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At least 469 records · Page 26

All sources NASA NTRS DOE OSTI

NASA NTRS1986

Designing Space Station

An overview of preparations for the construction of Space Station Freedom (SSF) is presented. The video includes footage of astronauts testing materials for erectable structures in space both in the Shuttle bay while in orbit and in a neutral buoyancy tank at McDonald Douglas' Underwater Test Facility. Also shown are footage of robot systems that will assist the astronauts in building SSF, a computer simulation of an Orbiting Maneuvering Vehicle, solar dynamic mirrors that will power SSF, and mockups of the living quarters of the SSF.

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NASA NTRS1994

Advanced teleoperation: Technology innovations and applications

The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest.

Schenker, Paul S.↗

NASA NTRS1994

La Chalupa-30: Lessons learned from a 30-day subsea mission analogue

The Behavior and Performance Laboratory (BPL) utilizes space mission analogs to study issues such as the psychological health and well-being, team characteristics, and task performance of crew members on long-duration missions. The analog used in this investigation was an underwater habitat named La Chalupa, which was selected for its similar features to a space station environment. The primary objectives of the La Chalupa-30 investigation were to evaluate the efficiency of several methods for collecting data in remote environments and to assess aspects of living and working under isolated and confined conditions.

Vanderark, Steve↗

NASA NTRS1994

The use of a tactile interface to convey position and motion perceptions

Under normal terrestrial conditions, perception of position and motion is determined by central nervous system integration of concordant and redundant information from multiple sensory channels (somatosensory, vestibular, visual), which collectively yield vertical perceptions. In the acceleration environment experienced by the pilots, the somatosensory and vestibular sensors frequently present false information concerning the direction of gravity. When presented with conflicting sensory information, it is normal for pilots to experience episodes of disorientation. We have developed a tactile interface that obtains vertical roll and pitch information from a gyro-stabilized attitude indicator and maps this information in a one-to-one correspondence onto the torso of the body using a matrix of vibrotactors. This enables the pilot to continuously maintain an awareness of aircraft attitude without reference to visual cues, utilizing a sensory channel that normally operates at the subconscious level. Although initially developed to improve pilot spatial awareness, this device has obvious applications to 1) simulation and training, 2) nonvisual tracking of targets, which can reduce the need for pilots to make head movements in the high-G environment of aerial combat, and 3) orientation in environments with minimal somatosensory cues (e.g., underwater) or gravitational cues (e.g., space).

Rupert, A. H.↗

NASA NTRS1991

Implementation issues for a compact 6 degree of freedom force reflecting handcontroller with cueing of modes

Teleoperated control requires a master human interface device that can provide haptic input and output which reflect the responses of a slave robotic system. The effort reported in this paper addresses the design and prototyping of a six degree-of-freedom (DOF) Cartesian coordinate hand controller for this purpose. The device design recommended is an XYZ stage attached to a three-roll wrist which positions a flight-type handgrip. Six degrees of freedom are transduced and control brushless DC motor servo electronics similar in design to those used in computer controlled robotic manipulators. This general approach supports scaled force, velocity, and position feedback to aid an operator in achieving telepresence. The generality of the device and control system characteristics allow the use of inverse dynamics robotic control methodology to project slave robot system forces and inertias to the operator (in scaled form) and at the same time to reduce the apparent inertia of the robotic handcontroller itself. The current control design, which is not multiple fault tolerant, can be extended to make flight control or space use possible. The proposed handcontroller will have advantages in space-based applications where an operator must control several robot arms in a simultaneous and coordinated fashion. It will also have applications in intravehicular activities (within the Space Station) such as microgravity experiments in metallurgy and biological experiments that require isolation from the astronauts' environment. For ground applications, the handcontroller will be useful in underwater activities where the generality of the proposed handcontroller becomes an asset for operation of many different manipulator types. Also applications will emerge in the Military, Construction, and Maintenance/Manufacturing areas including ordnance handling, mine removal, NBC (Nuclear, Chemical, Biological) operations, control of vehicles, and operating strength and agility enhanced machines. Future avionics applications including advanced helicopter and aircraft control may also become important.

Jacobus, Heidi↗

NASA NTRS1992

A prototype Crew Medical Restraint System (CMRS) for Space Station Freedom

The Crew Medical Restrain System (CMRS) is a prototype system designed and developed for use as a universally deployable medical restraint/workstation on Space Station Freedom (SSF), the Shuttle Transportation System (STS), and the Assured Crew Rescue Vehicle (ACRV) for support of an ill or injured crewmember requiring stabilization and transportation to Earth. The CMRS will support all medical capabilities of the Health Maintenance Facility (HMF) by providing a restraint/interface system for all equipment (advance life support packs, defibrillator, ventilator, portable oxygen supply, IV pump, transport monitor, transport aspirator, and intervenous fluids delivery system) and personnel (patient and crew medical officers). It must be functional within the STS, ACRV, and all SSF habitable volumes. The CMRS will allow for medical capabilities within CPR, ACLS and ATLS standards of care. This must all be accomplished for a worst case transport time scenario of 24 hours from SSF to a definitive medical care facility on Earth. A presentation of the above design prototype with its subsequent one year SSF/HMF and STS/ACRV high fidelity mock-up ground based simulation testing will be given. Also, parabolic flight and underwater Weightless Test Facility evaluations will be demonstrated for various medical contingencies. The final design configuration to date will be discussed with future space program impact considerations.

