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At least 253 records · Page 14

Development of a trash handling subsystem for a manned spacecraft

A prototype laboratory system to shred and transport trash material within a spacecraft was designed and demonstrated. In addition to handling the normal trash materials, the system demonstrated the ability to handle or reject (if it is too tough) glass, metal and ceramics without damaging the system. The system is not dependent on liquids for the shredding and transportation and can transport slurried, damp or dry material. The resulting system offers a greater system flexibility with operational reliability.

Burnett, M.↗

Knowledge-based load leveling and task allocation in human-machine systems

Conventional human-machine systems use task allocation policies which are based on the premise of a flexible human operator. This individual is most often required to compensate for and augment the capabilities of the machine. The development of artificial intelligence and improved technologies have allowed for a wider range of task allocation strategies. In response to these issues a Knowledge Based Adaptive Mechanism (KBAM) is proposed for assigning tasks to human and machine in real time, using a load leveling policy. This mechanism employs an online workload assessment and compensation system which is responsive to variations in load through an intelligent interface. This interface consists of a loading strategy reasoner which has access to information about the current status of the human-machine system as well as a database of admissible human/machine loading strategies. Difficulties standing in the way of successful implementation of the load leveling strategy are examined.

Chignell, M. H.↗

A flexible telerobotic system for space operations

This paper describes the objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center.

Sliwa, Nancy Orlando↗

The GSFC Flight Support System for on-orbit satellite servicing

To plan and execute a successful on-orbit satellite servicing mission, space support hardware, a serviceable spacecraft design, and flexible ground operations are required. This paper addresses space support hardware and in particular the Goddard Space Flight Center (GSFC) Satellite Servicing Project's (SSP) Flight Support System (FSS). The FSS is designed to be compatible with the Space Transportation System Orbiter and to support on-orbit servicing of Multimission Modular Spacecraft. It provides mechanical, electrical, and thermal support to the spacecraft during the servicing mission. Standardization of spacecraft design, components, and interfaces is required to make a satellite serviceable. Spacecraft ground operation capabilities must accommodate servicing mission requirements. Space support tools and equipment, such as the Power Ratchet Tool, assists the astronaut during time critical EVA operations to more efficiently perform the servicing mission.

Griffin, Thomas J.↗

A flexible telerobotic system for space operations

The objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations is described. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center.

Sliwa, N. O.↗

Simulation and control problems in elastic robots

Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.

Tadikonda, S. S. K.↗

The role of smart systems in rendezvous, close proximity operations and docking maneuvers

Various missions scenarios (Space Station logistics, LEO and GEO services, and SEI operation) will involve flexibility in mission management. This means operations will be one or a combination of the following: autonomous, supervised autonomous, and machine aided manual control. Smart Systems will likely play a significant role in making these missions successful from a safety/reliability perspective and less costly from an operations perspective. This does not imply that Smart Systems need to be super sophisticated. On the contrary, Smart Systems have been described as automated intelligence that if a person had done it wrong, it would be considered stupid. The first part of this paper will describe the types of Smart System techniques involved in AR and CC, their specifications, duties, and interactions. Next will be a discussion of the work performed under the auspice of the ALS Program to further Expert Systems applications imbedded in the control process, NASA/JSC CRAD, and other related IRAD projects. This will include issues pertaining to the following: integration, speed, knowledge encapsulation, and cooperative systems. Finally, a brief description will be offered to outline the major obstacles for the acceptance of Smart Systems in critical applications.

Szatkowski, Gerard P.↗

Digital control of magnetic bearings supporting a multimass flexible rotor

The characteristics of magnetic bearings used to support a three mass flexible rotor operated at speeds up to 14,000 RPM are discussed. The magnetic components of the bearing are of a type reported in the literature previously, but the earlier analog controls were replaced by digital ones. Analog-to-digital and digital-to-analog converters and digital control software were installed in an AT&T PC. This PC-based digital controller was used to operate one of the magnetic bearings on the test rig. Basic proportional-derivative control was applied to the bearings, and the bearing stiffness and damping characteristics were evaluated. Particular attention is paid to the frequency dependent behavior of the stiffness and damping properties, and comparisons are made between the actual controllers and ideal proportional-derivative control.

