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The preliminary design of a remotely controlled teleoperator for space application is reported that depends on man for control inputs and extends operation of the space shuttle.
A series of active cavity radiometers (ACRs) are described which have been developed as standard detectors for the accurate measurement of irradiance in absolute units. It is noted that the ACR is an electrical substitution calorimeter, is designed for automatic remote operation in any environment, and can make irradiance measurements in the range from low-level IR fluxes up to 30 solar constants with small absolute uncertainty. The instrument operates in a differential mode by chopping the radiant flux to be measured at a slow rate, and irradiance is determined from two electrical power measurements together with the instrumental constant. Results are reported for measurements of the solar constant with two types of ACRs. The more accurate measurement yielded a value of 136.6 plus or minus 0.7 mW/sq cm (1.958 plus or minus 0.010 cal/sq cm per min).
A system has been under development which is designed to seek remotely for clues to life in planetary soil samples. The basic approach is a set of experiments, all having a common sensor, a gas analysis mass spectrometer which monitors gas composition in the head spaces above sealed, temperature controlled soil samples. Versatility is obtained with up to three preloaded, sealed fluid injector capsules for each of eleven soil test cells. Tests results with an engineering model has demonstrated performance capability of subsystem components such as soil distribution, gas sampling valves, injector mechanisms, temperature control, and test cell seal.
The CITARS (Crop Identification Technology Assessment for Remote Sensing) task design, objectives, and results are reviewed along with relevant conclusions and recommendations. The principal assessment concern crop identification performance for corn and soybeans in six sites in Illinois and Indiana. Use of quantitative measures of classification performance and statistical evaluations of the results have been important parts of the technology assessment. Relation of crop and sensor characteristics is discussed. Factors affecting crop identification performance are identified as crop maturity and site characteristics, type of single-date automatic data processing procedure used for local recognition, nonlocal recognition with and without processing for extension of recognition signatures, and use of multidate or multitemporal data. In particular, the probability of correct classification of field center pixels is not well correlated and thus is not a reliable indicator of proportion estimation performance.
LARSYS III.1 program is designed for remote-sensing research and application. Pattern recognition and interaction data handling techniques analyze remotely-sensed multispectral and multitemporal data. Primary inputs are multispectral data in image orientation.
The needs of state, regional, and local agencies involved in natural resources management in Illinois, Iowa, Minnesota, Missouri, and Wisconsin are investigated to determine the design of satellite remotely sensed derivable information products. It is concluded that an operational Earth Observation Data Management System (EODMS) will be most beneficial if it provides a full range of services - from raw data acquisition to interpretation and dissemination of final information products. Included is a cost and performance analysis of alternative processing centers, and an assessment of the impacts of policy, regulation, and government structure on implementing large scale use of remote sensing technology in this community of users.
The LEMMA is a proposed conceptual design of a remote teleoperator manipulator arm with 6 degrees of freedom, exclusive of the end-effector. The bevel gear arrangement in 4 of the 6 degrees of freedom, together with the concentric-tubular arm configuration, requires a unique and novel drive mechanism. This differential drive assembly, housed in the shoulder, is a self-compensating device and simplifies the matrix solution for the resolved motion rate control system needed to guide the arm in its performances. The article will describe the need for the 6 degrees of freedom as established by the work envelope, the functioning of the differential shoulder drive, the arm and joint configuration, and the anticipated degree of accuracy.
Device is designed primarily for remotely collecting field samples of water or air from polluted sources or from tracer gases used to track such sources over long distances.
A self-contained, preassembled air type solar system, designed for installation remote from the dwelling, to provide space heating and hot water was evaluated. Data analysis is included which documents the system performance and verifies its suitability for field installation.
Advanced teleoperators are discussed, with emphasis on the remote manipulation system designed to perform such actions as grasping, orienting, moving, placing, and inserting objects. Geometrical performance dimensions are considered, indicating that a manipulator is limited to three-orders-of-magnitude ratio of workspace extension to positioning accuracy. The control system is examined, showing that a manipulative task requires coordination of several joints, with the relationship between the task definers and the joint variables given by complex trigonometrical transformations. Control modes developed in the last 30 years are noted, including program controlled industrial 'robots' which can endlessly repeat a fixed sequence of motions without operator intervention, and the sensor-referenced/computer-controlled mode manipulators. Advanced proximity sensor systems are taken into account, with emphasis on the applications of the force-torque and slip models. The proximity sensor system for the shuttle-size manipulator is described.
The Fabry-Perot Interferometer (FPI) on Dynamics Explorer is a remote sensing instrument designed to measure the temperature, meridional wind and density of the metastable atoms O(1S) and O(1D), and the ion O(plus)(2P) in the thermosphere. The measurements are made with a stable, high resolution Fabry-Perot etalon, which performs a wavelength analysis on the light detected from the thermospheric emission features by spatially scanning the interference fringe plane with a multichannel array detector. The wavelength analysis characterizes the Doppler line profile of the emitting species. A sequential altitude scan, performed by a commandable horizon scan mirror, provides a cross-sectional view of the thermodynamic and dynamic state of the thermosphere below the orbit of the Dynamics Explorer B satellite.
Rotational alinement not critical in design useful for remote manipulators. Plug and socket pushed together, plug rings deflect spring segments of corresponding socket ring. Particularly suitable for remote manipulators and making connections in "blind" locations.
On Nov. 12, 1981, the Space Shuttle was launched for its second flight (STS-2). It carried with it the first scientific payload designed to perform remote sensing observations of the earth. During the 54 hour flight, scientific instruments from the OSTA-1 (Office of Space and Terrestrial Applications) payload gathered data over the earth's oceans and land masses, and global atmospheric data on concentrations of carbon monoxide in the atmosphere. The flight demonstrated the capability of the Shuttle to serve as an orbiting platform for scientific research. Instruments were successfully developed for spaceflight for a fraction of the costs associated with instruments flown on unmanned satellite missions. Perhaps most importantly, the instruments have been successfully returned to the investigators for the first time in the history of remote sensing from space.
A computational model of the deterministic and stochastic processes involved in multispectral remote sensing was designed to evaluate the performance of sensor systems and data processing algorithms for spectral feature classification. Accuracy in distinguishing between categories of surfaces or between specific types is developed as a means to compare sensor systems and data processing algorithms. The model allows studies to be made of the effects of variability of the atmosphere and of surface reflectance, as well as the effects of channel selection and sensor noise. Examples of these effects are shown.
Release mechanism designed operable by remote control even if many of its components fail. In event it becomes inoperable, still actuated manually.
The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.
Current models exist that predict the damage caused by the impact of aluminum oxide exhaust particles as well as their lifetime in useable space. In these models, two necessary inputs are the size and flux of the particles. An experiment, referred to as the Plume Witness Plate, was designed for the Remote Manipulator System of the space shuttle orbiter to measure in-situ the flux and material effects of a solid rocket motor (SRM) firing in space. Five different types of samples were used to provide a broad range of substances: (1) fused quartz glass (representative of orbiter windows); (2) germanium micrometeroid capture cells; (3) orbiter HRTS tiles from the thermal protection system; (4) Kapton foil; and (5) metallic disks of aluminum, copper, titanium, graphite epoxy, and gold. The analyses of the data show excellent agreement with ground-based SRM firings in terms of particle size distribution and mass distribution. The Particle Impact Damage Integrator computer model used to calculate potential damage of orbiter surfaces by SRM exhaust plumes agrees favorable with the results in terms of particle size and velocity distributions though it may be conservative by as much as 20%.
The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle - with its high-reliability redundancy management and fault tolerance design and its remote manipulator system - to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.