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At least 289 records · Page 16
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Experimental study of trajectory planning and control of a high precision robot manipulator

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Nguyen, Charles C.↗
NASA NTRS1990

Characterizing performance of ultra-sensitive accelerometers

An overview is given of methodology and test results pertaining to the characterization of ultra sensitive accelerometers. Two issues are of primary concern. The terminology ultra sensitive accelerometer is used to imply instruments whose noise floors and resolution are at the state of the art. Hence, the typical approach of verifying an instrument's performance by measuring it with a yet higher quality instrument (or standard) is not practical. Secondly, it is difficult to find or create an environment with sufficiently low background acceleration. The typical laboratory acceleration levels will be at several orders of magnitude above the noise floor of the most sensitive accelerometers. Furthermore, this background must be treated as unknown since the best instrument available is the one to be tested. A test methodology was developed in which two or more like instruments are subjected to the same but unknown background acceleration. Appropriately selected spectral analysis techniques were used to separate the sensors' output spectra into coherent components and incoherent components. The coherent part corresponds to the background acceleration being measured by the sensors being tested. The incoherent part is attributed to sensor noise and data acquisition and processing noise. The method works well for estimating noise floors that are 40 to 50 dB below the motion applied to the test accelerometers. The accelerometers being tested are intended for use as feedback sensors in a system to actively stabilize an inertial guidance component test platform.

Sebesta, Henry↗
NASA NTRS1992

The lunar environment and its effect on optical astronomy

The Moon's geologic environment features: (1) gravity field one-sixth that of Earth; (2) sidereal rotation period of 27.3 days; (3) surface with greater curvature than Earth's surface (a chord along a 10 km baseline would have a bulge of 7.2 m); (4) seismically and tidally stable platform on which to make astronomical observations (most moonquakes have magnitudes of 1 to 2 on the Richter scale, within the earth's seismic noise, resulting in ground motions only 1 nm); (5) tenuous atmosphere (the total mass at night is only 10(exp 4) kg) that has an optical depth of 10(exp -6) and does not cause wind induced stresses and vibrations on structures; (6) large diurnal temperature variation (100 to 385 K in equatorial regions), which telescopes must be designed to withstand; (7) weak magnetic field, ranging from 3 to 330 x 10(exp -9) T, compared to 3 x 10(exp -5) T on Earth at the equator; (8) surface exposed to radiation, the most dangerous of which are high energy (1 to 100 Mev) particles resulting from solar flares; (9) high flux of micrometeorites which are not slowed down from their cosmic velocities because of the lack of air (data indicate that microcraters greater than 10 microns across will form at the rate of 3000/sq m/yr); (10) regolith 2 to 30 m thick which blankets the entire lunar surface (this layer is fine-grained (average grain sizes range from 40 to 268 microns), has a low density (800 to 1000 kg/cu m in the upper few mm, rising to 1500 to 1800 kg/cu m at depths of 10 to 20 cm), is porous (35 to 45 pct), cohesive (0.1 to 1.0 kN/sq m), and has a low thermal diffusivity (0.7 to 1.0 x 110-8 sq m/sec); about 29 pct of the regolith is less than 20 micron in size (this dust could pose a hazard to optical telescopes); (11) rubbly upper several hundred meters in which intact bedrock is uncommon, especially in the lunar highlands; and (12) craters with diameter-to-depth ratios of 5 if fresh and less than km across (larger and eroded craters have diameter-to-depth ratios greater than 5).

Taylor, G. Jeffrey↗
NASA NTRS1997

Development of a Production Ready Automated Wire Delivery System

The current development effort is a Phase 3 research study entitled "A Production Ready Automated Wire Delivery System", contract number NAS8-39933, awarded to Nichols Research Corporation (NRC). The goals of this research study were to production harden the existing Automated Wire Delivery (AWDS) motion and sensor hardware and test the modified AWDS in a range of welding applications. In addition, the prototype AWDS controller would be moved to the VME bus platform by designing, fabricating and testing a single board VME bus AWDS controller. This effort was to provide an AWDS that could transition from the laboratory environment to production operations. The project was performed in two development steps. Step 1 modified and tested an improved MWG. Step 2 developed and tested the AWDS single board VME bus controller. Step 3 installed the Wire Pilot in a Weld Controller with the imbedded VME bus controller.

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NASA NTRS1988

Lunar radio astrometry

The accuracy of Earth-based radio astronomy is limited in a fundamental way by the variable delay of the troposphere and by the centimeter-scale motions of a dynamic Earth. Going to Earth orbit solves the variable delay problems, but problems with evolution of the baseline vector remain. The Moon can provide a stable platform where the potential accuracy of radio astromony is one or two orders of magnitude better than from the Earth.