Keith, F. J.↗

X-ray timing explorer mission

The XTE will address a number of fundamental questions about the nature of the cosmos. The large effective area (about 0.8 sq m total) and broad band of sensitivity (2-200 keV) of its three instruments make it especially valuable for timing of intensity variations and for the determination of broadband spectra from high-energy sources. For the first time, studies of variability ranging from about 1 microsecond to several years will be carried out. XTE's design and flexibility of operations will allow it to respond rapidly to changes in the X-ray sky (within hours) and will facilitate multifrequency observations. It is scheduled for launch on a Delta II vehicle prior to April 1996.

Bradt, H. V.↗

Growth Factors and Tension-Induced Skeletal Muscle Growth

The project investigated biochemical mechanisms to enhance skeletal muscle growth, and developed a computer based mechanical cell stimulator system. The biochemicals investigated in this study were insulin/(Insulin like Growth Factor) IGF-1 and Steroids. In order to analyze which growth factors are essential for stretch-induced muscle growth in vitro, we developed a defined, serum-free medium in which the differentiated, cultured avian muscle fibers could be maintained for extended periods of time. The defined medium (muscle maintenance medium, MM medium) maintains the nitrogen balance of the myofibers for 3 to 7 days, based on myofiber diameter measurements and myosin heavy chain content. Insulin and IGF-1, but not IGF-2, induced pronounced myofiber hypertrophy when added to this medium. In 5 to 7 days, muscle fiber diameters increase by 71 % to 98% compared to untreated controls. Mechanical stimulation of the avian muscle fibers in MM medium increased the sensitivity of the cells to insulin and IGF-1, based on a leftward shift of the insulin dose/response curve for protein synthesis rates. (54). We developed a ligand binding assay for IGF-1 binding proteins and found that the avian skeletal muscle cultures produced three major species of 31, 36 and 43 kD molecular weight (54) Stretch of the myofibers was found to have no significant effect on the efflux of IGF-1 binding proteins, but addition of exogenous collagen stimulated IGF-1 binding protein production 1.5 to 5 fold. Steroid hormones have a profound effect on muscle protein turnover rates in vivo, with the stress-related glucocorticoids inducing rapid skeletal muscle atrophy while androgenic steroids induce skeletal muscle growth. Exercise in humans and animals reduces the catabolic effects of glucocorticoids and may enhance the anabolic effects of androgenic steroids on skeletal muscle. In our continuing work on the involvement of exogenrus growth factors in stretch-induced avian skeletal muscle growth, we have performed experiments to determine whether mechanical stimulation of cultured avian muscle cells alters their response to anabolic steroids or glucocorticoids. In static cultures, testosterone had no effect on muscle cell growth, but 5alpha-dihydrotestosterone and the synthetic steroid stanozolol increased cell growth by up to 18% and 30%, respectively, after a three day exposure. We completed development of a new IBM-based mechanical cell stimulator system to provide greater flexibility in operating and monitoring our experiments. Our previous long term studies on myofiber growth were designed around a perfusion system of our own design. We have recently changed to performing these studies using a modified CELLCO cartridge bioreactor system Z since it has been certified as the ground-based model for the Shuttle's Space Tissue Loss (STL) F= Cell Culture Module. The current goals of this aspect of the project are three fold: 1) to design a Z cell culture system for studying avian skeletal myofiber atrophy on the Shuttle and Space Station; 0 2) to expand the use of bioreactors to cells which do not grow in either suspension or attached to the hollow fibers; and 3) to combine the bioreactor system with our computerized mechanical cell stimulator to have a better in vitro model to study tension/gravity/stretch regulation of skeletal muscle size. Preliminary studies also reported on involved : (1) how release of tension can induce rapid atrophy of tissues cultured avian skeletal muscle cells, and (2) a mechanism to transfer and maintain avian skeletal muscle organoids in modified cartridges in the Space Tissue Loss Module.

