Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Remote Design”

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.

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

At least 55 records · Page 3

The linear array multi-band selection device role in remote-sensing instrument design

A figure-of-merit parameter for the scientific utility of multispectral linear array (MLA) instruments for civil remote sensing is presented. The number of spectral band-pair choices available to the user of a given MLA instrument is proposed as a useful measure of the flexibility and overall utility of that particular instrument design. The multiband selection device capability is analyzed mathematically, and a basis for a cost-benefit comparison of alternative multispectral instrument designs is provided.

Speaker, E. E.↗

Design considerations for remotely piloted, high-altitude airplanes powered by microwave energy

Several types of systems have been considered in a design study of unmanned, microwave-powered, long-endurance, high-altitude airplanes. The study includes vehicles that use power from a continuously transmitted beam and other aircraft that receive intermittent power during cycles of boost-glide flight. Simple design algorithms are presented. Examples of sizing and performance analyses are used to suggest design-procedure guidelines.

Morris, C. E. K., Jr.↗

Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and control

The interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion.

Book, W. J.↗

Supervisory autonomous local-remote control system design: Near-term and far-term applications

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

Zimmerman, Wayne↗

NASA advanced aeronautics design solar powered remotely piloted vehicle

Environmental problems such as the depletion of the ozone layer and air pollution demand a change in traditional means of propulsion that is sensitive to the ecology. Solar powered propulsion is a favorable alternative that is both ecologically harmless as well as cost effective. Integration of solar energy into designs ranging from futuristic vehicles to heating is beneficial to society. The design and construction of a Multi-Purpose Remotely Piloted Vehicle (MPRPV) seeks to verify the feasibility of utilizing solar propulsion as a primary fuel source. This task has been a year long effort by a group of ten students, divided into five teams, each dealing with different aspects of the design. The aircraft was designed to take-off, climb to the design altitude, fly in a sustained figure-eight flight path, and cruise for approximately one hour. This mission requires flight at Reynolds numbers between 150,000 and 200,000 and demands special considerations in the aerodynamic design in order to achieve flight in this regime. Optimal performance requires a light weight configuration with both structural integrity and maximum power availability. The structure design and choice of solar cells for the propulsion was governed by the weight, efficiency, and cost considerations. The final design is a MPRPV weighting 35 N which cruises 7 m/s at the design altitude of 50 m. The configuration includes a wing composed of balsa and foam NACA 6409 airfoil sections and carbon fiber spars, a tail of similar construction, and a truss structure fuselage. The propulsion system consists of 98 10 percent efficient solar cells donated by Mobil Solar, a NiCad battery for energy storage, and a folding propeller regulated by a lightweight and efficient control system. The airfoils and propeller chosen for the design were research and tested during the design process.

Elario, David S.↗

The Design of a Remotely Operated Shutter (ROS) for Thermal Vacuum Testing

Space-flight hardware is required to meet specific outgassing criteria under vacuum conditions in order to reduce the risk of contaminating sensitive optics and spacecraft components. Under certain circumstances, it is desirable to measure the contamination levels that are being released from all surfaces of the test payload. This certification is often accomplished with a Total Outgassing Measurement (TOM) box. The TOM box has one 103.2 square centimeter (16 square inch) opening and one 4.84 square centimeter (0.75 square inches) opening. The larger opening allows contaminants to easily escape the box during the hardware bakeout phase. The smaller opening provides a limited conductance path for outgassed contaminants during the certification phase. A Thermoelectric Quartz Crystal Microbalance (TQCM) monitors the contamination levels inside the box to provide the total outgassing measurement. During transition from the bakeout phase to the certification phase, the TOM box is reconfigured to close the larger opening. For previous certifications, the vacuum chamber was returned to ambient conditions and the larger conductance port was closed manually. The ROS system eliminates the need to enter the chamber by remotely closing the large TOM box opening. Substantial schedule and cost savings are achieved through the use of this system. The ROS system consists of three main components; a shutter, a motion actuator, and an actuator controller. Each of these components was selected or designed to operate in an extreme-temperature and vacuum environment while providing a high level of reliability. Different types of motion actuators were considered for driving the shutter. Design parameters for the actuator included material properties, force capability, reliability, and cost.