Johnston, S. L.↗

NASA NTRS1995

NASA Life Sciences Program

This Life Science Program video examines the variety of projects that study both the physiological and psychological impacts on astronauts due to extended space missions. The hazards of space radiation and microgravity effects on the human body are described, along with these effects on plant growth, and the performance of medical procedures in space. One research technique, which is hoped to provide help for future space travel, is the study of aquanauts and their life habits underwater.

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NASA NTRS1993

Space simulation in the Neutral Buoyancy Test Facility

Various methods have been to simulate reduced gravity environments for space systems research and development. Neutral buoyancy has been the most universally used simulation of zero-g. This paper describes the facilities, personnel and experimental work that are associated with the Neutral Buoyancy Test Facility (NBTF) at NASA Ames Research Center (ARC). This facility provides a unique underwater environment for the researcher to simulate reduced gravity activities and evaluate the performances of space-related equipment. The NBTF's small size gives it several advantages over larger water facilities. Second, the facility is used for research purposes only, eliminating any scheduling conflicts with astronaut training. Lastly, the small volume of water allows the researcher to more easily vary the water temperature. This feature is ideal for investigations of astronaut thermal comfort and regulation. Recent investigations have used the NBTF for reduced gravity simulation of locomotion and load-carrying, among other interesting research endeavors.

Luna, Bernadette↗

NASA NTRS1995

Power Tool Would Require Little Bracing Torque

Proposed rotary power tool exerts required torque on workpiece, but little or no bracing torque applied to tool to keep it from turning in opposite direction. Instead, working torque neutralized by nearly equal and opposite torque generated within tool. Used easily underwater, on slippery surfaces, or in other environments in which external bracing of tool against rotation difficult or impossible. Minimizes armbreaking forces resulting from tool binding.

Canniff, Joseph H.↗

NASA NTRS1995

Improved Piezoelectric Loudspeakers And Transducers

Loudspeakers and related acoustic transducers of improved type feature both light weight and energy efficiency of piezoelectric transducers and mechanical coupling efficiency. Active component of transducer made from wafer of "rainbow" piezoelectric material, ceramic piezoelectric material chemically reduced on one face. Chemical treatment forms wafer into dishlike shallow section of sphere. Both faces then coated with electrically conductive surface layers serving as electrodes. Applications include high-fidelity loudspeakers, and underwater echo ranging devices.

Regan, Curtis Randall↗

NASA NTRS1996

Push/Push Fastener

Modified version of Nylatch (or equivalent) commerical quick-connect/quick-disconnect fastener for joining flat panels. Fastener tightened by pushing on knob on one side and loosened by pushing on knob on other side. Push/push operation of fastener advantageous in cold or otherwise hostile environments where gloves worn, in underwater operations, or if person handicapped.

Jackson, Steven A.↗

NASA NTRS1996

Right-Angle Mechanized Electrical Connector

Right-angle electrical connector embedded in mechanism accommodates some initial misalignment and aligns itself. Connection and disconnection effected with relatively small forces and torques and simple movements. Actuated by one gloved hand or by robotic manipulator. Useful in underwater, nuclear, hot, cold, or toxic environments in which connections made or broken by heavily clothed technicians or by robots.

Collins, Clint A.↗

NASA NTRS1996

Smart Material Demonstrators Based on Shape Memory Alloys and Electroceramics

This paper describes the development and characterization of two technology demonstrators that were produced under the auspices of an ARPA sponsored smart materials synthesis and processing effort. The ARPA Smart Materials and Synthesis (SMS) Program was a 2 year, $10M partnership led by Martin Marietta Laboratories - Baltimore and included Lockheed Missiles & Space Co., NRL, AVX Corp., Martin Marietta Astronautics Groups, BDM Federal, Inc., Virginia Tech, Clemson, University of Maryland, Denver University, and The Johns Hopkins University. In order to demonstrate the usefulness of magnetron sputtered shape memory foil and the manufacturability of reliable, reproducible electrostrictive actuators, the team designed a broadband active vibration cancellation device for suppressing the vibration load on delicate instruments and precision pointing devices mounted on orbiting satellites and spacecraft. The results of extensive device characterization and bench testing are discussed. Initial simulation results show excellent control authority and amplitude attenuation over the range of anticipated disturbance frequencies. The SMS Team has also developed an active 1-3 composite comprising micro-electrostrictive actuators embedded in a polymeric matrix suitable for underwater applications such as sonar quieting and listening arrays, and for medical imaging. Follow-on programs employing these technologies are also described.