Linfield, Roger↗
NASA NTRS1997

Ranging Apparatus and Method Implementing Stereo Vision System

A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined.

Li, Larry C.↗
NASA NTRS2003

Spaceflight Holography Investigation in a Virtual Apparatus

The movement of a particle in a fluid is one of the most fundamental processes in physics and plays an important role in materials science. For example, the physics of crystal growth from a nucleation site in solution can be dominated by movement of the solution over the crystal surface. Gravity usually dominates the equations of motion, but in microgravity other terms can dominate, making the equation much more complex. Until recently, the equations were solved only by numerical methods and/or by neglecting terms. During this study, we discovered an exact solution to the equations, which shows that the usually neglected terms become extremely important in microgravity. We also developed diagnostic recording methods using holography to save all of the particle field data, allowing the experiment to essentially be transferred from space back to earth in what we call the virtual apparatus . We will record holograms of particle distributions in motion in microgravity and bring them back to earth for analysis, allowing the study of the full three-dimensional motion of sets of particles, allowing us to test the new analytical solutions. The experiment will also provide accurate measurements of the quasi-steady acceleration of the space platform and other interesting microgravity and g-jitter effects. This program will produce the flight definition for an experiment in the microgravity environment of space to validate the theoretical model. We will design an experiment with the help of the theoretical model that is optimized for testing the model, measuring g, g-jitter, and other microgravity phenomena.

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NASA NTRS2008

Changes in Head Stability Control in Response to a Lateral Perturbation while Walking in Older Adults

Falling is a main contributor of injury in older adults. The decline in sensory systems associated with aging limits information needed to successfully compensate for unexpected perturbations. Therefore, sensory changes result in older adults having problems maintaining balance stability when experiencing an unexpected lateral perturbation (e.g. slip) in the environment. The goal of this study was to determine head stability movement strategies used by older adults when experiencing an unexpected lateral perturbation during walking. A total of 16 healthy adults, aged 66-81 years, walked across a foam pathway 6 times. One piece of the foam pathway covered a movable platform that translated to the left when the subject stepped on the foam. Three trials were randomized in which the platform shifted. Angular rate sensors were placed on the center of mass for the head and trunk segments to collect head and trunk movement in all three planes of motion. The predominant movement strategies for maintaining head stability were determined from the results of the cross-correlation analyses between the head and trunk segments. The Chi square test of independence was used to evaluate the movement pattern distributions of head-trunk coordination during perturbed and non-perturbed walking. When perturbed, head stabilization was significantly challenged in the yaw and roll planes of motion. Subjects demonstrated a movement pattern of the head leading the trunk in an effort to stabilize the head. The older adult subjects used this head stabilization movement pattern to compensate for sensory changes when experiencing the unexpected lateral perturbation.

Buccello, Regina R.↗
NASA NTRS1975

Evaluation of ride quality measurement procedures by subjective experiments using simulators

Since ride quality is, by definition, a matter of passenger response, there is need for a qualification procedure (QP) for establishing the degree to which any particular ride quality measurement procedure (RQMP) does correlate with passenger responses. Once established, such a QP will provide very useful guidance for optimal adjustment of the various parameters which any given RQMP contains. A QP is proposed based on use of a ride motion simulator and on test subject responses to recordings of actual vehicle motions. Test subject responses are used to determine simulator gain settings for the individual recordings such as to make all of the simulated rides equally uncomfortable to the test subjects. Simulator platform accelerations vs. time are recorded with each ride at its equal discomfort gain setting. The equal discomfort platform acceleration recordings are then digitzed.

Klauder, L. T., Jr.↗
NASA NTRS1990

Robot dynamics in reduced gravity environment

Robot dynamics and control will become an important issue for productive platforms in space. Robotic operations will be necessary for both man tended stations and for the efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to safety concerns and an anticipated increase in acceleration levels due to manipulator motion. The robot used for the initial studies was a UMI RTX robot, which was adapted to operate in a materials processing workcell to simulate sample changing in a microgravity environment. The robotic cell was flown several times on the KC-135 aircraft at Ellington Field. The primary objective of the initial flights was to determine operating characteristics of both the robot and the operator in the variable gravity of the KC-135 during parabolic maneuvers. It was demonstrated that the KC-135 aircraft can be used for observing dynamics of robotic manipulators. The difficulties associated with humans performing teleoperation tasks during varying G levels were also observed and can provide insight into some areas in which the use of artificial techniques would provide improved system performance. Additionally a graphic simulation of the workcell was developed on a Silicon Graphics Workstation using the IGRIP simulation language from Deneb Robotics. The simulation is intended to be used for predictive displays of the robot operating on the aircraft. It is also anticipated that this simulation can be useful for off-line programming of tasks in the future.

