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Remote manipulator consists essentially of gear shafts that are placed concentrically with bevel gears located at each joint. Teleoperator's advantages include light weight accessibility of parts, continuous rotation of joints, possibility of underwater use, and possibility of miniaturization.
A flow visualization technique was developed which allows the nature of lift-generated wakes behind aircraft models to be investigated. The technique was applied to models being towed underwater in a ship model basin. Seven different configurations of a small-scale model of a 747 transport aircraft were used to allow observation of typical vortex interactions and merging in multiple vortex wakes. It was established that the motion of the wake vortices is often sensitive to small changes in either wing span loading or model attitude. Landing gear deployement was found to cause a far-field reformation of vorticity behind a model configuration which dissipated concentrated vorticity in the near-field wake. Alleviation of wake vorticity is achievable by configuring the wing span loading to cause the wake vortices to move in paths that result in their interactions and merging. The vortices shed from the horizontal stabilizer always moved down rapidly into the wake and merged with the other vortices, primarily the inboard flap vortices.
Two test sites of different water quality and bottom topography were used to test for maximum water depth penetration using the Skylab S-192 MSS for measurement of nearshore coastal bathymetry. Sites under investigation lie along the Lake Michigan coastline where littoral transport acts to erode sand bluffs and endangers developments along 1,200 miles of shore, and on the west coast of Puerto Rico where unreliable shoal location and depth information constitutes a safety hazard to navigation. The S-192 and S-190A and B provide data on underwater features because of water transparency in the blue/green portion of the spectrum. Depth of 20 meters were measured with the S-192 in the Puerto Rico test site. The S-190B photography with its improved spatial resolution clearly delineates the triple sand bar topography in the Lake Michigan test site. Several processing techniques were employed to test for maximum depth measurement with least error. The results are useful for helping to determine an optimum spectral bandwidth for future space sensors that will increase depth measurements for different water attenuation conditions where a bottom reflection is detectable.
Hollow acrylate fiber membrane that filters bacterial and viral organisms can be used with closed-cycle life-support systems for underwater habitations or laboratories. Membrane also has applications in fields of medicine, gnotobiotics, pharmaceutical production, and industries and research facilities that require sterile water. Device eliminates need for strong chemicals or sterilizing agents, thereby reducing costs.
Vortex velocities were measured in the wakes of four configurations of a 0.61-m span model of a B-747 aircraft. The wakes were generated by towing the model underwater in a ship model basin. Tangential and axial velocity profiles were obtained with a scanning laser velocimeter as the wakes aged to 35 span lengths behind the model. A 45 deg deflection of two outboard flight spoilers with the model in the landing configuration resulted in a 36 percent reduction in wake maximum tangential velocity, altered velocity profiles, and erratic vortex trajectories. Deployment of the landing gear with the inboard flaps in the landing position and outboard flaps retracted had little effect on the flap vortices to 35 spans, but caused the wing tip vortices to have: (1) more diffuse velocity profiles; (2) a 27 percent reduction in maximum tangential velocity; and (3) a more rapid merger with the flap vortices.
The requirements for the successful use of automated manipulation in an undersea environment are discussed, and initial specifications for systems which share control between a human operator and an autonomous control element are established. Areas of concern include: (1) objectives of automation; (2) characteristics of the underwater task; (3) hierarchy of control algorithms; (4) man/machine interface; (5) sensory feedback; and (6) general system organization. Special emphasis is placed on the solutions to the problem of controlling an undersea manipulator which is capable of performing certain automatic functions and implementing these solutions using current technology. Current capabilities for control automation are summarized.
An anthropomorphic master/slave manipulator system including master arm apparatus with a plurality of master tubular articulated portions is outlined. Objectives of this investion were to provide a system that accurately and smoothly simulates human limb movement at a remote location. The system has a high frequency response, a high structural stiffness and a design that protects the components of the slave mechanism. Simulation of human movements is possible in outer space, underwater, and in a hazardous environment such as in a high radiation area. The equivalent ability, dexterity, and strength of a human arm are simulated.
Atmospheric acoustic probes located either at shore locations near the Chesapeake Bay or on large surface buoys could obtain profiles of wind velocity and turbulence and the temperature and humidity of the atmosphere. At or near the buoy locations, underwater probes located on the bottom could be used to profile current velocity, density, and turbulence and also to determine tide level, wave height, spectrum, and direction. The physical parameter profiles at these earth-surface stations could be used with surface observations by satellite. The most obvious use of data from such a network is to verify and calibrate models of energy exchange between the water of the Bay and the atmosphere.
