, commercially available high temperature alloys appear to offer adequate corrosion resistance for a long lifetime; however mild steel, pure nickel and Nb-1Zr could prove useful. These latter materials suggest the possibility that a strong, corrosion resistant, nonrefractory, elevated temperature alloy based on the Ni-Ni3Nb system could be developed.

Description: An improved measurement system for electrical short-circuit current decay is presented that extends applicability of the method to silicon solar cells having an effective lifetime as low as 1 microsec. The system uses metal/oxide/semiconductor transistors as voltage-controlled switches. Advances in theory developed here increase precision and sensitivity in the determination of the minority-carrier recombination lifetime and recombination velocity. A variation of the method, which exploits measurements made on related back-surface field and back-ohmic contact devices, further improves precision and sensitivity. The improvements are illustrated by application to 15 different silicon solar cells.

Description: Indium phosphide solar cells whose p-n junctions were processed by the open tube capped diffusion and by the closed tube uncapped diffusion of sulfur into Czochralski-grown p-type substrates are compared. Differences found in radiation resistance were attributed to the effects of increased base dopant concentration. Both sets of cells showed superior radiation resistance to that of gallium arsenide cells, in agreement with previous results. No correlation was, however, found between the open-circuit voltage and the temperature dependence of the maximum power.

Description: Advanced components have been developed for alkaline fuel cells with a view to the satisfaction of NASA Space Station design requirements for extended endurance. The components include a platinum-on-carbon catalyst anode, a potassium titanate-bonded electrolyte matrix, a lightweight graphite electrolyte reservoir plate, a gold-plated nickel-perforated foil electrode substrate, a polyphenylene sulfide cell edge frame material, and a nonmagnesium cooler concept. When incorporated into the alkaline fuel cell unit, these components are expected to yield regenerative operation in a low earth orbit Space Station with a design life greater than 5 years.

Description: An analysis was performed to determine the effects of inner-ring speed and press fits on roller bearing fatigue life. The effects of the resultant hoop and radial stresses on the principal stresses were considered. The maximum shear stresses below the Hertzian contact were determined for different conditions of inner-ring speed and load, and were applied to a conventional roller bearing life analysis. The effect of mean stress was determined using Goodman diagram approach. Hoop stresses caused by press fits and centrifugal force can reduce bearing life by as much as 90 percent. Use of a Goodman diagram predicts life reduction of 20 to 30 percent. The depth of the maximum shear stress remains virtually unchanged.

Description: Thin, adherent sputtered MoS2 and ion plated metallic (Au, Ag, Pb) lubricating films are primarily used in precision contacting triboelement surfaces where wear debris formation is critical and high reliability requirements have to be satisfied. Detailed structural and compositional characterization of solid film lubricants is of prime importance. It is this information from the nano-micro-macro level which is needed to interpret and improve the frictional behavior and assure long endurance lives. The purpose of this paper is to summarize in a concise review the solid lubricant film structure and morphology and their effects on the tribological properties of the lubricant systems. The tribological performance of thin lubricating films has significantly advanced through progressive understanding of the film parameters such as adhesion, cohesion, interface formation, nucleation and microstructural growth, critical film thickness and substrate finish, and temperature. Sputtered MoS2 and ion plated Au, Ag, and Pb films are separately discussed and evaluated in terms of the above film parameters to establish the most desirable film structures and thicknesses in order to achieve effective lubrication.

Description: An account is given of the development status of phosphoric acid fuel cells' high performance catalyst and electrode materials. Binary alloys have been identified which outperform the baseline platinum catalyst; it has also become apparent that pressurized operation is required to reach the desired efficiencies, calling in turn for the use of graphitized carbon blacks in the role of catalyst supports. Efforts to improve cell performance and reduce catalyst costs have led to the investigation of a class of organometallic cathode catalysts represented by the tetraazaannulenes, and a mixed catalyst which is a mixture of carbons catalyzed with an organometallic and a noble metal.

Description: Simulation models have been developed for the prediction of phosphoric acid fuel cell (PAFC) powerplant system performance under both transient and steady operation conditions, as well as for the design of component configurations and for optimal systems synthesis. These models, which are presently computer-implemented, are an engineering and a system model; the former being solved by the finite difference method to determine the balances and properties of different sections, and the latter using thermodynamic balances to set up algebraic equations that yield physical and chemical properties of the stream for one operating condition.

Description: A technology development and commercial feasibility evaluation is presented for phosphoric acid fuel cells (PAFCs) applicable to electric utility operations. The correction of identified design deficiencies in the control card and water treatment subsystems is projected to be able to substantially increase average powerplant availability from the 63 percent achieved in recent field tests of a PAFC system. Current development work is proceeding under NASA research contracts at the output levels of a multimegawatt facility for electric utility use, a multikilowatt on-site integrated energy generation facility, and advanced electrocatalysts applicable to PAFCs.

Description: A technique has been developed for modeling solid films in rolling element bearings. For a given bearing geometry an effective viscosity can be calculated for a solid film as a function of the film shear modulus and ball-race friction coefficient. The calculated effective viscosity can subsequently be used as an input to a numerical model of cage motion and stability. Results from a sample calculation of effective viscosity and prediction of cage stability for a turbopump bearing are presented for films of molybdenum disulfide (MoS2) and polytetrafluoroethylene ()PTFE).

Description: Spur gear surface fatigue endurance tests were conducted to investigate hot forged powder metal AISI 4620 and 4640 steel for use as a gear material, to determine endurance characteristics and to compare the results with machined AISI 4340 and 9310 steel gear materials. The as-forged and unground AISI 4620 gear exhibited a 10 percent fatigue life that was approximately one-fourth of that for AISI 9310 and less than one-half that for the AISI 4340 gears. The forged and finish ground AISI 4620 gears exhibited a 10 percent life, approximately 70 percent that of AISI 9310 and slightly better than that of AISI 4340. The AISI 4640 hot forged gears had less fracture toughness and slightly less fatigue life than the AISI 4620 test gears.