Workman, Gary L.↗
NASA NTRS1991

Experimental testbed for cooperative robotic manipulators

The robotic testbed facility within Rensselaer's Center for Intelligent Robotic Systems for Space Exploration consists of two PUMA robot manipulators, each mounted on a moving platform. Each platform has a tilt and rotate capability and can move along a two rail linear track. One purpose of this system is to demonstrate the coordination of two arms in relative motion to each other. The system is also useful for investigating the integration problems that occur in an environment that is heavily dependent upon the acquisition, transmission, and processing of data in the form of information, knowledge, and control commands.

Desrochers, A.↗
NASA NTRS1999

The Utility and Validity of Kinematic GPS Positioning for the Geosar Airborne Terrain Mapping Radar System

GeoSAR is an airborne, interferometric Synthetic Aperture Radar (IFSAR) system for terrain mapping, currently under development by a consortium including NASA's Jet Propulsion Laboratory (JPL), Calgis, Inc., a California mapping sciences company, and the California Department of Conservation (CaIDOC), with funding provided by the U.S. Army Corps of Engineers Topographic Engineering Center (TEC) and the U.S. Defense Advanced Research Projects Agency (DARPA). IFSAR data processing requires high-accuracy platform position and attitude knowledge. On 9 GeoSAR, these are provided by one or two Honeywell Embedded GPS Inertial Navigation Units (EGI) and an Ashtech Z12 GPS receiver. The EGIs provide real-time high-accuracy attitude and moderate-accuracy position data, while the Ashtech data, post-processed differentially with data from a nearby ground station using Ashtech PNAV software, provide high-accuracy differential GPS positions. These data are optimally combined using a Kalman filter within the GeoSAR motion measurement software, and the resultant position and orientation information are used to process the dual frequency (X-band and P-band) radar data to generate high-accuracy, high -resolution terrain imagery and digital elevation models (DEMs). GeoSAR requirements specify sub-meter level planimetric and vertical accuracies for the resultant DEMS. To achieve this, platform positioning errors well below one meter are needed. The goal of GeoSAR is to obtain 25 cm or better 3-D positions from the GPS systems on board the aircraft. By imaging a set of known point target corner-cube reflectors, the GeoSAR system can be calibrated. This calibration process yields the true position of the aircraft with an uncertainty of 20- 50 cm. This process thus allows an independent assessment of the accuracy of our GPS-based positioning systems. We will present an overview of the GeoSAR motion measurement system, focusing on the use of GPS and the blending of position data from the various systems. We will present the results of our calibration studies that relate to the accuracy the GPS positioning. We will discuss the effects these positioning, errors have on the resultant DEM products and imagery.

Freedman, Adam↗
NASA NTRS2020

Multibody Based Digital Astronaut Dynamics Simulation

BACKGROUND: This study provides the Software, Robotics, & Simulation Division at the NASA Johnson Space Center with a verification tool for multibody dynamics simulation requiring human motion. The motivation stems from current studies of several Vibration Isolation & Stabilization(VIS)system designs that attenuate the moments and forces which would be transmitted to a spacecraft during an exercise. A multibody dynamics model for a proposed VIS was available previously[1], therefore modeling of the VIS was not needed for this work. The interest here is in creating the multibody dynamics model of an astronaut in motion which may be utilized independently or while attached to a mechanism. An existing simulation [2] that utilizes OpenSim [3,4] and an in-house multibody dynamics package (MBDyn) [5] is used in order to verify the astronaut model. The main advantage this model will have over the existing simulation is that everything will be processed in one tool. METHODS AND RESULTS: Creating the simulation required; estimation of Body Segment Inertial Parameters (BSIP),a multibody model of the human-VIS system, joint acceleration profiles, and input files for MBDyn, which is used for this analysis. The scaling factors provided by Dumas et al. [6] are utilized in estimating the BSIP. Anthropometric data are used for estimating these parameters, the Anthropometric Survey of US Army Personnel (ANSUR II) [7] was the source. The astronaut model consists of 15 bodies, 14 joints and 32 degrees of freedom, with the dynamics topology generated using the center of mass locations and anthropometric data. MBDyn has an option for prescribed joint motion (PJM), which requires joint acceleration data as input. The joint angle data is first obtained from a motion capture system and then processed through code that has been created to generate approximate joint acceleration profiles. The topology tree for the astronaut model begins at the right foot up to the pelvis where there is one branch for going down the left leg and another for the torso. The torso branch leads to branches for the arms and a leaf body for the head/neck segment. For attachment to the VIS, the heel of the right foot is connected to the VIS platform through a fixed joint, resembling a foot restraint. The left foot does not attach to the platform in order to prevent a system with a closed loop. Topology and symmetry of the astronaut model were verified through kinematic analysis. Further verification of the forces and moments transmitted to the VIS were verified against the existing simulation. There was a satisfactory level of agreement when testing a simple motion, for example, rocking back and forth. Full exercise motions are to be tested soon. The main outcome has been a novel application of MBDyn for biomechanics modeling that is now available for dynamic simulations involving human motion. The estimation of BSIP was another useful result of this study, requiring only 15 inputs for generating mass properties of a theoretical astronaut model. Expansion on this work is possible by going through an alternative route in obtaining the joint motion data. Instead of high-tech and often expensive motion capture systems, an individual may watch videos with high focus and at a slow motion for each individual segment in order to determine the initial and final time and angle for that specific degree of freedom. Synthetic trajectories may also be created if there is no video reference available.

