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At least 235 records · Page 13

All sources NASA NTRS DOE OSTI

NASA NTRS1985

A discrete control model of PLANT

A model of the PLANT system using the discrete control modeling techniques developed by Miller is described. Discrete control models attempt to represent in a mathematical form how a human operator might decompose a complex system into simpler parts and how the control actions and system configuration are coordinated so that acceptable overall system performance is achieved. Basic questions include knowledge representation, information flow, and decision making in complex systems. The structure of the model is a general hierarchical/heterarchical scheme which structurally accounts for coordination and dynamic focus of attention. Mathematically, the discrete control model is defined in terms of a network of finite state systems. Specifically, the discrete control model accounts for how specific control actions are selected from information about the controlled system, the environment, and the context of the situation. The objective is to provide a plausible and empirically testable accounting and, if possible, explanation of control behavior.

Mitchell, C. M.↗

NASA NTRS1990

Jet Propulsion Laboratory/Kennedy Space Center telerobotic inspection and manipulation demonstration

The goal of this effort is to demonstrate telerobotic inspection and mainpulation of space shuttle payloads in the presence of substantial communications time delays between the operator station and the robotic work space. The processing of space shuttle payloads provides a variety of tasks which are typical of both space shuttle ground operations and Space Station in-flight operations, and communications time delays are inevitable in space operations where the operator station will be light-seconds away from the telerobot. With this demonstration we hope to show the efficacy and safety of robotic technology for ground and space operations. Our approach is to develop an experimental telerobotic system with the remote sensing, actuation and reflex portions located at KSC in Florida, while the operator control station will be located at Jet Propulsion Laboratory (JPL) in California. The JPL portion of the system includes a high-level operator interface, intelligent spatial planning and machine vision, while the KSC portion includes the robot arm, end effectors, cameras and proximity sensors, and the necessary control and communications computers and software. The communications between JPL and KSC are over a limited-bandwidth network channel (19200 baud) with unpredictable and unrepeatable time delays. In FY89 we integrated a basic version of the robotic, communications, and computer hardware, and we developed the software to perform an operator-supervised inspection of a PAM-D satellite upper stage rocket motor and its shuttle support cradle. The demonstration, though severely limited by the bulk of the available computer arm, showed the potential of telerobotics for inspection tasks. In the future, we plan to develop additional capabilities which will allow manipulation tasks to be performed, including removal of dust covers and lens caps, insertion of connectors and batteries, and installation of payload objects.

Wilcox, Brian↗

NASA NTRS2017

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Farrell, Logan C.↗

NASA NTRS1977

Multi-axis hand controller for the shuttle remote manipulator system

The Shuttle Remote Manipulator System, has a articulated arm of 50 ft. length with six motor-driven joints. The basic purpose is to establish physical contact with various space hardware items and maneuver these to the desired position and attitude with respect to the Orbiter, nulling out relative velocities and stabilizing the free-body system by managing residual energies. The normal operating mode is resolved-motion end-point rate control by man-in-loop command. The translational freedoms are defined so that the End Effector (EEFTR) of the arm will move in planes parallel to the principal translational planes of the Orbiter, at a rate commanded by the displacement of the Translation Hand Controller in the corresponding freedom and direction. The rotational freedoms are rate-controlled by the Rotation Hand Controller about pivot axes parallel to Orbiter roll, pitch and yaw, originating at the EEFTR reference point.

Lippay, A. L.↗

NASA NTRS1975

Design aspects of zeppelin operations from case histories

Some widely held beliefs concerning the practicability of rigid airships in air carrier operations are discussed. It is shown by a review of past operational experience, and some basic aerostatic theory, their actual record and the reasons for their demise. Problems of atmospheric density and temperature variations, meteorological factors, aerodynamic stability and control, and mooring difficulties are discussed and related to actual case histories. Structural and flight efficiencies are compared to airplane efficiencies for airplanes contemporary with the zeppelin as well as modern designs. The difficulty of supporting new, commercial airship developments on an economic basis is made clear.

Maiersperger, W. P.↗

NASA NTRS1988

Orbiter Flying Qualities (OFQ) Workstation user's guide

This project was devoted to the development of a software package, called the Orbiter Flying Qualities (OFQ) Workstation, for working with the OFQ Archives which are specially selected sets of space shuttle entry flight data relevant to flight control and flying qualities. The basic approach to creation of the workstation software was to federate and extend commercial software products to create a low cost package that operates on personal computers. Provision was made to link the workstation to large computers, but the OFQ Archive files were also converted to personal computer diskettes and can be stored on workstation hard disk drives. The primary element of the workstation developed in the project is the Interactive Data Handler (IDH) which allows the user to select data subsets from the archives and pass them to specialized analysis programs. The IDH was developed as an application in a relational database management system product. The specialized analysis programs linked to the workstation include a spreadsheet program, FREDA for spectral analysis, MFP for frequency domain system identification, and NIPIP for pilot-vehicle system parameter identification. The workstation also includes capability for ensemble analysis over groups of missions.

