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At least 325 records · Page 18

Improving A Remote Manipulator

Set of three reports describes work on Protoflight Manipulator Assembly (PFMA). "Performance Characteristics of Protoflight Manipulator Assembly" presents parameters of PFMA after refurbishment of operating components. "End Effector and Task Board Development for the Protoflight Manipulator Assembly" describes special tools and adaptations allowing PFMA to be used for servicing equipment. "Modular Software Development for the Protoflight Manipulator Assembly" documents interface and control software for PFMA.

Haslam, John W., Jr.↗

GCS support/development system configuration document

The software programming environment used in the development of Guidance and Control Software (GCS) implementations used in a software error studies experiment conducted by the Research Triangle Institute (RTI) and the NASA-Langley is described. The Radio Technical Commission for Aeronautics RTCA/DO-178A guidelines are fulfilled, and requirements for document number 9 in which the hardware, software, and processes used to develop and maintain the software for the GCS project are described. The software programming environment for GCS largely consists of tools that are included in Digital Equipment Corporations software layered product library or are a part of the VAX/VMS baseline system.

Lowman, Douglas S.↗

Overview and evolution of the LeRC PMAD DC Testbed

Since the beginning of the Space Station Freedom Program (SSFP), the Lewis Research Center (LeRC) has been developed electrical power system test beds to support the overall design effort. Through this time, the SSFP has changed the design baseline numerous times, however, the test bed effort has endeavored to track these changes. Beginning in August 1989 with the baseline and an all DC system, a test bed was developed to support the design baseline. The LeRC power measurement and distribution (PMAD) DC test bed and the changes in the restructure are described. The changes includeed the size reduction of primary power channel and various power processing elements. A substantial reduction was also made in the amount of flight software with the subsequent migration of these functions to ground control centers. The impact of these changes on the design of the power hardware, the controller algorithms, the control software, and a description of their current status is presented. An overview of the testing using the test bed is described, which includes investigation of stability and source impedance, primary and secondary fault protection, and performance of a rotary utility transfer device. Finally, information is presented on the evolution of the test bed to support the verification and operational phases of the SSFP in light of these restructure scrubs.

Soeder, James F.↗

Overview and evolution of the LeRC PMAD DC test bed

Since the beginning of the Space Station Freedom Program (SSFP), the Lewis Research Center (LeRC) has been developed electrical power system test beds to support the overall design effort. Through this time, the SSFP has changed the design baseline numerous times, however, the test bed effort has endeavored to track these changes. Beginning in August 1989 with the baseline and an all DC system, a test bed was developed to support the design baseline. The LeRC power measurement and distribution (PMAD) DC test bed and the changes in the restructure are described. The changes included the size reduction of primary power channel and various power processing elements. A substantial reduction was also made in the amount of flight software with the subsequent migration of these functions to ground control centers. The impact of these changes on the design of the power hardware, the controller algorithms, the control software, and a description of their current status is presented. An overview of the testing using the test bed is described, which includes investigation of stability and source impedance, primary and secondary fault protection, and performance of a rotary utility transfer device. Finally, information is presented on the evolution of the test bed to support the verification and operational phases of the SSFP in light of these restructure scrubs.

Soeder, James F.↗

The Soft X-ray Telescope for Solar-A - Design evolution and lessons learned

The Japanese Solar-A satellite mission's Soft X-ray Telescope uses grazing-incidence optics, a CCD detector, and a pair of filter wheels for wavelength selection. A coaxially-mounted visible-light lens furnished sunspot and magnetic plage images, together with aspect information which aids in aligning the soft X-ray images with those from the satellite's Hard X-ray Telescope. Instrument electronics are microprocessor-based, and imbedded in a tightly integrated distributed system. Control software is divided between the instrument microprocessor and the spacecraft control computer.

Bruner, Marilyn E.↗

U.S. Space Shuttle GPS navigation capability for all mission phases

Incorporating a GPS capability on the Space Shuttle presented unique system integration design considerations and has led to an integration concept that has minimum impact on the existing Shuttle hardware and software systems. This paper presents the Space Shuttle GPS integrated design and the concepts used in implementing this GPS capability. The major focus of the paper is on the modifications that will be made to the navigation systems in the Space Shuttle General Purpose Computers (GPC) and on the Operational Requirements of the integrated GPS/GPC system. Shuttle navigation system architecture, functions and operations are discussed for the current system and with the GPS integrated navigation capability. The GPS system integration design presented in this paper has been formally submitted to the Shuttle Avionics Software Control Board for implementation in the on-board GPC software.

Kachmar, Peter↗

Tactile Robotic Topographical Mapping Without Force or Contact Sensors

A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure.

