SEARCH · Engineering Papers

Results for “disability”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 343 records · Page 19

All sources NASA NTRS DOE OSTI

NASA NTRS1986

Concept definition study for recovery of tumbling satellites. Volume 1: Executive summary, study results

The first assessment is made of the design requirements and conceptual definition of a front end kit to be transported on the currently defined Orbital Maneuvering Vehicle (OMV) and the Space Transportation System Shuttle Orbiter, to conduct remote, teleoperated recovery of disabled and noncontrollable, tumbling satellites. Previous studies did not quantify the dynamic characteristics of a tumbling satellite, nor did they appear to address the full spectrum of Tumbling Satellite Recovery systems requirements. Both of these aspects are investigated with useful results.

Cable, D. A.↗

NASA NTRS1988

Legislated emergency locating transmitters and emergency position indicating radio beacons

An emergency locating transmitting (ELT) system comprising a legislated ELT modified with an interface unit and connected by a multiwire cable to a remote control monitor (RCM), typically located at the pilot position. The RCM can remotely (1) test the ELT by disabling the legislated swept tone and allowing transmission of a single tone, (2) turn the ELT "on" for the legislated ELT transmission, and (3) reset the ELT to an "armed" condition. The RCM also provides visual and audio indications for transmitter operating condition as well as ELT battery condition. Removing the RCM or shorting or opening the interface input connections will not affect traditional ELT operation.

William R Wade↗

NASA NTRS1988

Light weight escape capsule for fighter aircraft

Emergency crew escape capabilities have been less than adequate for fighter aircraft since before WW II. From the over-the-side bailout of those days through the current ejection seat with a rocket catapult, escaping from a disabled aircraft has been risky at best. Current efforts are underway toward developing a high-tech, smart ejection seat that will give fighter pilots more room to live in the sky, but an escape capsule is needed to meet current and future fighter envelopes. Escape capsules have a bad reputation due to past examples of high weight, poor performance and great complexity. However, the advantages available demand that a capsule be developed. This capsule concept will minimize the inherent disavantages and incorporate the benefits while integrating all aspects of crew station design. The resulting design is appropriate for a crew station of the year 2010 and includes improved combat acceleration protection, chemical or biological combat capability, improved aircraft to escape system interaction, and the highest level of escape performance achievable. The capsule is compact, which can allow a reduced aircraft size and weighs only 1200 lb. The escape system weight penalty is only 120 lb higher than that for the next ejection seat and the capsule has a corresponding increase in performance.

Robert, James A.↗

NASA NTRS1988

Technology transfer: Imaging tracker to robotic controller

The transformation of an imaging tracker to a robotic controller is described. A multimode tracker was developed for fire and forget missile systems. The tracker locks on to target images within an acquisition window using multiple image tracking algorithms to provide guidance commands to missile control systems. This basic tracker technology is used with the addition of a ranging algorithm based on sizing a cooperative target to perform autonomous guidance and control of a platform for an Advanced Development Project on automation and robotics. A ranging tracker is required to provide the positioning necessary for robotic control. A simple functional demonstration of the feasibility of this approach was performed and described. More realistic demonstrations are under way at NASA-JSC. In particular, this modified tracker, or robotic controller, will be used to autonomously guide the Man Maneuvering Unit (MMU) to targets such as disabled astronauts or tools as part of the EVA Retriever efforts. It will also be used to control the orbiter's Remote Manipulator Systems (RMS) in autonomous approach and positioning demonstrations. These efforts will also be discussed.

Otaguro, M. S.↗

NASA NTRS1987

A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Michalowski, S.↗

NASA NTRS1987

Types of verbal interaction with instructable robots

An instructable robot is one that accepts instruction in some natural language such as English and uses that instruction to extend its basic repertoire of actions. Such robots are quite different in conception from autonomously intelligent robots, which provide the impetus for much of the research on inference and planning in artificial intelligence. Examined here are the significant problem areas in the design of robots that learn from vebal instruction. Examples are drawn primarily from our earlier work on instructable robots and recent work on the Robotic Aid for the physically disabled. Natural-language understanding by machines is discussed as well as in the possibilities and limits of verbal instruction. The core problem of verbal instruction, namely, how to achieve specific concrete action in the robot in response to commands that express general intentions, is considered, as are two major challenges to instructability: achieving appropriate real-time behavior in the robot, and extending the robot's language capabilities.