The observability of galactic neutrinos in a detector of 10 billion tons of water with an observing time of a few years is explored. Although the atmospheric flux exceeds the galactic flux considerably at energies greater than or equal to 1 TeV, the latter may still provide a marginally observable signal owing to its directionality. Galactic muon neutrinos with energy greater than or equal to 1 TeV will produce a signal approximately 2 sigma above the atmospheric background over a four year period. If electron neutrinos can also be studied with the deep underwater muon and neutrino detector, then galactic electron neutrinos above 1 TeV would give an approximate 4 to 5 sigma signal above the electron neutrino background over a four year integration time.
A newly developed electronic fish tracking system to automatically monitor the movements and migratory habits of fish is reported. The system is aimed particularly at studies of effects on fish life of industrial facilities which use rivers or lakes to dump their effluents. Location of fish is acquired by means of acoustic links from the fish to underwater Listening Stations, and by radio links which relay tracking information to a shore-based Data Base. Fish over 4 inches long may be tracked over a 5 x 5 mile area. The electronic fish tracking system provides the marine scientist with electronics which permit studies that were not practical in the past and which are cost-effective compared to manual methods.
Reliable, low-cost coupler alines and grasps moving and rotating objects. Coupling mechanism may be used in handling of radio-active materials or in underwater explorations and other remote manipulators.
It is shown that low-altitude aerial photography, using specific interpretive techniques, can effectively delineate sea-grass beds, oyster beds, and other underwater features. Various techniques were used on several sets of aerial imagery. Imagery was tested using several data analysis methods, ground truth, and biological testing. Approximately 45,000 acres of grass beds, 2,500 acres of oyster beds, and 4,200 acres of dredged canals were mapped. This data represents selected sites only. Areas chosen have the highest quality water in Brevard County and are among the most highly recognized biologically productive waters in Florida.
The whole-body algorithm is envisioned as a mathematical model that utilizes human physiology to simulate the behavior of vital body systems. The objective of this model is to determine the response of selected body parameters within these systems to various input perturbations, or stresses. Perturbations of interest are exercise, chemical unbalances, gravitational changes and other abnormal environmental conditions. This model provides for a study of man's physiological response in various space applications, underwater applications, normal and abnormal workloads and environments, and the functioning of the system with physical impairments or decay of functioning components. Many methods or approaches to the development of a whole-body algorithm are considered. Of foremost concern is the determination of the subsystems to be included, the detail of the subsystems and the interaction between the subsystems.
Production spectra of high-energy neutrinos from galactic cosmic-ray interactions with interstellar gas and extragalactic ultrahigh-energy cosmic-ray interactions with microwave blackbody photons are presented and discussed. These production processes involve the decay of charged pions and are thus related to the production of cosmic gamma rays from the decay of neutral pions. Estimates of the neutrino fluxes from various diffuse cosmic sources are then made, and the reasons for significant differences with previous estimates are discussed. Small predicted event rates for a DUMAND (deep underwater muon and neutrino detector) type detection system, combined with a possible significant flux of prompt neutrinos from the atmosphere above 50 TeV, may make the study of diffuse extraterrestrial neutrinos more difficult than previously thought.
An attempt is made to estimate the production rate of ultrahigh energy (UHE) neutrinos from galactic neutron stars. The statistics of various stellar populations are reviewed as well as an evolutionary scheme linking several neutron star environments. An observational test for predicting stellar evolution is made using two mass ratio intervals of less than 0.3 and greater than or approximately equal to 0.3, which is supported by kinematical evidence. Attention is given to the problem of the target material that is required by UHE protons accelerated from the pulsar's surface to their rotational kinetic energy, and to the detectability of neutron stars in the UHE neutrinos by employing the deep underwater muon and neutrino detector (DUMAND) array.
Threaded coupling carries its own store of rotational energy. Originally developed to ease task of astronauts assembling structures in space, coupling offers same advantages in other hazardous operations, such as underwater and in and around nuclear reactors. Coupling consists of two parts: crew portion and receptacle. When screw portion is inserted into receptacle and given slight push by operator, trigger pins release ratchet, allowing energy stored in springs to rotate screw into nut in receptacle.
Space shuttle system opens, closes, and latches bay doors. System includes remotely controlled "zipper latch" that accomodates misalignment. Opening, closing, and latching follow specific sequences, and are monitored from cockpit. Entire system could be modified for commercial jetliners and marine vessels with underwater access doors.
A quick-look review of selected ocean industries is presented for the purpose of providing NASA OSTA with an assessment of technology needs and market potential. The size and growth potential, needs and problem areas, technology presently used and its suppliers, are given for industries involved in deep ocean mining, petrochemicals ocean energy conversion. Supporting services such as ocean bottom surveying; underwater transportation, data collection, and work systems; and inspection and diving services are included. Examples of key problem areas that are amenable to advanced technology solutions are included. Major companies are listed.