Myers, Thomas T.↗

DOE OSTI2019

Commissioning the JLab LERF Cryomodule Test Facility

The JLab Low Energy Recirculating Facility, LERF, has been modified to support concurrent testing of two LCLS-II cryomodules. The cryomodules are installed in a similar fashion as they would be in the L1 section of the LCLS-II linac, including the floor slope and using all of the LCLS-II hardware and controls for cryomodule cryogenics, vacuum, and RF (SSA and LLRF). From the start, it was intended to use LCLS-II electronics and EPICS software controls for cryomodule testing. In affect the LERF test facility becomes the first opportunity to commission and operate the LCLS-II LINAC hardware and software controls. Support for specific cryomodule high level test applications like Q0 and HOMs measurements, are being developed from the basic cryomodule control suite. To support the testing, 2 K He is supplied from the CEBAF south linac cryogenic system, where care must be taken when using the LERF test facility to not upset the CEBAF cryogenics plant. This paper discusses the commissioning of the hardware and software development for testing the first two LCLS-II cryomodules.

Hovater, C.↗

NASA NTRSDate not supplied

Energy Efficient Large-Scale Storage of Liquid Hydrogen

The world’s largest liquid hydrogen storage tanks were constructed in the mid-1960sat the NASA Kennedy Space Center. These two vacuum-jacketed, perlite powder insulated tanks, still in service today, have 3,200 m3 of useable capacity. In 2018, construction began on an additional storage tank at Launch Complex 39B. This new tank will give an additional storage capacity of 4,700 m3 for a total on-site storage capacity of roughly 8,000 m3. NASA’s new Space Launch System (SLS) heavy lift rocket for the Artemis program includes an LH2tank that makes up the bulk of the vehicle, holding 2,033 m3 of LH2 in its 8.4-m diameter by40-m height. The new storage tank includes two new energy-efficient technologies: a glass bubbles insulation system in lieu of perlite, and an Integrated Refrigeration and Storage (IRAS)heat exchanger for controlled storage capability. The evacuated glass bubbles insulation system is based on the prior two decades of research to prove the thermal performance benefits as well as the mechanical and vacuum integrity; and has been shown to reduce LH2 boiloff by 46%versus perlite in field demonstrations. The IRAS capability is centered on a heat exchanger system that is built within the inner vessel to reject heat from the bulk liquid through the future implementation of an external helium refrigerator. Controlled storage via IRAS, when fully implemented, will provide full control of the ullage pressure, zero boiloff, and even production of densified LH2 pending its adoption on future launch vehicles. The design basics are described along with main construction and testing processes involved. The key features of the new technology items and implications on simplified operations and long-term energy savings are addressed

cryogenics↗

NASA NTRS1971

The Apollo Lunar Roving Vehicle.

After listing the basic requirements such as operational demands and lunar environmental conditions, characteristic design data of the roving vehicle are given with special attention to the four wheel drive and its control system, the steering system, and the navigational instrumentation. The overall system is optimized in view of total mass, range, mobility, load carrying capability, safety, highest reliability through redundancy, and last but not least, cost and development time. Optimization of the drive and power system has first been evaluated by mathematical models and computational simulation of the vehicle hardware, the wheel/soil interaction, and the lunar terrain profile. The next step to refine optimization and evaluation of the drive, steering, and power system including man/machine interaction has been carried out by the use of a six-degree-of-freedom simulator subjecting the astronauts in their space suits to simulated vehicle motions while driving over a simulated terrain, observable on a cathode ray tube display.

Haeussermann, W.↗

NASA NTRS1973

The preliminary design of bearings for the control system of a high-temperature lithium-cooled nuclear reactor

The design of bearings for the control system of a fast reactor concept is presented. The bearings are required to operate at temperatures up to 2200 F in one of two fluids, lithium or argon. Basic bearing types are the same regardless of the fluid. Crowned cylindrical journals were selected for radially loaded bearings and modified spherical bearings were selected for bearings under combined thrust and radial loads. Graphite and aluminum oxide are the materials selected for the argon atmosphere bearings while cermet compositions (carbides or nitrides bonded with refractory metals) were selected for the lithium lubricated bearings. Mounting of components is by shrink fit or by axial clamping utilizing differential thermal expansion.