Burke, Kevin↗

Software Approach for the Regenerative Fuel Cell Project

The Regenerative Fuel Cell (RFC) project is developing a system that combines a fuel cell subsystem for energy production with an electrolysis subsystem for energy storage. The system is primarily being developed at the Glenn Research Center with support from Johnson Space Center under the Space Technology Mission Directorate / Game Changing Development Program. Currently, the intent is to operate the RFC system in an equivalent environment to a lunar equator location for a period of several lunar day/night cycles with minimal operator input. Demonstrating an automated RFC system in this environment is a step towards showing the extensibility to a flight system. This paper describes the RFC software team’s approach for development of the monitoring and control software that allows for the automated operation of the RFC system. We describe the rationale for the choice of Core Flight System architecture, as well as the plan for software/hardware integration.

Mathew J Mccaskey↗

Markov Chains For Testing Redundant Software

Preliminary design developed for validation experiment that addresses problems unique to assuring extremely high quality of multiple-version programs in process-control software. Approach takes into account inertia of controlled system in sense it takes more than one failure of control program to cause controlled system to fail. Verification procedure consists of two steps: experimentation (numerical simulation) and computation, with Markov model for each step.

White, Allan L.↗

Markov chains for testing redundant software

A preliminary design for a validation experiment has been developed that addresses several problems unique to assuring the extremely high quality of multiple-version programs in process-control software. The procedure uses Markov chains to model the error states of the multiple version programs. The programs are observed during simulated process-control testing, and estimates are obtained for the transition probabilities between the states of the Markov chain. The experimental Markov chain model is then expanded into a reliability model that takes into account the inertia of the system being controlled. The reliability of the multiple version software is computed from this reliability model at a given confidence level using confidence intervals obtained for the transition probabilities during the experiment. An example demonstrating the method is provided.

White, Allan L.↗

The M68HC11 gripper controller electronics

This document describes the instrumentation, operational theory, circuit implementation, calibration procedures, and general notes for the CIRSSE general purpose pneumatic hand. The mechanical design and the control software are discussed. The circuit design, PCB layout, hand instrumentation, and controller construction described in detail in this document are the result of a senior project.

Kelley, Robert B.↗

National software exchange - An electronic marketplace for software

A potential application is outlined for high-speed and high-performance networks of the future. A discussion is presented of possible contents of the NSE (National Software Exchange) services to be offered by the NSE, mechanisms for controlling software quality, and types of collaboration that might involve the NSE. Services that must be provided by the NREN (National Research and Education Network) to provide adequate support for the NSE are identified.

Johnson, Marjory J.↗

PIV/HPIV Film Analysis Software Package

A PIV/HPIV film analysis software system was developed that calculates the 2-dimensional spatial autocorrelations of subregions of Particle Image Velocimetry (PIV) or Holographic Particle Image Velocimetry (HPIV) film recordings. The software controls three hardware subsystems including (1) a Kodak Megaplus 1.4 camera and EPIX 4MEG framegrabber subsystem, (2) an IEEE/Unidex 11 precision motion control subsystem, and (3) an Alacron I860 array processor subsystem. The software runs on an IBM PC/AT host computer running either the Microsoft Windows 3.1 or Windows 95 operating system. It is capable of processing five PIV or HPIV displacement vectors per second, and is completely automated with the exception of user input to a configuration file prior to analysis execution for update of various system parameters.

Blackshire, James L.↗

Acceptance Testing of a Satellite SCADA Photovoltaic-Diesel Hybrid System

Savannah State University (SSU) and the Florida Solar Energy Center (FSEC) have been participating in the NASA Advanced Communications Technology Satellite (ACTS) program for the last five years. This program was designed by NASA to help maintain U.S. leadership in commercial space communications by funding high-risk research, and to flight-test next-generation digital satellite components. Launched in 1993, ACTS is an U.S. government funded technology test-bed that incorporates high power Ka-band transponders, small spot beams, and on-board digital storage and switching technology. Associated with the spacecraft, is a prototype satellite control center that supports various application experiments. The SSU/FSEC application experiment is to developing a Photovoltaic-Diesel Hybrid Power system complete with satellite Supervisory Control and Data Acquisition (SCADA). The hybrid system was design to demonstrate the feasibility of using SCADA to maintain and operate remote village power systems. This configuration would enable experts at a central location to provide technical assistance to local technicians while they acquire a measure of proficiency with the hybrid system operation and maintenance. Upon full mastery of the technology, similar SCADA arrangement are planned to remotely monitor and control constellation of hybrid systems scattered overlarge rural areas. Two Orion Energy APEX-1000 hybrid systems were delivered in 1998, one was installed at SSU in eastern Georgia and the other was installed at FSEC in Central Florida. The project was designed to: (1) evaluate the performance of ACTS in a SCADA arrangement, (2) monitor the health and performance of all major hybrid subsystems, (3) investigate load control and battery charging strategies to maximize battery capacity and lifetime, and (4) develop satellite communication protocol. Preliminary results indicate that the hybrid design is suitable for satellite Supervisory Control and Data Acquisition. A modification to the controller software has produced a robust communication link capable of real time control and long term data collection.