Description: The instability and unbalance response of dissymmetric rotor-bearing systems containing periodic coefficients when modeling produces matrices with a large number of degrees of freedom are discussed. It is important to solve the equations and then predict the dynamic behavior of the system. This can be done knowing the instability areas and the unbalance response in the stable areas. One deals here with a large number of equations and a reduction of the number of degrees of freedom of the system is achieved through a pseudo modal method. This method is shown to give satisfactory results.

Description: Means were developed to measure the effect of vibration on human beings in a tank vehicle so as to determine the limits to which they might be taken in terms of operating effectiveness and also in terms of well being. Improved hardware for making these measurements, a method for relating tank hull input forces to ride quality, and installation and calibration of instrumentation to measure the hull forces are discussed.

Description: The rechargeability of electrochemical cells is often limited by negative electrode problems. These may include loss of capacity, increased impedance, macroscopic shape change, dendrite growth, or a tendency for filamentary or whisker growth. In principle, these problems can be reduced or eliminated by the use of alloys that undergo either displacement or insertion reactions at reactant species activities less than unity, rather than pure elements. The fundamental reasons for some of these problems with elemental electrodes, as well as the basic principles involved in the different behavior of alloys, are briefly discussed. More information is now available concerning the thermodynamic and kinetic properties of a number of alloys of potential interest for use as electrodes in elevated temperature lithium battery systems. Recent results have extended these results down to ambient temperatures, indicating that some such materials may be of interest for use with new low temperature molten salt electrolytes, or with organic solvent electrolytes. The all solid mixed conductor matrix concept is also reviewed.

Description: Binary platinum alloys are being developed as hydrogen electrocatalysts for use in a hydrogen bromide battery system. These alloys were varied in terms of alloy component mole ratio and heat treatment temperature. Electrocatalyst evaluation, performed in the absence and presence of bromide ion, includes floating half cell polarization studies, electrochemical surface area measurements, X ray diffraction analysis, scanning electron microscopy analysis and corrosion measurements. Results obtained to date indicate a platinum rich alloy has the best tolerance to bromide ion poisoning.

Description: Lithium thionyl chloride (LiSOCl2) primary cells and batteries have received considerable attention over the last several years because of their high theoretical specific energy and energy density. The objective was to develop a 300 wh/kg cell capable of safe operation at C/2 rate and active storage life for 5 to 10 years. This technology would replace other primary cell technologies in NASA applications mainly the silver zinc (AgZn) batteries presently in use. The LiSOCl2 system exceeds the capabilities of the AgZn in terms of specific energy of 300 wh/kg (compared with 100 wh/kg for AgZn), active storage life of 10 to 20 times the 3 to 6 months active storage and has a significantly lower projected cost.

Description: Except in the near Earth phase of GIOTTO's mission to Comet Halley, the HGA (high gain antenna) on board GIOTTO was the only designed means of up/down communications. The spacecraft spin stabilization required that the HGA be despun at the same rotational rate of nominally 15 rpm in order to keep the HGA pointing accurately to a Earth. A dual servomotor despin mechanism was designed and built by SEP of France for this purpose. The expected thermal environment suggested that dry lubrication was preferable to wet for the ball bearings but there existed no relevant data on the torque noise spectrum of candidate solid lubricants. Therefore ad hoc torque noise tests were run with two solid lubricants: ion plated lead film plus lead bronze cage (retainer) and a PTFE composite cage only. The lead lubrication showed the better spectrum up to the mission lifetime point so it was selected for continued test over some 20 times the Halley mission life, with periodic torque spectrum monitoring. The spectrum remained well within the pointing error budget over the 100 million revolutions covered.

Description: In the early 1970s, an antenna despin drive was developed for MBB solar science satellite HELIOS. A problem with high bearing drag torque that was encountered on the two flight models of this drive, after successful tests were completed on twelve bearings, an engineering model, and the qualification unit is discussed.

Description: The workings and function of the Preloader Vector Sensitive Latch are described. A discussion of docking systems used in the U.S. manned space flight programs is included to show how docking systems have evolved, and to highlight the potential advantages of a preloadable vector sensitive latch in such systems.

Description: Governing equations of motion are derived for a bulk-flow model of the leakage path between an impeller shroud and a pump housing. The governing equations consist of a path-momentum, a circumferential - momentum, and a continuity equation. The fluid annulus between the impeller shroud and pump housing is assumed to be circumferentially symmetric when the impeller is centered; i.e., the clearance can vary along the pump axis but does not vary in the circumferential direction. A perturbation expansion of the governing equations in the eccentricity ratio yields a set of zeroth and first-order governing equations. The zeroth-order equations define the leaking rate and the circumferential and path velocity distributions and pressure distributions for a centered impeller position. The first-order equations define the perturbations in the velocity and pressure distributions due to either a radial-displacement perturbation or a tilt perturbation of the impeller. Integration of the perturbed pressure and shear-stress distribution acting on the rotor yields the reaction forces and moments acting on the impeller face.

Description: Discussed is a magnetic bearing which was designed and tested in a flexible rotor both as support bearings and as a vibration controller. The design of the bearing is described and the effect of control circuit bandwidth determined. Both stiffness and damping coefficients were measured and calculated for the bearing with good agreement. The bearings were then placed in a single mass rotor as support bearings and the machine run through two critical speeds. Measurements were made of the vibration response in plain bushings and magnetic bearings. Comparisons were also made of the theoretical calculations with the measured peak unbalance response speeds. Finally, runs were made with the magnetic bearing used as a vibration controller.

Description: Anti-swirl vanes are used by some manufacturers to delay the full development of half speed circulation in annular clearance spaces. The objective is to reduce the aerodynamic cross-coupling in the forward direction. The novel feature of a jet damper is a number of tangential nozzles discharging against the rotor surface speed. Some preliminary results on a 33.9 Kg rotor demonstrate that significant reductions in amplitude are obtained at the synchronous critical speeds.