Cooke, Arther V.↗

NASA NTRS1996

Sonic Boom Ocean Penetration: Noise Metric Comparison and Initial Focusing Results

The purpose of the present research is to determine the impact by sonic boom noise penetration into the ocean. Since the 1994 LaRC High Speed Research Program Sonic Boom Workshop several new results have been obtained. This talk reviews these results, and emphasizes the two most important findings. The first major result is an improved understanding of the noise spectra of the penetrating sonic boom. It was determined that weighted sound exposure levels decrease with deeper ocean depths significantly faster than unweighted sound exposure levels. This is because low frequencies penetrate the ocean deeper than high frequencies. Several noise metrics were used including peak, SEL, C-SEL, A-SEL, and PLdB, and results are given for all. These results are important because they show that the sonic boom noise impact on marine life a few meters below the ocean surface may be significantly lower using weighted sound levels than if one were to measure the impact using unweighted levels. The other major finding is the first estimate of the worst case peak levels produced by a penetrating sonic boom being focused by a sinusoidal ocean surface. The method of analysis chosen was computational, a time domain finite difference algorithm. The method is outlined and then example results are presented. For rounded sonic boom waveforms incident on a sinusoidal ocean surface, it is shown that the percentage increase or decrease in pressure is only occasionally larger than 10%, rarely 25%. These fluctuations indicate, under the assumptions already given, that any increase or decrease in sound level underwater due to focusing or defocusing should be small, less than 3 dB.

Sparrow, Victor W.↗

NASA NTRS1996

Space Electrochemical Research and Technology

Individual papers presented at the conference address the following topics: development of a micro-fiber nickel electrode for nickel-hydrogen cell, high performance nickel electrodes for space power application, bending properties of nickel electrodes for nickel-hydrogen batteries, effect of KOH concentration and anions on the performance of a Ni-H2 battery positive plate, advanced dependent pressure vessel nickel hydrogen spacecraft cell and battery design, electrolyte management considerations in modern nickel hydrogen and nickel cadmium cell and battery design, a novel unitized regenerative proton exchange membrane fuel cell, fuel cell systems for first lunar outpost - reactant storage options, the TMI regenerable solid oxide fuel cell, engineering development program of a closed aluminum-oxygen semi-cell system for an unmanned underwater vehicle, SPE OBOGS on-board oxygen generating system, hermetically sealed aluminum electrolytic capacitor, sol-gel technology and advanced electrochemical energy storage materials, development of electrochemical supercapacitors for EMA applications, and high energy density electrolytic capacitor.

Richard M Wilson↗

NASA NTRS1995

Submarine Analogs to Venusian Pancake Domes

The morphology and dimensions of the large diameter, steep-sided, flat-topped "pancake domes" on Venus make them unlike any type of terrestrial subaerial volcano. Comparisons between images of Hawaiian seamounts and pancake domes show similarities in shapes and secondary features. The morphometry of pancake domes is closer to that of Pacific seamounts than subaerial lava domes. Considering both morphology and morphometry, seamounts seem a better analog to the pancake domes. The control of volatile exsolution by pressure on Venus and the seafloor can cause lavas to have similar viscosities and densities, although the latter will be counteracted by high buoyancy underwater. However, analogous effects of the Venusian and seafloor alone are probably not sufficient to produce similar volcanoes. Rather, Venusian lavas of various compositions may behave like basalt on the seafloor if appropriate rates and modes of extrusion and planetary thermal structure are also considered.

Bridges, Nathan T.↗

NASA NTRS1997

Program for Continued Development and Use of Ocean Acoustic/GPS Geodetic Techniques

Under prior NASA grants our group, with collaboration from scientists at the CalTech Jet Propulsion Lab (JPL), visualized and carried out the initial development of a combined GPS and underwater acoustic (GPS/A) method for determining the location of points on the deep sea floor with accuracy relevant to studies of crustal deformation. Under an immediately preceding grant we built, installed and surveyed a set of the necessary seafloor marker precision transponders just seaward of the Cascadia Subduction Zone off British Columbia. The JPL group carried out processing of the GPS data.

Spiess, Fred N.↗

NASA NTRS1974

Control Automation in Undersea Search and Manipulation

Automatic decision making and control mechanisms of the type termed "adaptive" or "intelligent" offer unique advantages for exploration and manipulation of the undersea environment, particularly at great depths. Because they are able to carry out human-like functions autonomously, such mechanisms can aid and extend the capabilities of the human operator. This paper reviews past and present work in the areas of adaptive control and robotics with the purpose of establishing logical guidelines for the application of automatic techniques underwater. Experimental research data are used to illustrate the importance of information feedback, personnel training, and methods of control allocation in the interaction between operator and intelligent machine.

Weltman, Gershon↗