Vandenburgh, Herman H.↗

Automated Drug Identification for Urban Hospitals

Many urban hospitals are becoming overloaded with drug abuse cases requiring chemical analysis for identification of drugs. In this paper, the requirements for chemical analysis of body fluids for drugs are determined and a system model for automated drug analysis is selected. The system as modeled, would perform chemical preparation of samples, gas-liquid chromatographic separation of drugs in the chemically prepared samples, infrared spectrophotometric analysis of the drugs, and would utilize automatic data processing and control for drug identification. Requirements of cost, maintainability, reliability, flexibility, and operability are considered.

Shirley, Donna L.↗

Space Solar Power Multi-body Dynamics and Controls, Concepts for the Integrated Symmetrical Concentrator Configuration

Orbiting space solar power systems are currently being investigated for possible flight in the time frame of 2015-2020 and later. Such space solar power (SSP) satellites are required to be extremely large in order to make practical the process of collection, conversion to microwave radiation, and reconversion to electrical power at earth stations or at remote locations in space. These large structures are expected to be very flexible presenting unique problems associated with their dynamics and control. The purpose of this project is to apply the expanded TREETOPS multi-body dynamics analysis computer simulation program (with expanded capabilities developed in the previous activity) to investigate the control problems associated with the integrated symmetrical concentrator (ISC) conceptual SSP system. SSP satellites are, as noted, large orbital systems having many bodies (perhaps hundreds) with flexible arrays operating in an orbiting environment where the non-uniform gravitational forces may be the major load producers on the structure so that a high fidelity gravity model is required. The current activity arises from our NRA8-23 SERT proposal. Funding, as a supplemental selection, has been provided by NASA with reduced scope from that originally proposed.

Glaese, John R.↗

Free Flight Simulation: An Initial Examination of Air-Ground Integration Issues

The concept of "free flight" is intended to emphasize more flexibility for operators in the National Airspace System (RTCA, 1995). This may include the potential for aircraft self-separation. The purpose of this simulation was to begin examining some of the communication and procedural issues associated with self-separation in an integrated air-ground environment. Participants were 10 commercial U.S. flight crews who flew the B747-400 simulator and 10 Denver ARTCC controllers who monitored traffic in an ATC simulation. A prototypic airborne alerting logic and flight deck display features were designed to allow for increased traffic and maneuvering information. Eight different scenarios representing different conflict types were developed. The effects of traffic density (high and low) and different traffic convergence angles (obtuse, acute, and right) were assessed. Conflict detection times were found to be lower for the flight crews in low density compared to high density scenarios. For the controllers, an interaction between density and convergence angle was revealed. Analyses on the controller detection times found longer detection times in the obtuse high density compared to obtuse low density, as well as the shortest detection times in the high density acute angle condition. Maneuvering and communication events are summarized, and a discussion of future research issues is provided.

Lozito, Sandra↗

Free Flight and Self-Separation from the Flight Deck Perspective

The concept of "free flight", while still being developed, is intended to emphasize more, flexibility for operators in the National Airspace System (NAS) by providing more separation responsibility to pilots, New technologies, procedures, and concepts have been suggested by the aviation community to enable this task; however, much work needs to be accomplished to help define and evaluate the concept feasibility. The purpose of this simulation was to begin examining some of the communication and procedural issues associated with self-separation in the enroute environment. A simulation demonstration was conducted in the Boeing 747-400 simulator at NASA Ames Research Center. Commercial pilots (from a U.S. domestic carrier) current on the B747-400 aircraft were the participants. Ten flight crews (10 captains, 10 first officers) flew in the Denver enroute airspace environment. A new alerting logic designed to allow for airborne self-separation was created for this demonstration. This logic assumes automatic dependent surveillance broadcast (ADS-B) capability and represented aircraft up to 120 nautical miles on the display. The new flight deck display features were designed and incorporated on the existing navigational display in the simulator to allow for increased traffic and maneuvering information to the flight crew. New tools were also provided to allow the crews to assess conflicts and potential maneuvers before implementing them. Each of the flight crews flew eight different scenarios in the Denver enroute airspace. The scenarios included eight to ten other aircraft, and each scenario was created with the intent of having one of the other aircraft become an operational conflict for our simulator aircraft. Different types of conflict geometries were represented across the eight scenarios. Also, some scenarios allowed for more time to detect a potential clearance, while others allowed for less time for'detection. Additionally, the crews were asked to a ply the Visual Flight Rules (VFR) right of way rules when determining who should maneuver in a conflict situation; therefore, the scenarios were designed to test different applications of those recommendations, Data analyses include an evaluation of crew procedures and communication. The application of the VFR right-of-way rules are being explored. Timing variables are being examined to determine potential efficiency differences between scenarios and conflict types. Proximity of aircraft will be assessed as one indication of the operational safety. The intent of these evaluations is to help provide definitions and guidelines of negotiation procedures in a self-separation environment assuming automated data link technology (ADS-B). Also, definitions of likely flight crew maneuvers and application to current VFR right-of-way rules may be obtained, along with guidelines for negotiation procedures between flight crews.