Yacobucci, H. G.↗

NASA NTRS1974

Development of a long wavelength spectrometer for the 24-channel multispectral scanner: Instructions for installation, start-up, and adjustment

The basic information is presented, which is required for start-up and operation of two long-wavelength focal-plane and cooler assemblies, including the amplifiers and temperature control systems. The focal plane systems, referred to as the long wavelength spectrometer (LWS) were developed for direct replacement of Arrays 3 and 4 into the multispectral scanner presently being operated by the NASA Manned Spacecraft Center Facility, and Laboratory Support Branch. The equipment is comprised of two major sub-assemblies: Array 3 with three indium antimonide detector channels and Array 4 with seven mercury doped Germanium detector channels. Each array is mounted on a cryogenic cooler and includes the vacuum housings, mounting hardware (x, y, z translation and rotation stages) and detector signal conditioning, temperature control and monitoring electronics. The two arrays were designed to operate independently and do not share common equipment (viz power supplies, housings, mounts, etc.).

Source record↗

NASA NTRS1974

Analysis of self-oscillating dc-to-dc converters

The basic operational characteristics of dc-to-dc converters are analyzed along with the basic physical characteristics of power converters. A simple class of dc-to-dc power converters are chosen which could satisfy any set of operating requirements, and three different controlling methods in this class are described in detail. Necessary conditions for the stability of these converters are measured through analog computer simulation whose curves are related to other operational characteristics, such as ripple and regulation. Further research is suggested for the solution of absolute stability and efficient physical design of this class of power converters.

Burger, P.↗

NASA NTRS1976

Advanced application flight experiment breadboard pulse compression radar altimeter program

Design, development and performance of the pulse compression radar altimeter is described. The high resolution breadboard system is designed to operate from an aircraft at 10 Kft above the ocean and to accurately measure altitude, sea wave height and sea reflectivity. The minicomputer controlled Ku band system provides six basic variables and an extensive digital recording capability for experimentation purposes. Signal bandwidths of 360 MHz are obtained using a reflective array compression line. Stretch processing is used to achieve 1000:1 pulse compression. The system range command LSB is 0.62 ns or 9.25 cm. A second order altitude tracker, aided by accelerometer inputs is implemented in the system software. During flight tests the system demonstrated an altitude resolution capability of 2.1 cm and sea wave height estimation accuracy of 10%. The altitude measurement performance exceeds that of the Skylab and GEOS-C predecessors by approximately an order of magnitude.

Source record↗

NASA NTRS1978

An introduction to shuttle/LDEF retrieval operations: The R-bar approach option

Simulated orbiter direct approaches during long duration exposure facility (LDEF) retrieval operations reveal that the resultant orbiter jet plume fields can significantly disturb LDEF. An alternate approach technique which utilizes orbital mechanics forces in lieu of jets to brake the final orbiter/LDEF relative motion during the final approach, is described. Topics discussed include: rendezvous operations from the terminal phase initiation burn through braking at some standoff distance from LDEF, pilot and copilot activities, the cockpit instrumentation employed, and a convenient coordinate frame for studying the relative motion between two orbiting bodies. The basic equations of motion for operating on the LDEF radius vector are introduced. Practical considerations of implementing an R-bar approach, namely, orbiter/LDEF relative state uncertainties and orbiter control system limitations are explored. A possible R-bar approach strategy is developed and demonstrated.

Hall, W. M.↗

NASA NTRS1978

Sail film materials and supporting structure for a solar sail, a preliminary design, volume 4

Solar sailing technology was examined in relation to a mission to rendezvous with Halley's Comet. Development of an ultra-light, highly reflecting material system capable of operating at high solar intensity for long periods of time was emphasized. Data resulting from the sail materials study are reported. Topics covered include: basic film; coatings and thermal control; joining and handling; system performance; and supporting structures assessment for the heliogyro.

Rowe, W. M.↗

NASA NTRS1979

Fourth National Aeronautics and Space Administration Weather and Climate Program Science Review

The NASA Weather and Climate Program has two major thrusts. The first involves the development of experimental and prototype operational satellite systems, sensors, and space facilities for monitoring and understanding the atmosphere. The second thrust involves basic scientific investigation aimed at studying the physical and chemical processes which control weather and climate. This fourth science review concentrated on the scientific research rather than the hardware development aspect of the program. These proceedings contain 65 papers covering the three general areas: severe storms and local weather research, global weather, and climate.

Kreins, E. R.↗

NASA NTRS1982

Controller scheduling - A possible algebraic viewpoint

In the applications, one common way to design a control system for a nonlinear plant is to localize its behavior along lines of operation specified by the plant manufacturer, to develop linear multi-variable controls for these localizations, and to schedule those controls with key plant variables which vary smoothly along operating lines. An important part of practical design lore, the art of controller scheduling has received little modern attention from the conceptual point of view. This paper describes four basic types of scheduling questions and outlines some of the theoretical issues associated with them. Schedules are considered in terms of state equations; however, some relations with the input/output description are discussed, together with an analysis of the effects on the overall configuration of approximations made to the individual subsystems.

Sain, M.↗

NASA NTRS1988

Telerobotics - Problems and research needs

With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of 'telepresence' that may be useful for prolonged tasks. Using top-down three-dimensional model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview mode to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics.

Stark, Lawrence↗