Description: This paper is concerned with the non-linear vibration performance of a rigid rotor supported on three bearings, one being surrounded by a squeeze-film damper. This damper relies on the pressure built up in the squeeze film to help counter-act external forces arising from unbalance and other effects. As a result a vibration orbit of a certain magnetude results. Such vibration orbits illustrate features found in other non-linear systems, in particular sub-harmonic resonances and jump phenomena. Comparisons between theoretical prediction and experimental observations of these phenomena are made.

Description: Described is an experimental study to identify the damping laws associated with a squeeze-film vibration damper. This is achieved by using a non-linear filtering algorithm to process displacement responses of the damper ring to synchronous excitation and thus to estimate the parameters in an nth-power velocity model. The experimental facility is described in detail and a representative selection of results is included. The identified models are validated through the prediction of damper-ring orbits and comparison with observed responses.

Description: A great deal of research has recently been conducted to solve the subsynchronous rotor vibration problems in high-performance turbomachinery. Particularly, the destabilizing effect of the labyrinth seal on compressors or turbines has been investigated for many years. In spite of many efforts the dynamic effect of the labyrinth seal had not been fully determined from qualitative and quantitative points of view. But from theoretical and experimental work, the dynamic characteristics of the labyrinth seal have been established. The results of recent theoretical and experimental works are presented.

Description: Based on Childs finite length solution for annular plain seals an extension of the bulk flow theory is derived to calculate the rotordynamic coefficients and the leakage flow of seals with parallel grooves in the stator. Hirs turbulent lubricant equations are modified to account for the different friction factors in circumferential and axial direction. Furthermore an average groove depth is introduced to consider the additional circumferential flow in the grooves. Theoretical and experimental results are compared for the smooth constant clearance seal and the corresponding seal with parallel grooves. Compared to the smooth seal the direct and cross-coupled stiffness coefficients as well as the direct damping coefficients are lower in the grooved seal configuration. Leakage is reduced by the grooving pattern.

Description: The K1501 compressor, driven by a steam turbine, is used to transport synthetic gas in fertilizer plants of 1000 tons daily production. The turbo-compressor set, which had been in operation since 1982, vibrated rather intensely, and its maximum load was only about 95 percent of the normal value. Damaging vibration to pads and gas-sealing labyrinths occurred three times from 1982 to 1983 and resulted in considerable economic loss. From the characteristics of the vibration, we suspected its cause to be rotor instability due to labyrinth-seal excitation. But, for lack of experience, the problem was not addressed for two years. Finally, we determined that the instability was indeed produced by labyrinth-seal excitation and corrected this problem by injecting gas into the middle-diaphragm labyrinths. This paper primarily discusses the failure and the remedy described above.

Description: A review of previous experimental measurements of squeeze film damper (SFD) forces is given. Measurements by the authors of SFD pressure fields and force coefficients, for circular centered orbits with epsilon = 0.5, are described and compared with computer predictions. For Reynolds numbers over the range 2-6, the effect of fluid inertia on the pressure fields and forces is found to be significant.

Description: Earlier work has shown that oil-film forces can be modelled by linear coefficients. Identification techniques were used to generate numerical values for these coefficients. This paper has shown the invalidity of applying the perturbation techniques normally used in bearing studies to derive expressions for linearized coefficients to represent a cavitated oil-film. An alternative approach was developed based upon energy techniques to obtain estimates for linearized coefficients. Some current work being undertaken suggests that an alternative analytical approach is possible. These results will be reported in due course.

Description: An instability associated with an intershaft squeeze film damper is described. The squeeze film is located between the intershaft bearing outer race and the low-speed shaft of a five-bearing, two-spool test rig. The instability is dominated by response of the third system mode to destabilizing excitation of the type described by Hibner, et al. Installing a spring cage in place of the intershaft damper removes the instability and produces satisfactory performance throughout the operating range.

Description: The prediction of rotordynamic coefficients for gas seals is achieved with the aid of a two-volume bulk flow model based on turbulent rotationally symmetric 3D flow calculations including swirl flow. Comparison of cross-coupling and damping coefficients with measurements confirm this approach. In particular the theoretically predicted phenomenon that labyrinth damping is retained without inlet swirl is confirmed. This is important for the design of high pressure compressors, where labyrinth damping is a major contribution improving rotor stability. Discrepancies are found when comparing theory with measured direct stiffness and the cross-coupling damping coefficients. First measurements of labyrinth seals on a recently installed test rig operated with water are presented. Since forces are larger than on test stands operated with air and since individual chamber forces are obtained phenomena like inlet effects may be studied.

Description: The results of numerous investigators have shown the importance of labyrinth seal inlet swirl on the calculated dynamic stiffness of labyrinth seals. These results have not included any calculation of inlet leakage swirl as a function of geometry and sealing conditions of the given seal. This paper outlines a method of calculating the inlet swirl at a given seal by introducing a radial chamber to predict the gas swirl as it goes from the stage tip down to the seal location. For a centrifugal compressor, this amounts to including the flow path from the impeller discharge, down the back of the disk or front of the cover, then into the shaft seal or eye packing, respectively. The solution includes the friction factors of both the disk and stationary wall with account for mass flow rate and calculation of radial pressure gradients by a free vortex solution. The results of various configurations are discussed and comparisons made to other published results of disk swirl.

Description: The rotordynamic coefficients of an incompressible-flow annular pressure seal were determined using a bulk-flow model in conjunction with two different friction factor relationships. The first, Hirs' equation, assumes the friction factor is a function of Reynolds number only. The second, Moody's equation, approximates Moody's diagram and assumes the friction factor is a function of both Reynolds number and relative roughness. For each value of relative roughness, Hirs' constants were determined so that both equations gave the same magnitude and slope of the friction factor. For smooth seals, both relationships give the same results. For rough seals (e/2 H sub 0 = 0.05) Moody's equation predicts 44% greater direct stiffness, 35% greater cross-coupled stiffness, 19% smaller cross-coupled damping, 59% smaller cross-coupled inertia, and nominally the same direct damping and direct inertia.