Crangle, C.↗

NASA NTRS1990

Serial Escape System For Aircraft Crews

Emergency escape system for aircraft and aerospace vehicles ejects up to seven crewmembers, one by one, within 120 s. Intended for emergencies in which disabled craft still in stable flight at no more than 220 kn (113 m/s) equivalent airspeed and sinking no faster than 110 ft/s (33.5 m/s) at altitudes up to 50,000 ft (15.2 km). Ejection rockets load themselves from magazine after each crewmember ejected. Jumpmaster queues other crewmembers and helps them position themselves on egress ramp. Rockets pull crewmembers clear of aircraft structure. Provides orderly, controlled exit and avoids ditching at sea or landing in rough terrain.

Wood, Kenneth E.↗

NASA NTRS1989

Test Data of Flow Field of Shuttle SRM Nozzle Joint with Bond Defects, Using Unheated Air

The nozzle-to-case joint on the Shuttle SRM (as redesigned after the Challenger accident) features an adhesive sealant filling and bonding the joint, with a wiper O-ring to prevent the adhesive from reaching and disabling the closure O-ring. Flawless implementation of that joint design would ensure that hot, corrosive propellant combustion gases never reach the closure O-ring. However, understanding the flow field related to bonding defects is prudent. A comprehensive test program was conducted to quantify such flow fields and associated heating environments. A two-dimensional, full-scale model represented 65 inches of the nozzle joint, using unheated air as the test medium, in a blowdown mode. Geometry variations modeled RSRM assembly tolerances, and two types of bonding defects: pullaways and blowholes. A range of the magnitude of each type defect was tested. Also a range of operational parameters was tested, representative of the RSRM flow environment, including duplication of RSRM Mach and Reynolds numbers. Extensive instrumentation was provided to quantify pressures, heat rates, and velocities. The resulting data established that larger geometric defects cause larger pressure and larger heating, at the closure O-ring region. Velocity trends were not so straight-forward. Variations in assembly tolerances did not generally affect flow fields or heating. Operational parameters affected flow fields and heating as might be expected, increasing density or velocity increased heating. Complete details of this test effort are presented.

Hair, Leroy M.↗

NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗

NASA NTRS1989

Cardiovascular responses to microgravity - Adaptation, maladjustment, and countermeasures

Humans have worked in space for up to 237 days without significant inflight limitations, although major cardiovascular disability is seen following space flight of even a few days duration. Most of the cardiovascular research on microgravity deconditioning has been observational in character. Detailed studies of mechanisms and causes of postflight exercise intolerance, low blood pressure and fainting in astronauts and cosmonauts have not been done, despite almost 30 years of manned space flight. A review of possible mechanisms of postflight cardiovascular deconditioning and directions for study is provided.

Gaffney, F. Andrew↗

NASA NTRS1990

Medical impact analysis for the Space Station

In this study, Space Station medical care priorities were determined by a medical impact analysis of two analog populations, U.S. Army and U.S. Navy personnel. Diseases and injuries in the International Classification of Disease, 9th Revision, Clinical Modification (ICD-9-CM) were ranked, using a Medical Impact Score (MIS) combining modified incidence rate and a function of disease outcome. The validity of the analysis method was tested by measuring rank order correlation between the two analog populations. Despite virtually identical age and sex distributions, Army and Navy incidence rates differed significantly for half of the ICD-9-CM categories, p less than 0.05. Disability rates differed for 76 percent, p less than 0.05. Nevertheless, Army and Navy MIS rank orders for categories and sections were not significantly different, p less than 0.001. In critical ways, the Space Station will be a safer environment than earth. Cardiac events, musculoskeletal injuries, affective psychoses, and renal calculi were among the highest scoring categories.

Nelson, Brent D.↗

NASA NTRS1990

Stabilization of discrete-event processes

Discrete-event processes are modeled by state-machines in the Ramadge-Wonham framework with control by a feedback event disablement mechanism. In this paper, concepts of stabilization of discrete-event processes are defined and investigated. The possibility of driving a process (under control) from arbitrary initial states to a prescribed subset of the state set and then keeping it there indefinitely is examined. This stabilization property is studied also with respect to 'open-loop' processes and their asymptotic behavior is characterized. Polynomial time algorithms are presented for verifying various types of attraction and for the synthesis of attractors.

