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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.

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At least 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS1976

OAST Space Theme Workshop. Volume 2: Theme summary. 2: Space industrialization (no. 8). A. Theme statement. B. 26 April 1976 presentation. C. Summary statement. D. Initiative action (form 5)

Enabling technology needs and other requirements to support space industrialization include: large space structures; fabrication and joining processes; single stage to orbit and heavy lift launch vehicles; nuclear and solar space power systems; robotics, manipulators, and teleoperators; biotechnology in space; artificial gravity; the utilization of lunar materials for construction; and the extraction of oxygen and metals from lunar resources. New initiatives (FY 1978) directly supportive or partly related to space industrialization are listed.

Source record↗
NASA NTRS1978

Event-driven displays for manipulator control

The problem of constructing event-related information displays from multidimensional data generated by proximity, force-torque and tactile sensors integrated with the terminal device of a remotely controlled manipulator is considered. Event-driven displays are constructed by using appropriate algorithms acting on sensory data in real time. Event-driven information displays lessen the operator's workload and improve control performance. The paper describes and discusses several event-driven display examples that were implemented in the JPL teleoperator project, including a brief outline of the data handling system which drives the graphics display in real time. The paper concludes with a discussion of future plans to integrate event-driven displays with visual (TV) information.

Bejczy, A. K.↗
NASA NTRS1977

Displays for supervisory control of manipulators

The problem of displaying information generated by sensors attached to the terminal device of a remotely controlled manipulator is considered. The sensors under consideration are proximity, force-torque, tactile and slip-page sensors. The paper describes and evaluates several examples that have been implemented in the JPL teleoperator project using audio and graphic displays of information generated by four proximity sensors attached to a manipulator end effector. Design schemes are also discussed related to the display of information generated by a six-dimensional force-torque sensor, a multipoint proportional tactile sensor, and a directional slippage sensor. The paper concludes with a discussion of future integrated displays of visual (TV) and handbased sensor information.

Bejczy, A. K.↗
NASA NTRS1979

Development of concepts for satellite retrieval devices

The teleoperator being developed to augment the Space Transportation System (STS) for satellite placement, retrieval, or servicing at altitudes or orbital planes where it would be impractical to use the shuttle is primarily a general purpose propulsion stage that can be fitted with manipulator arms, automated servicers and satellite retrieval devices for particular missions. Design concepts for a general purpose retrieval device for docking with a satellite to which a grappling fixture has been attached, and for a retrieval device for docking with the Solar Maximum Mission (SMM) spacecraft were defined. The mechanical aspects of these two devices are discussed as well as the crew operations involved and problems created by the requirement for remote control. Drawings for the two retrieval device concepts are included.

Pruett, E. C.↗
NASA NTRS1979

Autonomous Mechanical Assembly on the Space Shuttle: An Overview

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed.

Raibert, M. H.↗
NASA NTRS1978

Smart Sensors for Smart Hands

Proximity, force-torque, touch and slippage sensors developed or applied by the JPL Teleoperator Project for remote manipulator control are described, including sensor data handling by computers for display and control. Examples are quoted showing the significance of these sensors for manual or computer control of manipulators. An interesting example is a proximity sensor system implemented for a four-claw JSC end effector and tested at the Shuttle Manipulator Training Facility of JSC. New sensing concepts aimed at simplifying the implementation of 'Smart Sensors for Smart Hands' in the space environment are discussed.

Bejczy, A. K.↗
NASA NTRS1979

Construction in space - Toward a fresh definition of the man/machine relation

The EVA (extravehicular activity) project forming part of the space construction process is reviewed. The manual EVA constuction, demonstrated by the crew of Skylab 3 by assembling a modest space structure in the form of the twin-pole sunshade, is considered, indicating that the experiment dispelled many doubts about man's ability to execute routine and contingency EVA operations. Tests demonstrating the feasibility of remote teleoperator rendezvous, station keeping, and docking operations, using hand controllers for direct input and television for feedback, are noted. Future plans for designing space construction machines are mentioned.

Watters, H. H.↗
NASA NTRS1979

Performance of a capillary propellant management device with hydrazine

The propellant management device that was successfully used in the Viking Orbiter spacecraft was selected for the main propulsion system of the Teleoperator Retrieval System (TRS). Due to differences in the missions and different propellants, the operation of this sheet metal vane device required reverification for the TRS application. An analytical investigation was performed considering the adverse acceleration environment and the high contract angle of the hydrazine propellant. Drop tower tests demonstrated that the device would provide propellant acquisition while the TRS was docked with Skylab, but its operation would have to be supplemented through propellant settling when free-flying.