Description: The dynamic characteristics of spiral-grooved seals are theoretically obtained by using the Navier-Stokes equation. First, with the inertia term of the fluid considered, the flow and pressure in the steady state are obtained for the directions parallel to and perpendicular to the groove. Next, the dynamic character is obtained by analyzing the steady state and by analyzing the labyrinth seal. As a result, the following conclusions were drawn: (1) As the land width becomes shorter or the helix angle decreases, the cross-coupling stiffness, direct and cross-coupling damping, and add mass coefficients decrease; (2) As the axial Reynolds number increases, the stiffness and damping coefficients increase. But the add mass coefficient is not influenced by the axial Reynolds number; (3) The rotational Reynolds number influences greatly the direct and cross-coupling stiffness and direct damping coefficients; and (4) As the journal rotating frequency increases, the leakage flow decreases. Therefore zero net leakage flow is possible at a particular rotating frequency.

Description: For modelling the turbulent flow in a seal the Navier-Stokes equations in connection with a turbulence (kappa-epsilon) model are solved by a finite-difference method. A motion of the shaft round the centered position is assumed. After calculating the corresponding flow field and the pressure distribution, the rotor-dynamic coefficients of the seal can be determined. These coefficients are compared with results obtained by using the bulk flow theory of Childs and with experimental results.

Description: The principal sources of vibration related reliability problems in high pressure centrifugal gas compressors are the re-excitation of the first critical speed or Resonant Subsynchronous Vibration (RSSV), and the forced vibration due to rotating stall in the vaneless diffusers downstream of the impellers. An example of such field problems is given elsewhere. This paper describes the results of a test program at the author's company, initiated in 1983 and completed during 1985, which studied the RSSV threshold and the rotating stall phenomenon in a high pressure gas compressor.

Description: The purpose of the Solar Array Flight Dynamic Experiment (SAFDE) is to demonstrate the feasibility of on-orbit measurement and ground processing of large space structures' dynamic characteristics. Test definition or verification provides the dynamic characteristic accuracy required for control systems use. An illumination/measurement system was developed to fly on space shuttle flight STS-41D. The system was designed to dynamically evaluate a large solar array called the Solar Array Flight Experiment (SAFE) that had been scheduled for this flight. The SAFDE system consisted of a set of laser diode illuminators, retroreflective targets, an intelligent star tracker receiver and the associated equipment to power, condition, and record the results. In six tests on STS-41D, data was successfully acquired from 18 retroreflector targets and ground processed, post flight, to define the solar array's dynamic characteristic. The flight experiment proved the viability of on-orbit test definition of large space structures dynamic characteristics. Future large space structures controllability should be greatly enhanced by this capability.

Description: Four different heat transfer paths were separately investigated in a spirally-wound D-size cell. Thermal resistances of the relating components along each heat transfer path were calculated, and the total network of thermal resistances was constructed, resulting in the total thermal resistance of approximately 16.4 C/W at Tw = 40 C, and 12.2 C/W at Tw = 100 C. The amount of heat transferred along the radial direction, which is normal to the electrodes, was found to be about 91 percent of the total heat dissipation. Based on the present results obtained at the component level, the present D-size lithium cell may be operated at a C/2 discharge rate under normal discharge conditions below the cut-off voltage of 2.5 V.

Description: Basic hand grips and sensor interactions that a dextrous robot hand will need as part of the operation of an EVA Retriever are analyzed. What is to be done with a dextrous robot hand is examined along with how such a complex machine might be controlled. It was assumed throughout that an anthropomorphic robot hand should perform tasks just as a human would; i.e., the most efficient approach to developing control strategies for the hand would be to model actual hand actions and do the same tasks in the same ways. Therefore, basic hand grips that human hands perform, as well as hand grip action were analyzed. It was also important to examine what is termed sensor fusion. This is the integration of various disparate sensor feedback paths. These feedback paths can be spatially and temporally separated, as well as, of different sensor types. Neural networks are seen as a means of integrating these varied sensor inputs and types. Basic heuristics of hand actions and grips were developed. These heuristics offer promise of control dextrous robot hands in a more natural and efficient way.

Description: A study was made of a high specific energy battery based on a sodium negative electrode and a chlorine positive electrode with molten AlCl3-NaCl electrolyte and a solid beta alumina separator. The basic performance of a Na beta-alumina NaAlCl4, Cl2/C circulating cell at 200 C was demonstrated. This cell can be started at 150 C. The use of melting sodium chloroaluminate electrolyte overcomes some of the material problems associated with the high working temperatures of present molten salt systems, such as Na/S and LiAl/FeS, and retains the advantages of high energy density and relatively efficient electrode processes. Preliminary investigations were conducted on a sodium-chlorine static cell, material compability, electrode design, wetting, and theoretical calculations to assure a better chance of success before assembling a Na/Cl2 circulating cell. Mathematical models provide a theoretical explanation for the performance of the NaCl2 battery. The results of mathematical models match the experimental results very well. According to the result of the mathematical modeling, an output at 180 mA/sq cm and 3.2 V can be obtained with optimized cell design.

Description: Representative samples of nickel hydrogen cells for the INTELSAT program were used to evaluate the effects of prolonged storage under passive conditions such as open circuit discharged at 0 C, room temperature, and -20 C, and under quasidynamic conditions such as top-off charge and trickle charge. Cell capacity declines when cells are stored open-circuit discharged at room temperature, and a second plateau occurs in the discharge curve. Capacity loss was 47 percent for a cell with hydrogen precharge and 24.5 percent for one with no hydrogen precharge. Capacity recovery was observed following top-off charge storage of cells which had exhibited faded capacity as a result of passive storage at room temperature. Cells stored either at -20 C or on trickle charge maintained their capacity. At 0 C storage, the capacity of all three cells under tests was greater than 55 Ah (which exceeds the required minimum of 44 Ah) after 7 months.

