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Tolson, Robert H.

Publications and source records attributed to Tolson, Robert H..

30 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

Garrahan, Steven L.↗
NASA NTRS1994

Venusian atmospheric and Magellan properties from attitude control data

Results are presented of the study of the Venusian atmosphere, Magellan aerodynamic moment coefficients, moments of inertia, and solar moment coefficients. This investigation is based upon the use of attitude control data in the form of reaction wheel speeds from the Magellan spacecraft. As the spacecraft enters the upper atmosphere of Venus, measurable torques are experienced due to aerodynamic effects. Solar and gravity gradient effects also cause additional torques throughout the orbit. In order to maintain an inertially fixed attitude, the control system counteracts these torques by changing the angular rates of three reaction wheels. Model reaction wheel speeds are compared to observed Magellan reaction wheel speeds through a differential correction procedure. This method determines aerodynamic, atmospheric, solar pressure, and mass moment of inertia parameters. Atmospheric measurements include both base densities and scale heights. Atmospheric base density results confirm natural variability as measured by the standard orbital decay method. Potential inconsistencies in free molecular aerodynamic moment coefficients are identified. Moments of inertia are determined with a precision better than 1 percent of the largest principal moment of inertia.

Croom, Christopher A.↗
NASA NTRS1994

Evaluation of GPS position and attitude determination for automated rendezvous and docking missions

The use of the Global Positioning System for position and attitude determination is evaluated for an automated rendezvous and docking mission. The typical mission scenario involves the chaser docking with the target for resupply or repair purposes, and is divided into three sections. During the homing phase, the chaser utilizes coarse acquisition pseudorange data to approach the target; guidance laws for this stage are investigated. In the second phase, differential carrier phase positioning is utilized. The chaser must maintain a quasiconstant distance from the target, in order to resolve the initial integer ambiguities. Once the ambiguities are determined, the terminal phase is entered, and the rendezvous is completed with continuous carrier phase tracking. Attitude knowledge is maintained in all phases through the use of the carrier phase observable. A Kalman filter is utilized to estimate all states from the noisy measurement data. The effects of selective availability and cycle slips are also investigated.

Diprinzio, Marc D.↗
NASA NTRS1993

Admittance model for the shuttle remote manipulator system in four configurations

A possible scenario for robot task performance in space is to mount two small, dexterous arms to the end of the Shuttle Remote Manipulator System (SRMS). As these small robots perform tasks, the flexibility of the SRMS may cause unsuccessful task executions. In order to simulate the dynamic coupling between the SRMS and the arms, admittance models of the SRMS in four brakes locked configurations were developed. The admittance model permits calculation of the SRMS end-effector response due to end-effector disturbing forces. The model will then be used in conjunction with a Stewart Platform, a vehicle emulation system. An application of the admittance model was shown by simulating the disturbing forces using two SRMS payloads, the Dextrous Orbital Servicing System (DOSS) manipulator and DOSS carrying a 1000 lb. cylinder. Mode by mode comparisons were conducted to determine the minimum number of modes required in the admittance model while retaining dynamic fidelity. It was determined that for all four SRMS configurations studied, between 4 and 6 modes of the SRMS structure (depending on the excitation loads) were sufficient to retain tolerance of 0.01 inches and 0.01 deg. These tolerances correspond to the DOSS manipulator carrying no object. When the DOSS carries the 1000 lb. cylinder, between 15 and 20 modes were sufficient, approximately three or four times as many modes as for the unloaded case.

Papadopoulos, Loukas↗
NASA NTRS1993

A feasibility study of a microgravity enhancement system for Space Station Freedom

The current low frequency microgravity requirements for Space Station Freedom (SSF) call for a level of less than 1 micro-g over 50 percent of all the laboratory racks for continuous periods of 30 days for at least 180 days per year. While this requirement is attainable for some of the laboratory modules for the Permanently Manned Configuration (PMC), it can not be met for the Man-Tended Configuration (MTC). In addition, many experiments would prefer even lower acceleration levels. To improve the microgravity environment, the Microgravity Enhancement System (MESYS) will apply a continuous thrust to SSF, to negate the disturbing gravity gradient and drag forces. The MESYS consists of a sensor, throttle-able thrusters and a control system. Both a proof mass system and accelerometer were evaluated for use as the sensor. The net result of the MESYS will be to shift the microgravity contours from the center of mass to a chosen location. Results indicate the MESYS is not feasible for MTC since it will require 5,073 kg of hydrazine fuel and 7,660 watts of power for 30 days of operation during average atmospheric conditions. For PMC, the MESYS is much more practical since only 4,008 kg of fuel and 5,640 watts of power are required.