F N Matari↗
NASA NTRS1985

Voyager-Uranus at our doorstep

Following the encounter of Voyager 2 with Saturn and the subsequent approach, in January 1986, to the planet Uranus, the NASA Deep Space Network (DSN) undertook a reshaping of Voyager's end-to-end data system to provide communication to earth with a sufficient number of images for Uranus characterization. In-flight evolution of the spacecraft and ground system is described, with particular attention given to the aspects of target motion compensation, line enhancement, arraying, and encoding data streams. Solutions to the on-board problems encountered during the flight are presented. Voyager and its principal elements, an actuator for the scan platform, and the coding diagram are among the illustrations included.

Laeser, R. P.↗
NASA NTRS2000

Infrared Submillimeter and Radio Astronomy Research and Analysis Program

This program entitled "Infrared Submillimeter and Radio Astronomy Research and Analysis Program" with NASA-Ames Research Center (ARC) was proposed by the Smithsonian Astrophysical Observatory (SAO) to cover three years. Due to funding constraints only the first year installment of $18,436 was funded, but this funding was spread out over two years to try to maximize the benefit to the program. During the tenure of this contact, the investigators at the SAO, Drs. Wesley A. Traub and Nathaniel P. Carleton, worked with the investigators at ARC, Drs. Jesse Bregman and Fred Wittebom, on the following three main areas: 1. Rapid scanning SAO and ARC collaborated on purchasing and constructing a Rapid Scan Platform for the delay arm of the Infrared-Optical Telescope Array (IOTA) interferometer on Mt. Hopkins, Arizona. The Rapid Scan Platform was tested and improved by the addition of stiffening plates which eliminated a very small but noticeable bending of the metal platform at the micro-meter level. 2. Star tracking Bregman and Wittebom conducted a study of the IOTA CCD-based star tracker system, by constructing a device to simulate star motion having a specified frequency and amplitude of motion, and by examining the response of the tracker to this simulated star input. 3. Fringe tracking. ARC, and in particular Dr. Robert Mah, developed a fringe-packet tracking algorithm, based on data that Bregman and Witteborn obtained on IOTA. The algorithm was tested in the laboratory at ARC, and found to work well for both strong and weak fringes.

Traub, Wesley A.↗
NASA NTRS1980

Determination of spacecraft attitude using synthetic aperture radar data

A method has been developed for precise sensor platform attitude determination which exploits the availability of synthetic aperture radar (SAR) sensors on future planned NASA earth orbiting spacecraft. Using the ephemeris along with data on planet shape and rotation, the relative motion between sensor and target area and therefore the Doppler frequency shift in the returned echo data is determined. Equations have been developed that relate the Doppler shift to the antenna attitude. The method is tested by comparing attitude predictions from SEASAT SAR digital echo data with available conventionally determined SEASAT attitude information.

Wu, C.↗
NASA NTRS1987

Laboratory test results of the high speed optical tracking system for the Spaceborne Geodynamic Ranging System

The high speed, high resolution optical tracking system for the Spaceborne Geodynamic Ranging System employs a two-axis gimbaled pointing device that can operate from a Space Shuttle platform and can track multiple retroreflector ground targets with arcsec accuracy. Laboratory tests of the stepping characteristics of the pointing system for various step sizes and directions has shown arcsec repeatability with little wasted motion, overshoot, or ringing. The worst rms tracking jitter was 1 and 2 arcsec in the roll and pitch axes, respectively, at the maximum tracking rate of 2 deg/sec.

Zagwodzki, Thomas W.↗