Description: The development of new energy storage technology must be heavily weighted toward the application. The requirements for transitioning low risk technology into operational space vehicles must remain the central theme even at the preliminary development stages by the development of efforts to define operational issues and verify the reliability of the system. Failure to follow a complete plan that results in a flight qualified unit may lead to an orphan technology. Development efforts must be directed toward a stable development where changes in design are evolutionary and end items are equivalent to flight units so that life and qualification testing can be used as a vehicle to demonstrate the acceptability of the technology.

Description: Perhaps the most critical structural system aboard the Space Station is the Solar Alpha Rotary Joint which helps align the power generation system with the sun. The joint must provide structural support and controlled rotation to the outboard transverse booms as well as power and data transfer across the joint. The Solar Alpha Rotary Joint is composed of two transition sections and an integral, large diameter bearing. Alpha joint bearing design presents a particularly interesting problem because of its large size and need for high reliability, stiffness, and on orbit maintability. The discrete roller bearing developed is a novel refinement to cam follower technology. It offers thermal compensation and ease of on-orbit maintenance that are not found in conventional rolling element bearings. How the bearing design evolved is summarized. Driving requirements are reviewed, alternative concepts assessed, and the selected design is described.

Description: Perovskite type oxides were considered for use as oxygen reduction and generation electrocatalysts in alkaline electrolytes. Perovskite stability and electrocatalytic activity are studied along with possible relationships of the latter with the bulk solid state properties. A series of compounds of the type LaFe(x)Ni1(-x)O3 was used as a model system to gain information on the possible relationships between surface catalytic activity and bulk structure. Hydrogen peroxide decomposition rate constants were measured for these compounds. Ex situ Mossbauer effect spectroscopy (MES), and magnetic susceptibility measurements were used to study the solid state properties. X ray photoelectron spectroscopy (XPS) was used to examine the surface. MES has indicated the presence of a paramagnetic to magnetically ordered phase transition for values of x between 0.4 and 0.5. A correlation was found between the values of the MES isomer shift and the catalytic activity for peroxide decomposition. Thus, the catalytic activity can be correlated to the d-electron density for the transition metal cations.

Description: JPL is developing ambient temperature secondary lithium cells for future spacecraft applications. Prior studies on experimental laboratory type Li-TiS2 cells yielded promising results in terms of cycle life and rate capability. To further assess the performance of this cell, 5 Ah engineering model cells were developed. Initially baseline cells were designed and fabricated. Each cell had 15 cathodes and 16 anodes and the ratio of anode to cathode capacity is 6:1. A solution of 1.5 molar LiAsF6 in 2Me-THF was used as the electrolyte. Cells were evaluated for their cycle life at C/1 and C/5 discharge rates and 100 percent depth of discharge. The cells were cycled between voltage limits 1.7 and 2.8 volts. The rate of charge in all cases is C/10. The results obtained indicate that cells can operate at C/10 to C/2 discharge rates and have an initial energy density of 70 Wh/kg. Cells delivered more than 100 cycles at C/2 discharge rate. The details of cell design, the test program, and the results obtained are described.

Description: An aluminum oxygen fuel cell is under development. Several highly efficient cell designs were constructed and tested. Air cathodes catalyzed with cobalt tetramethoxy porphorin have demonstrated more than 2000 cycles in intermittant use conditions. Aluminum alloys have operated at 4.2 kWH/kg at 200 mA/sq cm. A novel separator device, an impeller fluidizer was coupled with the battery to remove the solid hydrargillite discharge product. A 60 kW, 720 kWH battery system is projected to weigh about 2200 lbs., for an energy density of 327 WH lb.

Description: A nickel cadmium battery was developed that can be operated at 80 percent depth of discharge in excess of 10 years in a geosynchronous orbit application, and has about a 30 percent weight savings per spacecraft over present nickel cadmium batteries when used with a 1000 watts eclipse load. The approach used in the development was to replace nylon separators with inert polymer impregnated zirconia, use electrochemically deposited plates in place of conventional chemically precipitated ones, and use an additive to extend negative plate lifetime. The design has undergone extensive testing using both engineering and protoflight cell configurations.

Description: A model of a high temperature electrolyzer/fuel cell, hydrogen/oxygen, thermally regenerative power cycle is developed and used to simulate system performance for varying system parameters. Initial estimates of system efficiency, weight, and volume are provided for a one KWe module assuming specific electrolyzer and fuel cell characteristics, both current and future. Specific interest is placed on examining the system responses to changes in device voltage versus current density operating curves, and the associated optimum operating ranges. The performance of a solar-powered, space based system in low earth orbit is examined in terms of the light-dark periods requiring storage. The storage design tradeoffs between thermal energy, electrical energy, and hydrogen/oxygen mass storage are examined. The current technology module is based on the 1000 C solid oxide electrolyzer cell and the alkaline fuel cell. The Future Technology system examines benefits involved with developing a 1800K electrolyzer operating with an advanced fuel cell.

Description: This paper describes a new type of electromagnetic bearing, called the Eddy-Current Bearing, which works by repulsion between fixed AC-electromagnets and a conducting rotor. The following advantages are expected: inherent stability, higher load carrying capacity than DC-electromagnetic bearings, simultaneous radial, angular and thrust support, motoring and generating capability, and backup mode of operation in case of primary power failure. A prototype is under construction.

Description: The flexural vibrations of a rotating shaft, running through one or more critical speeds, can be reduced to an acceptably low level by applying suitable control forces at an intermediate span position. If electromagnets are used to produce the control forces then it is possible to implement a wide variety of control strategies. A test rig is described which includes a microprocessor-based controller, in which such strategies can be realised in terms of software-based algorithms. The electromagnet configuration and the method of stabilising the electromagnet force-gap characteristic are discussed. The bounds on the performance of the system are defined. A simple control algorithm is outlined, where the control forces are proportional to the measured displacement and velocity at a single point on the shaft span; in this case the electromagnet behaves in a similar manner to that of a parallel combination of a linear spring and damper. Experimental and predicted performance of the system are compared, for this type of control, where various programmable rates of damping are applied.

