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The design, requirements, and interface definition of a remote manipulator system developed to handle orbiter payloads are presented. End effector design, control system concepts, and man-machine engineering are considered along with crew station requirements and closed circuit television system performance requirements.
In the investigation the established technique of direct microscopic viewing was combined with the use of a closed circuit television system and cinematography. The red cell flow patterns in all capillaries were found to be oscillatory with characteristic cycle frequencies and amplitudes for all concentrations of inspired oxygen greater than 8%. Generally, there was a transient decrease in mean flow rate with increasing severity of hypoxia, with a gradual return toward control values. Red cell flow patterns are discussed along with questions of red cell configuration.
This report summarizes progress of the automatic computerized weld skate development portion of the Computerized Weld Skate with Closed Circuit Television (CCTV) Arc Guidance Project. The main goal of the project is to develop an automatic welding skate demonstration model equipped with CCTV weld guidance. The three main goals of the overall project are to: (1) develop a demonstration model computerized weld skate system, (2) develop a demonstration model automatic CCTV guidance system, and (3) integrate the two systems into a demonstration model of computerized weld skate with CCTV weld guidance for welding contoured parts.
The SEC Vidicon, a low light level closed circuit television system, was used to obtain 137 spectrographic records of meteors at Mt. Hopkins, Arizona, during the Geminid meteor shower in December 1972. Seven of the best Geminid meteor spectra are studied here in detail. The near infrared, out to wavelengths near 9000 A, is recorded for the first time for Geminids. The spectra, in general, exhibit the elements previously found in photographic records of this shower but show a surprising frequency of occurrence of the forbidden green line of O I at 5577 A. This line is normally absent from meteors moving as slowly as the Geminids (36 km/sec) and its presence in these records may be due to the added sensitivity available with the SEC Vidicon. The average green line duration in Geminid meteors with a luminosity near zero absolute visual magnitude is 0.73 sec at a mean height of 95 km, 11 km lower than the green line peak in Perseid meteors of the same luminosity.
The fabrication process and transfer characteristics for solid state radiographic image transducers (radiographic amplifier screens) is described. These screens were developed for use in real time nondestructive evaluation procedures that require large format radiographic images with contrast and resolution capabilities unavailable with conventional fluoroscopic screens. This work was directed toward screens usable for inmotion, on-line radiographic inspection by means of closed circuit television.
The Orbiter Avionics and the Spacelab Command and Data Management System (CDMS) combine to provide a relatively complete command, control, and data handling service to the instrument complement during a Shuttle Sortie Mission. The Spacelab CDMS services the instruments and the Orbiter in turn services the Spacelab. The CDMS computer system includes three computers, two I/O units, a mass memory, and a variable number of remote acquisition units. Attention is given to the CDMS high rate multiplexer, CDMS tape recorders, closed circuit television for the visual monitoring of payload bay and cabin area activities, methods of science data acquisition, questions of transmission and recording, CDMS experiment computer usage, and experiment electronics.
Closed-circuit television is superior to conventional smoke or heat sensors for detecting fires in large open spaces. Single TV camera scans entire area, whereas many conventional sensors and maze of interconnecting wiring might be required to get same coverage. Camera is monitored by person who would trip alarm if fire were detected, or electronic circuitry could process camera signal for fully-automatic alarm system.
The fabrication process and transfer characteristics for solid state radiographic image transducers (radiographic amplifier screens) are described. These screens are for use in realtime nondestructive evaluation procedures that require large format radiographic images with contrast and resolution capabilities unavailable with conventional fluoroscopic screens. The screens are suitable for in-motion, on-line radiographic inspection by means of closed circuit television. Experimental effort was made to improve image quality and response to low energy (5 kV and up) X-rays.
The Water Immersion Facility provides an accurate, safe, neutral buoyancy simulation of zero gravity conditions for development of equipment and procedures, and the training of crews. A detailed description is given of some of the following systems: (1) water tank and support equipment; (2) communications systems; (3) environmental control and liquid cooled garment system (EcS/LCG); (4) closed circuit television system; and (5) medical support system.
The use of decoupled longitudinal controls during the approach and landing of a typical twin-engine jet transport in the presence of wind shear was studied. The simulation included use of a localizer and flight director to capture and maintain a 3 deg glide slope. The pilot then completed the landing by using visual cues provided below an altitude of 200 m by closed-circuit television and a terrain model. The decoupled controls used constant prefilter and feedback gains to provide steady state decoupling of flight path angle, pitch angle, and forward velocity. The use of the decoupled control system improved pilot performance during the approach and at touchdown in the presence of wind shears. The pilots preferred the decoupled controls and rated the task 1 to 3 increments better on a pilot rating scale, depending on wind conditions, than was the case when conventional controls were used.