Kalu, Alex↗

In-Flight Operation of the Dawn Ion Propulsion System - The First Nine Months

The Dawn mission, part of NASA's Discovery Program, has as its goal the scientific exploration of the two most massive main-belt asteroids, Vesta and Ceres. The Dawn spacecraft was launched from Cape Canaveral Air Force Station on September 27, 2007 on a Delta-II 7925H-9.5 (Delta-II Heavy) rocket that placed the 1218 kg spacecraft into an Earth-escape trajectory. On-board the spacecraft is an ion propulsion system (IPS) which will provide most of the delta-V needed for heliocentric transfer to Vesta, orbit capture at Vesta, transfer to Vesta science orbits, departure and escape from Vesta, heliocentric transfer to Ceres, orbit capture at Ceres, and transfer to Ceres science orbits. The Dawn ion engine design is based on the design validated on NASA's Deep Space 1 mission. However, because of the very substantial (11 km/s) delta-V requirements for this mission Dawn requires two engines to complete its mission objectives. The power processor units (PPU), digital control and interface units (DCIU) slice boards and the xenon control assembly (XCA) are also based on the DS1 design. The DCIUs and thrust gimbal assemblies (TGA) were developed at the Jet Propulsion Laboratory. The spacecraft was provided by Orbital Sciences Corporation, Sterling, Virginia, and the mission is managed by and operated from the Jet Propulsion Laboratory. Dawn partnered with Germany, Italy and Los Alamos National Laboratory for the science instruments. The mission is led by the principal investigator, Dr. Christopher Russell, from the University of California, Los Angeles. The first 80 days after launch were dedicated to the initial checkout of the spacecraft prior to the initiation of long-term thrusting for the heliocentric transfer to Vesta. The IPS hardware, consisting of three ion thrusters and TGAs, two PPUs and DCIUs, xenon feed system, and spacecraft control software, was investigated extensively. Thrust measurements, roll torque measurements, pointing capabilities, control characteristics, and thermal behavior of the spacecraft and IPS were carefully evaluated. The Dawn IPS fully met all its initial checkout performance objectives. Deterministic thrusting for cruise began on December 17, 2007. Over the subsequent approximately 330 days the IPS will be operated virtually continuously at full power thrusting (approximately 91 mN) leading to a Mars flyby in February 2009. The encounter with Mars provides a gravity assist for a plane change and is the only source of post-launch delta-V apart from the IPS. Following the Mars gravity assist IPS will be operated for approximately one year at full power and for 1.3 years at throttled power levels leading to rendezvous with Vesta in August of 2011. Following nine months of orbital operations with IPS providing the propulsion needed for orbit capture, science orbit transfer and orbit maintenance and Vesta escape, Dawn will transit to Ceres with an expected arrival date of February 2015. As of June 16, 2008 the ion thrusters on Dawn have operated for close to 3,846 hours and have delivered nearly 1 km/s of delta-V to the spacecraft. Dawn IPS operation has been almost flawless during the initial checkout and six months of cruise. This paper provides an overview of Dawn's mission objectives, mission and system design, and the results of the post-launch Dawn IPS mission operations through June 2008

Garner, Charles E.↗

An evaluation of software testing metrics for NASA's mission control center

Software metrics are used to evaluate the software development process and the quality of the resulting product. Five metrics were used during the testing phase of the Shuttle Mission Control Center Upgrade at the NASA Johnson Space Center. All but one metric provided useful information. Based on the experience, it is recommended that metrics be used during the test phase of software development and additional candidate metrics are proposed for further study.

Stark, George E.↗

Advanced Transport Operating System (ATOPS) control display unit software description

The software created for the Control Display Units (CDUs), used for the Advanced Transport Operating Systems (ATOPS) project, on the Transport Systems Research Vehicle (TSRV) is described. Module descriptions are presented in a standardized format which contains module purpose, calling sequence, a detailed description, and global references. The global reference section includes subroutines, functions, and common variables referenced by a particular module. The CDUs, one for the pilot and one for the copilot, are used for flight management purposes. Operations performed with the CDU affects the aircraft's guidance, navigation, and display software.

Slominski, Christopher J.↗

Small computer interface to a stepper motor

A Commodore VIC-20 computer has been interfaced with a stepper motor to provide an inexpensive stepper motor controller. Only eight transistors and two integrated circuits compose the interface. The software controls the parallel interface of the computer and provides the four phase drive signals for the motor. Optical sensors control the zeroing of the 12-inch turntable positioned by the controller. The computer calculates the position information and movement of the table and may be programmed in BASIC to execute automatic sequences.

Berry, Fred A., Jr.↗