Description: The results are given for an experimental program concerned with a parametric identification of the damping and inertial coefficients of a cylindrical squeeze-film bearing, through an analysis of transient response data. The results enable the operating range for which a linear model of the squeeze-film is appropriate to be determined. Comparisons are made between the estimated coefficients and theoretical predictions. Presentation is by courtesy of the Council of the Institution of Mechanical Engineers, London.

Description: Presented is an analytical method to determine static and dynamic characteristics of annular parallel-grooved seals. The governing equations were derived by using the turbulent lubrication theory based on the law of fluid friction. Linear zero- and first-order perturbation equations of the governing equations were developed, and these equations were analytically investigated to obtain the reaction force of the seals. An analysis is presented that calculates the leakage flow rate, the torque loss, and the rotordynamic coefficients for parallel-grooved seals. To demonstrate this analysis, we show the effect of changing number of stages, land and groove width, and inlet swirl on stability of the boiler feed water pump seals. Generally, as the number of stages increased or the grooves became wider, the leakage flow rate and rotor-dynamic coefficients decreased and the torque loss increased.

Description: A multistage centrifugal compressor, in natural gas re-injection service on an offshore petroleum production platform, experienced subsynchronous vibrations which caused excessive bearing wear. Field performance testing correlated the subsynchronous amplitude with the discharge flow coefficient, demonstrating the excitation to be aerodynamic. Adding two impellers allowed an increase in the diffuser flow angle (with respect to tangential) to meet the diffuser stability criteria based on factory and field tests correlated using the theory of Senoo (for rotating stall in a vaneless diffuser). This modification eliminated all significant subsynchronous vibrations in field service, thus confirming the correctness of the solution. Other possible sources of aerodynamically induced vibrations were considered, but the judgment that those are unlikely has been confirmed by subsequent experience with other similar compressors.

Description: An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

Description: The Flight Telerobotic Servicer (FTS), a multiple arm dexterous manipulation system, will aid in the assembly, maintenance, and servicing of the space station. Fundamental ideas and basic conceptual designs for a shuttle-based telerobot system have been produced. Recent space station studies provide additional concepts that should aid in the accomplishment of mission requirements. Currently, the FTS is in contractual source selection for a Phase B preliminary design. At the same time, design requirements are being developed through a series of robotic assessment tasks being performed at NASA and commercial installations. A number of the requirements for remote operation on the space station, necessary to supplement extravehicular activity (EVA), will be met by the FTS. Finally, technology developed for telerobotics will advance the state of the art of remote operating systems, enhance operator productivity, and prove instrumental in the evolution of an adaptive, intelligent autonomous robot.

Description: The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.

Description: An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Description: The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Description: As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

Description: The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Description: The NASA Lewis Research Center and the U.S. Army Aviation Systems Command share an interest in advancing the technology for helicopter propulsion systems. In particular, this presentation outlines that portion of the program that applies to the drive train and its various mechanical components. The major goals of the program are to increase the life, reliability, and maintainability; reduce the weight, noise, and vibration; and maintain the relatively high mechanical efficiency of the gear train. The current activity emphasizes noise reduction technology and analytical code development followed by experimental verification. Selected significant advances in technology for transmissions are reviewed, including advanced configurations and new analytical tools. Finally, the plan for transmission research in the future is presented.

Description: The morphology and properties of the Variable Polarity Plasma Arc (VPPA) weld composite zone are intimately related to the physical processes associated with the keyhole. This study examined the effects of oxide, halide, and sulfate additions to the weld plate on the keyhole and the weld pool. Changes in both the arc plasma character and the bead morphology were correlated to the chemical environment of the weld. Pool behavior was observed by adding flow markers to actual VPPA welds. A low temperature analog to the welding process was developed. The results of the study indicate that oxygen, even at low partial pressures, can disrupt the stable keyhole and weld pool. The results also indicate that the Marangoni surface tension driven flows dominate the weld pool over the range of welding currents studied.

Description: The MSFC bearing seal material tester (BSMT) can be used to evaluate the SSME high pressure oxygen turbopump (HPOTP) bearing performance. The four HPOTP bearings have both an imposed radial and axial load. These radial and axial loads are caused by the HPOTP's shaft, main impeller, preburner impeller, turbine and by the LOX coolant flow through the bearings, respectively. These loads coupled with bearing geometry and operating speed can define bearing contact angle, contact Hertz stress, and heat generation rates. The BSMT has the capability of operating at HPOTP shaft speeds, provide proper coolant flowrates but can only apply an axial load. Due to the inability to operate the bearings in the BSMT with an applied radial load, it is important to develop an equivalency between the applied axial loads and the actual HPOTP loadings. A shaft-bearing-thermal computer code (SHABERTH/SINDA) is used to simulate the BSMT bearing-shaft geometry and thermal-fluid operating conditions.

Description: A group of inversion layer MOS solar cells has been fabricated. The highest value of open-circuit voltage obtained for the cells is 0.568V. One of the cells has produced a short-circuit current of 79.6 mA and an open-circuit voltage of 0.54V. It is estimated that the actual area AMO efficiency of this cell is 6.6 percent with an assumed value of 0.75 for its fill factor. Efforts made for fabricating an IL/MOS cell with reasonable efficiencies are reported. Future work for 4 sq cm IL cells and 25 sq cm IL cells is discussed.

Description: Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen.

Description: The processes of hydration/dehydration and carbonation/decarbonation are investigated as an approach to provide higher surface area mixed metal oxides that are more active electrochemically. These materials are candidates for use as electrocatalysts and electrocatalyst supports for alkaline electrolyzers and fuel cells. For the case of the perovskite, LaCoO3 , higher surface areas were achieved with no change in structure and a more active oxygen electrocatalyst.