Circuit locates center of cloud of charge on wire grid to within 6.5 micrometers. Wires in vicinity of charge cloud develop voltages that are processed by priority encoders to develop coarse and fine position codes. Device is used with microchannel plate amplifier in X-ray photon detectors, electron microscopes, and closed-circuit television.
Some results for the bivariate normal distribution analysis are presented. Computer programs for conditional normal probabilities, marginal probabilities, as well as joint probabilities for rectangular regions are given: routines for computing fractile points and distribution functions are also presented. Some examples from a closed circuit television experiment are included.
Operator perceptual cognitive styles as predictors of remote task performance were identified. Remote tasks which require the use of servo controlled master/slave manipulators and closed circuit television for teleoperator repair and maintenance of nuclear fuel recycling systems are examined. A useful procedure for identifying such perceptual styles is described.
The chemistry of the cometary meteoroids was studied by closed circuit television observing systems. Vidicon cameras produce basic data on standard video tape and enable the recording of the spectra of faint shower meteors, consequently the chemical study is extended to smaller particles and we have a larger data bank than is available from the more conventional method of recording meteor spectra by photography. The two main problems in using video tape meteor spectrum records are: (1) the video tape recording has a much lower resolution than the photographic technique; (2) video tape is relatively new type of data storage in astronomy and the methods of quantitative photometry have not yet been fully developed in the various fields where video tape is used. The use of the most detailed photographic meteor spectra to calibrate the video tape records and to make positive identification of the more prominent chemical elements appearing in the spectra may solve the low resolution problem. Progress in the development of standard photometric techniques for the analysis of video tape records of meteor spectra is reported.
The NASA Space Environment Simulation Laboratory (SESL) features a chamber for studying specific space plasma physics phenomena. The test chamber, an upright domed cylinder having a 17 m diam and a 27 m height for an inner working volume, is lined with magnetic field generator coils. The chamber pressure is nominally 1/1,000,000th torr. Equipment positioning is carried out by remote control from outside guided by a closed circuit television system. Plasma is generated in the chamber by means of a 30 cm Kaufman thruster which produces ion densities of 100,000-1,000,000/cu cm. The ion bulk flow energy is in the range of 20-50 eV and a charge exchange with the ambient gas produces a cold isotropic ion component. Langmuir probes provide measurements of the electron temperature and density, and the composition and pressure are monitored by mass spectrometry and ion gages. Experiments have been performed on electron beam-plasma interactions, VLF antenna impedance measurements, and high voltage plasma sheaths which may be encountered by spacecraft.
Bandwidth required to transmit closed circuit television image reduced by transmitting small portion at high resolution and remainder at low resolution. High-resolution portion centered in viewer's gaze so entire image seems to be of high resolution.
A photogrammetric closed circuit television system to measure model deformation at the National Transonic Facility is described. The photogrammetric approach was chosen because of its inherent rapid data recording of the entire object field. Video cameras are used to acquire data instead of film cameras due to the inaccessibility of cameras which must be housed within the cryogenic, high pressure plenum of this facility. A rudimentary theory section is followed by a description of the video-based system and control measures required to protect cameras from the hostile environment. Preliminary results obtained with the same camera placement as planned for NTF are presented and plans for facility testing with a specially designed test wing are discussed.
The NASA Langley Research Center participated in the Solar Array Experiment with two primary objectives: (1) to study the structural and control dynamics of a new class of large, lightweight, low-frequency space structures, and (2) to develop technology for remote video measurement of structural motions. The shuttle orbiter's closed circuit television (CCTV) system was used to provide recorded video images of the solar array from four locations in the payload bay, two on the forward bulkhead and two on the aft bulkhead. White reflective targets were placed on the array to provide discrete points at which to track array motion. A dynamic test consisted of a quiescent period in which orbiter operations were inhibited and crew motion restricted, an excitation period, and a free decay period. The orbiter was placed in free drift while in a gravity gradient orientation and dynamics tests were timed to occur at orbital noon so that the Sun would illuminate one side of the array and Earth albedo the other. The CCTV system was turned on during the quiescent period, approximately 3 minutes prior to excitation. Video from all four CCTV cameras was recorded continuously through the excitation and free-decay periods for a total test record of 8 to 10 minutes.