Brave, Y.↗

NASA NTRS1990

Flight Set 360L006 STS-34 field joint protection system, thermal protection system, and systems tunnel components, volume 4

The performance of the thermal protection system, field joint protection system, and systems tunnel components of Flight Set 360L006, are documented, as evaluated by postflight hardware inspection. The condition of both motors was similar to previous flights. Sixteen aft edge hits were noted on the ground environment instrumentation thermal protection system. Each hit left a clean substrate, indicating that the damage was caused by nozzle severance debris and/or water impact. No National Space and Transporation System debris criteria for missing thermal protection system were violated. One 5.0 by 1.0 in. unbond was observed on the left hand center field joint K5NA closeout and was elevated to an in-flight anomaly (STS-34-M-4) by the NASA Ice/Debris team. Aft edge damage to the K5NA and an associated black streak indicate that burning debris from the nozzle severance system was the likely cause of the damage. Minor divots caused by debris were seen on previous flights, but this is the first occurrence of a K5NA unbond. Since the unbond occurred after booster separation there is no impact on flight safety and no corrective actions was taken. The right hand center field joint primary heater failed the dielectric withstanding voltage test after joint closeout. The heater was then disabled by opening the circuit breaker, and the redundant heater was used. The redundant heater performed nominally during the launch countdown. A similar condition occurred on Flight 4 when a secondary joint heater failed the dielectric withstanding voltage test.

Wilkinson, J. P.↗

NASA NTRS1991

Analysis of the Intel 386 and i486 microprocessors for the Space Station Freedom Data Management System

The feasibility is analyzed of upgrading the Intel 386 microprocessor, which has been proposed as the baseline processor for the Space Station Freedom (SSF) Data Management System (DMS), to the more advanced i486 microprocessors. The items compared between the two processors include the instruction set architecture, power consumption, the MIL-STD-883C Class S (Space) qualification schedule, and performance. The advantages of the i486 over the 386 are (1) lower power consumption; and (2) higher floating point performance. The i486 on-chip cache does not have parity check or error detection and correction circuitry. The i486 with on-chip cache disabled, however, has lower integer performance than the 386 without cache, which is the current DMS design choice. Adding cache to the 386/386 DX memory hierachy appears to be the most beneficial change to the current DMS design at this time.

Liu, Yuan-Kwei↗

NASA NTRS1989

A model summer program for handicapped college students

During the summer of 1988, the Goddard Space Flight Center was the site of a new NASA project called A Model Summer Program for Handicapped College Students that was directed by Gallaudet University. The project's aim was to identify eight severely physically disabled college students (four from Gallaudet University and four from local historically black colleges and universities (HBCU's)) majoring in technical fields and to assign them technical projects related to aerospace which they would complete under the guidance of mentors who were full time employees of Goddard. A description of the program is presented.

Nissen, Anne B.↗

NASA NTRS1991

Dynamic inter-limb resistance exercise device for long-duration space flight

Essential for fitness on Earth, resistive exercise is even more important for astronauts, who must maintain muscle and bone strength in the absence of gravity. To meet this need, designers and scientists at NASA Ames Research Center, Life Science Division, have worked to develop more effective exercise devices for long-duration exposure to microgravity. One of these concepts is the Inter-Limb Resistance Device which allows the subject to exercise one limb directly against another, strengthening muscle groups in the arms, legs, and back. It features a modular harness with an inelastic cable and instrumented pulley. Forces similar to other high resistance exercise equipment are generated. Sensors in the pulley measure force and velocity for performance feedback display and data acquisition. This free-floating apparatus avoids vibration of sensitive experiments on board spacecraft. Compact with low mass, this hardware is also well suited for a 'safe haven' from radiation on board Space Station Freedom, and may prove useful in confined environments on Earth, such as Antarctic stations, submarines, and other underwater habitats. Potential spin-offs of this technology include products for personal strengthening and cardiovascular conditioning, rehabilitation of hospital patients, fitness exercise for the disabled, and retraining after sports injuries.

Schwandt, Douglas F.↗

NASA NTRS1991

Analysis of the Intel 386 and i486 microprocessors for the Space Station Freedom Data Management System

The feasibility is analyzed of upgrading the Intel 386 microprocessor, which has been proposed as the baseline processor for the Space Station Freedom (SSF) Data Management System (DMS), to the more advanced i486 microprocessors. The items compared between the two processors include the instruction set architecture, power consumption, the MIL-STD-883C Class S (Space) qualification schedule, and performance. The advantages of the i486 over the 386 are (1) lower power consumption; and (2) higher floating point performance. The i486 on-chip cache does not have parity check or error detection and correction circuitry. The i486 with on-chip cache disabled, however, has lower integer performance than the 386 without cache, which is the current DMS design choice. Adding cache to the 386/387 DX memory hierarchy appears to be the most beneficial change to the current DMS design at this time.

Liu, Yuan-Kwei↗

NASA NTRS1992

Robustness of a distributed neural network controller for locomotion in a hexapod robot

A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

Chiel, Hillel J.↗