Description: The Pointed Telescope Subassembly (PTS) consists of a telescope, its Coude relay optics, a two axis gimbal mechanism, and a cover/caging device. These components, their mechanisms, the requirements, and some of the trade-offs leading to the final design are described. The PTS supplies light to the interferometer of the High Resolution Doppler Imager to be used to study upper atmospheric wind velocity.

Description: The Common Drive Unit (CDU) is a high reliability rotary actuator with many versatile applications in mechanism designs. The CDU incorporates a set of redundant motor-brake assemblies driving a single output shaft through differential. Tachometers provide speed information in the AC version. Operation of both motors, as compared to the operation of one motor, will yield the same output torque with twice the output speed.

Description: Some aspects of knowledge acquired in the field of space mechanisms by Societe Europeenne de Propulsion and Centre National d'Etudes Spatiales in International and French National space programs are described. The experience described centers on the development of these programs: The MEGS (Mechanisme d'Etrainement du Generateur Solaire), and the MOGS (Mechanisme d'Orientation de Generateur Solaire), both solar array drive mechanisms. Key design areas and the mechanism performance obtained are highlighted. Some test problems with the MEGS sliprings are discussed.

Description: The applications, design, control and testing of an actuator that provides the precise motion control of a gimbal platform without torquing against the basebody to which it is attached are described. The reactionless actuator described was given the name reactuator.

Description: Two deployable arms, named grabbers, were designed and manufactured to provide lateral stability of the perigee spinning stage which will be deployed from the Space Shuttle cargo bay. The spinning stage is supported by a spin table on a cradle at its base. The Italian Research Interim Stage (IRIS) is designed to carry satellites of intermediate mass up to 900 kg. The requirements are defined and the mechanism is described. Functional test results are presented.

Description: The design and preliminary testing of a system for isolating microgravity sensitive payloads from spacecraft vibrational and impulsive disturbances is discussed. The Microgravity Isolation Mount (MGIM) concept consists of a platform which floats almost freely within a limited volume inside the spacecraft, but which is constrained to follow the spacecraft in the long term by means of very weak springs. The springs are realized magnetically and form part of a six degree of freedom active magnetic suspension system. The latter operates without any physical contact between the spacecraft and the platform itself. Power and data transfer is also performed by contactless means. Specifications are given for the expected level of input disturbances and the tolerable level of platform acceleration. The structural configuration of the mount is discussed and the design of the principal elements, i.e., actuators, sensors, control loops and power/data transfer devices are described. Finally, the construction of a hardware model that is being used to verify the predicted performance of the MGIM is described.

Description: A larger, stronger deployable boom was developed to handle the requirements of larger, heavier payloads in space. The main components of the boom and its deployer are described and their functions explained. Desirable features of the boom are identified and physical properties are reported.

Description: The functional model of a two dimensional adaptive truss structure which can purposefully change its geometrical configuration is introduced. The details of design and fabrication such as kinematic analysis, dynamic characteristics analysis and some test results are presented for the demonstration of this two dimensional truss concept.

Description: In high-performance turbomachinery trouble often arises because of unstable nonsynchronous lateral vibrations. The instabilities are mostly caused by oil-film bearings, clearance excitation, internal damping, annular pressure seals in pumps, or labyrinth seals in turbocompressors. In recent times the coupling between torsional and lateral vibrations has been considered as an additional influence. This coupling is of practical importance in geared rotor systems. The literature describes some field problems in geared drive trains where unstable lateral vibrations occurred together with torsional oscillations. This paper studies the influence of the torsional-lateral coupling on the stability behavior of a simple geared system supported by oil-film bearings. The coupling effect is investigated by parameter studies and a sensitivity analysis for the uncoupled and coupled systems.

Description: GAS payload G-169 is discussed. G-169 contains a computer-controlled Gas Tungsten Arc Welder. The equipment design, problem analysis, and problem solutions are presented. Analysis of data gathered from other microgravity arc welding and terrestrial Gas Tungsten Arc Welding (GTAW) experiments are discussed in relation to the predicted results for the GTAW to be performed in microgravity with payload G-169.

Description: Dynamics of tethers in a linearized analysis can be considered as the superposition of propagating waves. This approach permits a new way for the analysis of tether behavior during deployment and retrieval, where a tether is composed by a part at rest and a part subjected to propagation phenomena, with the separating section depending on time. The dependence on time of the separating section requires the analysis of the reflection of the waves travelling toward the part at rest. Such a reflection generates a reflected wave, whose characteristics are determined. The propagation phenomena of major interest in a tether are transverse waves and longitudinal waves, all mathematically modelled by the vibrating chord equations, if the tension is considered constant along the tether. An interesting problem also considered is concerned with the dependence of the tether tension from the longitudinal position, due to microgravity, and the influence of this dependence on the propagation waves.

Description: A dynamic model of the Tethered Satellite System (TSS) and of the relevant simulation program, developed in order to provide the dynamic analysis support for the design verification of the subsatellite attitude control, is presented. Special care was spent in the satellite attitude dynamic analysis and the model was specifically conceived to this aim. The way in which the simulation results can be utilized for the verification and testing of the attitude control is also presented.

Description: GTOSS represents a tether analysis complex which is described by addressing its family of modules. TOSS is a portable software subsystem specifically designed to be introduced into the environment of any existing vehicle dynamics simulation to add the capability of simulating multiple interacting objects (via multiple tethers). These objects may interact with each other as well as with the vehicle into whose environment TOSS is introduced. GTOSS is a stand alone tethered system analysis program, representing an example of TOSS having been married to a host simulation. RTOSS is the Results Data Base (RDB) subsystem designed to archive TOSS simulation results for future display processing. DTOSS is a display post processors designed to utilize the RDB. DTOSS extracts data from the RDB for multi-page printed time history displays. CTOSS is similar to DTOSS, but is designed to create ASCII plot files. The same time history data formats provided for DTOSS (for printing) are available via CTOSS for plotting. How these and other modules interact with each other is discussed.