Lozito, Sandra↗

Digital Beam Deflectors Based Partly on Liquid Crystals

A digital beam deflector based partly on liquid crystals has been demonstrated as a prototype of a class of optical beam-steering devices that contain no mechanical actuators or solid moving parts. Such beam-steering devices could be useful in a variety of applications, including free-space optical communications, switching in fiber-optic communications, general optical switching, and optical scanning. Liquid crystals are of special interest as active materials in nonmechanical beam steerers and deflectors because of their structural flexibility, low operating voltages, and the relatively low costs of fabrication of devices that contain them.

Pouch, John J.↗

A GPS-Based Pitot-Static Calibration Method Using Global Output-Error Optimization

Pressure-based airspeed and altitude measurements for aircraft typically require calibration of the installed system to account for pressure sensing errors such as those due to local flow field effects. In some cases, calibration is used to meet requirements such as those specified in Federal Aviation Regulation Part 25. Several methods are used for in-flight pitot-static calibration including tower fly-by, pacer aircraft, and trailing cone methods. In the 1990 s, the introduction of satellite-based positioning systems to the civilian market enabled new inflight calibration methods based on accurate ground speed measurements provided by Global Positioning Systems (GPS). Use of GPS for airspeed calibration has many advantages such as accuracy, ease of portability (e.g. hand-held) and the flexibility of operating in airspace without the limitations of test range boundaries or ground telemetry support. The current research was motivated by the need for a rapid and statistically accurate method for in-flight calibration of pitot-static systems for remotely piloted, dynamically-scaled research aircraft. Current calibration methods were deemed not practical for this application because of confined test range size and limited flight time available for each sortie. A method was developed that uses high data rate measurements of static and total pressure, and GPSbased ground speed measurements to compute the pressure errors over a range of airspeed. The novel application of this approach is the use of system identification methods that rapidly compute optimal pressure error models with defined confidence intervals in nearreal time. This method has been demonstrated in flight tests and has shown 2- bounds of approximately 0.2 kts with an order of magnitude reduction in test time over other methods. As part of this experiment, a unique database of wind measurements was acquired concurrently with the flight experiments, for the purpose of experimental validation of the optimization method. This paper describes the GPS-based pitot-static calibration method developed for the AirSTAR research test-bed operated as part of the Integrated Resilient Aircraft Controls (IRAC) project in the NASA Aviation Safety Program (AvSP). A description of the method will be provided and results from recent flight tests will be shown to illustrate the performance and advantages of this approach. Discussion of maneuver requirements and data reduction will be included as well as potential applications.

Foster, John V.↗

Multispectral Imaging Systems Using Acousto-Optic Tunable Filter

This paper discusses recent activities of Jet Propulsion Laboratory (JPL) in the development of a new type of remote sensing multispectral imaging instruments using acousto-optic tunable filter (AOTF) as programmable bandpass filter. This remote sensor provides real-time operation; observational flexibility; measurements of spectral, spatial, and polarization information using a single insturment; and compact, solid state structure without moving parts.

Multispectral↗