Tegart, J. R.↗
NASA NTRS1980

Computer aided manipulator control

This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

Bejczy, A. K.↗
NASA NTRS1980

Upgrading the free flying rendezvous and docking simulator and the orbital servicer system

Recommendations are made for upgrading two teleoperator/robotics test and simulation systems based upon a review of latest technology advances in the involved disciplines. A second generation Free Flying Mobility Unit is recommended which adds a sixth degree of freedom and incorporates other improvements which greatly expand the center's capability to perform evaluation tests and demonstrations of advanced systems concepts for rendezvous and docking in support of the Teleoperator Maneuvering System (TMS) Program. The Orbital Servicer System provides the capability for testing and demonstrating concepts for on orbit servicing of compatibly designed satellites/payloads. The TMS is to be the transporting vehicle for the servicer. The manipulator arm of the Orbital service System is presently computer controlled in the trajectory portion of the module transfer operation. The ultimate objective is to fully automte its operation requiring additional capabilities in sensors, artificial intelligence, image analysis, communications, computer programming, pattern recognition, kinematics, and manipulator design. It is recommended that the Electronics and Control Laboratory move to acquire the basic competencies in robotics necessary to achieve full automation.

Eastman, R. M.↗
NASA NTRS1980

Advanced automation for space missions: Technical summary

Several representative missions which would require extensive applications of machine intelligence were identified and analyzed. The technologies which must be developed to accomplish these types of missions are discussed. These technologies include man-machine communication, space manufacturing, teleoperators, and robot systems.

Source record↗
NASA NTRS1980

Geostationary platform systems concepts definition study. Volume 2: Technical, book 3

The supporting research and technology, and space demonstrations required to support the 1990s operational geostationary platforms are identified. Also the requirements on and interfaces with the Space Transportation System hardware elements supporting the geostationary platform program, including the shuttle, orbital transfer vehicles, teleoperator, etc., are investigated to provide integrated support requirements. Finally, a preliminary evaluation of the practicability and capabilities of an experimental platform from the standpoint of technology, schedule, and cost is given.

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NASA NTRS1981

Low drag attitude control for Skylab orbital lifetime extension

In the fall of 1977 it was determined that Skylab had started to tumble and that the original orbit lifetime predictions were much too optimistic. A decision had to be made whether to accept an early uncontrolled reentry with its inherent risks or try to attempt to control Skylab to a lower drag attitude in the hope that there was enough time to develop a Teleoperator Retrieval System, bring it up on the Space Shuttle and then decide whether to boost Skylab to a higher longer life orbit or to reenter it in a controlled fashion. The end-on-velocity (EOVV) control method is documented, which was successfully applied for about half a year to keep Skylab in a low drag attitude with the aid of the control moment gyros and a minimal expenditure of attitude control gas.

Glaese, J. R.↗
NASA NTRS1981

Pneumatic inflatable end effector

The invention relates to an end effector device for robot or teleoperated type space vehicle which includes an inflatable balloon member carried on the end of tubular member which has a hollow center or conduit through which a suitable pressurized fluid is supplied. The device may be inserted into a variety of shaped openings or truss-type structures for handling in space.

Clark, K. H.↗
NASA NTRS1981

The potential evolution of the space transportation system

An evolutionary plan satisfying the requirements of permanent manned space stations in low orbit by 1990 along with geostationary orbit sortie capabilities by 2000 is proposed. The program, to be gradually implemented with near-term technology, comprises: (1) unmanned platforms in low and geostationary orbits; (2) growth and development of these platforms into manned systems; (3) satellite checkout, handling, repair and maneuvering by means of special techniques, such as teleoperated docking, berthing and component exchange; and (4) transportation, by means of unmanned, cargo-carrying derivatives of the Space Shuttle and reuseable, space-based orbit transfer vehicles. Attention is given the envisioned configurations of both manned and unmanned orbital platforms, through a series of progress diagrams.

Bekey, I.↗
NASA NTRS1981

The persistence of a visual dominance effect in a telemanipulator task: A comparison between visual and electrotactile feedback

The possibility to use an electrotactile stimulation in teleoperation and to observe the interpretation of such information as a feedback to the operator was investigated. It is proposed that visual feedback is more informative than an electrotactile one; and that complex electrotactile feedback slows down both the motor decision and motor response processes, is processed as an all or nothing signal, and bypasses the receptive structure and accesses directly in a working memory where information is sequentially processed and where memory is limited in treatment capacity. The electrotactile stimulation is used as an alerting signal. It is suggested that the visual dominance effect is the result of the advantage of both a transfer function and a sensory memory register where information is pretreated and memorized for a short time. It is found that dividing attention has an effect on the acquisition of the information but not on the subsequent decision processes.

Gaillard, J. P.↗
NASA NTRS1982

System requirements

Requirements of future space systems, including large space systems, that operate beyond the space shuttle are discussed. Typical functions required of propulsion systems in this operational regime include payload placement, retrieval, observation, servicing, space debris control and support to large space systems. These functional requirements are discussed in conjunction with two classes of propulsion systems: (1) primary or orbit transfer vehicle (OTV) and (2) secondary or systems that generally operate within or relatively near an operational base orbit. Three propulsion system types are described in relation to these requirements: cryogenic OTV, teleoperator maneuvering system and a solar electric OTV.

Austin, R. E.↗