Description: The use and benefits of automated variable polarity plasma arc (VPPA) welding of Al joints are described. The entire welding system, including welding head manipulator, weld-wire feed, torch, and power supply are computer controlled. The importance of proper torch dynamics and the control of argon gas flow through the plasma orifice are discussed. The use of arc-voltage control, the improvements in system monitoring, and the reduction or elimination of electromagnetic interferences are examined. VPPA welding is applicable to joining Space Shuttle components, and an example of its use on an External Tank of the Shuttle is presented.

Description: After several years of development of the regenerative fuel cell (RFC) as the electrochemical storage system to be carried by the future space station, the official stance has now been adopted that nickel hydrogen batteries would be a better system choice. RFCs are compared with nickel hydrogen and other battery systems for space platform applications.

Description: Raman spectroscopic data allow one to distinguish nickel electrode active mass, alpha and beta phase materials. Discharges active mass is not isostructural with beta-Ni(OH)2. This is contrary to the generally accepted model for the discharged beta phase of active mass. It is concluded that charged active mass displays a disordered and nonstoichiometric, nonclose packed structure of the R3 bar m, NiOOH structure type. Raman spectral data and x ray diffraction data are analyzed and shown to be consistent with this structural model.

Description: New light weight composite bipolar plates which can withstand the corrosive environment of the lead acid battery have made possible the construction of a sealed bipolar lead acid battery that promises to achieve very high specific power levels and substantially higher energy densities than conventional lead acid batteries. Performance projections based on preliminary experimental results show that the peak specific power of the battery can be as high as 90 kW/kg, and that a specific power of 5 kW/kg can be sustained over several thousand pulses.

Description: Porous electrodes generally contain constricted macropores and localized micropores. The effects of the macropore constrictions on the resistance of a capillary were studied and an analytical model was developed for predicting the current distribution in a constricted macropore which directly includes constriction effects and does not require an empirical tortuosity parameter. The current and concentration distributions in localized micropores were also investigated and it was shown that the microporous area is fully accessible to charge and mass transfer processes. From these analyses it was concluded that the micropores primarily affect the kinetics of the interfacial processes by contributing to the interfacial area, while the macropores impose ohmic and mass transport limitations through the volume of the porous electrode.

Description: The Gemini Space program demonstrated the first major application of fuel cell systems. Solid polymer electrolyte fuel cells were used as auxiliary power sources in the spacecraft. There has been considerable progress in this technology since then, particularly with the substitution of Nafion for the polystyrene sulfonate membrane as the electrolyte. Until recently the performance was good only with high platinum loading (4 mg/sq cm) electrodes. Methods are presented to advance the technology by (1) use of low platinum loading (0.35 mg/sq cm) electrodes; (2) optimization of anode/membrane/cathode interfaces by hot pressing; (3) pressurization of reactant gases, which is most important when air is used as cathodic reactant; and (4) adequate humidification of reactant gases to overcome the water management problem. The high performance of the fuel cell with the low loading of platinum appears to be due to the extension of the three dimensional reaction zone by introduction of a proton conductor, Nafion. This was confirmed by cyclic voltammetry.

Description: Significant progress was made toward the development of a commercially marketable hydrogen nickel oxide battery. The costs projected for this battery are remarkably low when one considers where the learning curve is for commercialization of this system. Further developmental efforts on this project are warranted as the H2/NiO battery is already cost competitive with other battery systems.

Description: An overview is presented of the existing Air Force electrochemical power, battery, and fuel cell programs for space application. Present thrusts are described along with anticipated technology availability dates. Critical problems to be solved before system applications occur are highlighted. Areas of needed performance improvement of batteries and fuel cells presently used are outlined including target dates for key demonstrations of advanced technology. Anticipated performance and current schedules for present technology programs are reviewed. Programs that support conventional military satellite power systems and special high power applications are reviewed. Battery types include bipolar lead-acid, nickel-cadmium, silver-zinc, nickel-hydrogen, sodium-sulfur, and some candidate advanced couples. Fuel cells for pulsed and transportation power applications are discussed as are some candidate advanced regenerative concepts.

Description: In an effort to recover the Westar and Palapa satellites and the considerable investment each represented, NASA and Hughes undertook the Satellite Retrieval Mission. The mechanism used to capture each of the errant satellites was the AKM (Apogee Kick Motor) Capture Device (ACD), also referred to as the Stinger. The ACD had three interface requirements: interface with the Manned Maneuvering Unit (MMU) for transportation to and stabilization of the spacecrafts; interface with each satellite for retrieval; and finally, interface with the Shuttle's Remote Manipulator System (RMS or robot arm) for satellite transport back to the Orbiter's payload bay. The majority of the design requirements were associated with the capture and release of the satellites. In addition to these unique requirements, the general EVA, RMS grapple, and RMS manipulation requirements applied. These requirements included thermal, glare, snag, RMS runaway and crewman safety considerations.

Description: A method is presented for designing worm gear sets to meet torque multiplication requirements. First, the fundamentals of worm gear design are discussed, covering worm gear set nomenclature, kinematics and proportions, force analysis, and stress analysis. Then, a suggested design method is discussed, explaining how to take a worm gear set application, and specify a complete worm gear set design. The discussions are limited to cylindrical worm gear sets that have a 90 deg shaft angle between the worm and the mating gear.

Description: The main points of discussion, conclusions and recommendations of a workshop on InP materials and cell fabrication are given. The importance of assessing the quality of p-Inp crystals supplied by different vendors, back contacts to solar cells, junction formation, energy conversion efficiency, testing for radiation resistance, and future develpments were among the topics discussed.

Description: Workshop members devoted the majority of time to discussing future prospects for technology support of photovoltaic applications. Photovoltaics has provided power for almost every spacecraft launched in the free world in the last 25 years. Over this time, photovoltaics has demonstrated impressive growth in power level, operating lifetime and specific power (W/kg and W/square m). Yet, the current attitude toward this reliable form of space power generation is likely to preclude further dramatic performance gains.