Diamond, Preston S.↗
NASA NTRS1993

A feasibility study of a microgravity enhancement system for Space Station Freedom

The current low frequency microgravity requirements for Space Station Freedom (SSF) call for a level of less than 1 micro-g over 50 percent of all the laboratory racks for continuous periods of 30 days for at least 180 days per year. While this requirement is attainable for some of the laboratory modules for the Permanently Manned Configuration (PMC), it cannot be met for the Man-Tended Configuration (MTC). To improve the microgravity conditions in the laboratory modules, the Microgravity Enhancement System (MESYS) will apply a continuous thrust to SSF, to negate the disturbing gravity gradient and drag forces. The MESYS consists of a sensor, continuous throttle-able thrusters, and a control system. Both a proof mass system and nano-g accelerometer were evaluated for use as the sensor. The net result of the MESYS will be to shift the microgravity contours from the center of mass to a chosen location. Results indicate the MESYS is not feasible for the MTC since it will require 5073 kg of hydrazine fuel and 7660 watts of electrical power for 30 days of operation during average atmospheric conditions. For the PMC, the MESYS is much more practical, since only 4008 kg of fuel and 5640 watts of electrical power will be required for 30 days of operation during average atmospheric conditions.

Diamond, Preston S.↗
NASA NTRS1993

System identification for Space Station Freedom using observer/Kalman filter Markov parameters

The Modal Identification Experiment (MIE) is a proposed experiment to define the dynamic characteristics of Space Station Freedom. Previous studies emphasized free-decay modal identification. The feasibility of using a forced response method (Observer/Kalman Filter Identification (OKID)) is addressed. The interest in using OKID is to determine the input mode shape matrix which can be used for controller design or control-structure interaction analysis, and investigate if forced response methods may aid in separating closely spaced modes. A model of the SC-7 configuration of Space Station Freedom was excited using simulated control system thrusters to obtain acceleration output. It is shown that an 'optimum' number of outputs exists for OKID. To recover global mode shapes, a modified method called Global-Local OKID was developed. This study shows that using data from a long forced response followed by free-decay leads to the 'best' modal identification. Twelve out of the thirteen target modes were identified for such an output.

Papadopoulos, Michael↗
NASA NTRS1993

Lost in space: Onboard star identification using CCD star tracker data without an a priori attitude

There are many algorithms in use today which determine spacecraft attitude by identifying stars in the field of view of a star tracker. Some methods, which date from the early 1960's, compare the angular separation between observed stars with a small catalog. In the last 10 years, several methods have been developed which speed up the process and reduce the amount of memory needed, a key element to onboard attitude determination. However, each of these methods require some a priori knowledge of the spacecraft attitude. Although the Sun and magnetic field generally provide the necessary coarse attitude information, there are occasions when a spacecraft could get lost when it is not prudent to wait for sunlight. Also, the possibility of efficient attitude determination using only the highly accurate CCD star tracker could lead to fully autonomous spacecraft attitude determination. The need for redundant coarse sensors could thus be eliminated at substantial cost reduction. Some groups have extended their algorithms to implement a computation intense full sky scan. Some require large data bases. Both storage and speed are concerns for autonomous onboard systems. Neural network technology is even being explored by some as a possible solution, but because of the limited number of patterns that can be stored and large overhead, nothing concrete has resulted from these efforts. This paper presents an algorithm which, by descretizing the sky and filtering by visual magnitude of the brightness observed star, speeds up the lost in space star identification process while reducing the amount of necessary onboard computer storage compared to existing techniques.

Ketchum, Eleanor A.↗
NASA NTRS1991

Integrated control of thermally distorted large space antennas

The objective is to develop a control system design method that (1) recognizes the time dependence of the thermal distortion due to orbital motion and (2) controls variables that are directly related to far field performance for earth pointing space antennas. The first objective is accomplished by expanding the distortion into principal components that are orthogonal in space and time. The approach for the second objective is to expand the far zone electric field in a Zernike-Bessel series. The method accommodates tapered feeds and arbitrary polarizations. Simulations are performed for a geosynchronous radiometer to determine the effectiveness of the control system under variations in solar geometry, structure materials and thermal properties.

Tolson, Robert H.↗
NASA NTRS1961

Effects of Some Typical Geometrical Contraints on Lunar Trajectories

A study has been made to determine the effects on lunar trajectories of some typical geometrical constraints. The constraints considered in this study are of two types, those resulting from specification of the trajectory characteristics near the earth and those associated with the specification of the approach conditions at the moon. The effects of the constraints are discussed from the standpoint of the limitations imposed by the constraints on the possible launch days during the month and also on the possible launch times during the day for three types of launch trajectories: direct-ascent, coasting-orbit, and parking-orbit launches. Application of the various constraints individually or in combination seriously restricts the allowable launch times during the month and day for the direct-ascent launch; whereas, less serious restrictions result for the coasting- and parking-orbit launches.

Tolson, Robert H.↗
NASA NTRS1959

Three-Dimensional Lunar Mission Studies

Some three-dimensional lunar trajectories have been calculated by integration of the equations of motion of the classical restricted three-body problem of celestial mechanics. The calculations have been used for analysis of several aspects of lunar flight including requirements for achieving lunar impact and for establishment of a close lunar satellite. The allowable errors in initial conditions for lunar missions are strongly dependent on the values of the initial injection velocity and the injection angle. There can be large differences in results obtained from two-dimensional analyses (in which the vehicle trajectory is assumed to remain always in the earth-moon plane) and those obtained from three-dimensional analyses. Some of the accuracy tolerances can be fairly well estimated by use of a two-body analysis which considers the inclination of the plane of the vehicle trajectory to the earth-moon plane. Satisfactory orbits for a relatively close lunar satellite can be obtained with accuracies in the initial conditions approximately equal to those required for lunar impact.

Michael, William H., Jr.↗