Hale, Kathleen L.↗

Experimental philosophy leading to a small scale digital data base of the conterminous United States for designing experiments with remotely sensed data

Research using satellite remotely sensed data, even within any single scientific discipline, often lacked a unifying principle or strategy with which to plan or integrate studies conducted over an area so large that exhaustive examination is infeasible, e.g., the U.S.A. However, such a series of studies would seem to be at the heart of what makes satellite remote sensing unique, that is the ability to select for study from among remotely sensed data sets distributed widely over the U.S., over time, where the resources do not exist to examine all of them. Using this philosophical underpinning and the concept of a unifying principle, an operational procedure for developing a sampling strategy and formal testable hypotheses was constructed. The procedure is applicable across disciplines, when the investigator restates the research question in symbolic form, i.e., quantifies it. The procedure is set within the statistical framework of general linear models. The dependent variable is any arbitrary function of remotely sensed data and the independent variables are values or levels of factors which represent regional climatic conditions and/or properties of the Earth's surface. These factors are operationally defined as maps from the U.S. National Atlas (U.S.G.S., 1970). Eighty-five maps from the National Atlas, representing climatic and surface attributes, were automated by point counting at an effective resolution of one observation every 17.6 km (11 miles) yielding 22,505 observations per map. The maps were registered to one another in a two step procedure producing a coarse, then fine scale registration. After registration, the maps were iteratively checked for errors using manual and automated procedures. The error free maps were annotated with identification and legend information and then stored as card images, one map to a file. A sampling design will be accomplished through a regionalization analysis of the National Atlas data base (presently being conducted). From this analysis a map of homogeneous regions of the U.S.A. will be created and samples (LANDSAT scenes) assigned by region.

Labovitz, M. L.↗

Study to design and develop remote manipulator system

Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

Hill, J. W.↗

Study to design and develop remote manipulator system

Modeling of human performance in remote manipulation tasks is reported by automated procedures using computers to analyze and count motions during a manipulation task. Performance is monitored by an on-line computer capable of measuring the joint angles of both master and slave and in some cases the trajectory and velocity of the hand itself. In this way the operator's strategies with different transmission delays, displays, tasks, and manipulators can be analyzed in detail for comparison. Some progress is described in obtaining a set of standard tasks and difficulty measures for evaluating manipulator performance.

Hill, J. W.↗

Study to design and develop remote manipulator systems

A description is given of part of a continuing effort both to develop models for and to augment the performance of humans controlling remote manipulators. The project plan calls for the performance of several standard tasks with a number of different manipulators, controls, and viewing conditions, using an automated performance measuring system; in addition, the project plan calls for the development of a force-reflecting joystick and supervisory display system.

Hill, J. W.↗

System design of a remotely operated, program controlled measurement table for the calibration of the Egret experiment. Part A: Program control

The structure of the program, the five priority levels, the drive routines, the stepwise drive plan, the figure routines, meander X and y, the range of measurement table, the optimization of figure drive, the figure drive plan, dialogue routines, stack processing, the drive for the main terminal, the protocol routines, the drive for the microterminal, the drive for the experiment computer, and the main program are discussed.

Source record↗

Design guidelines for remotely maintainable equipment

The quantity and complexity of on-orbit assets will increase significantly over the next decade. Maintaining and servicing these costly assets represent a difficult challenge. Three general methods are proposed to maintain equipment while it is still in orbit: an extravehicular activity (EVA) crew can perform the task in an unpressurized maintenance area outside any space vehicle; an intravehicular activity (IVA) crew can perform the maintenance in a shirt sleeve environment, perhaps at a special maintenance work station in a space vehicle; or a telerobotic manipulator can perform the maintenance in an unpressurized maintenance area at a distance from the crew (who may be EVA, IVA, or on the ground). However, crew EVA may not always be possible; the crew may have other demands on their time that take precedence. In addition, the orbit of the tasks themselves may be impossible for crew entry. Also crew IVA may not always be possible as option for equipment maintenance. For example, the equipment may be too large to fit through the vehicle airlock. Therefore, in some circumstances, the third option, telerobotic manipulation, may be the only feasible option. Telerobotic manipulation has, therefore, an important role for on-orbit maintenance. It is not only used for the reasons outlined above, but also used in some cases as backup to the EVA crew in an orbit that they can reach.

Clarke, Margaret M.↗

Characterization of Global Near-Nadir Backscatter for Remote Sensing Radar Design

In order to evaluate side-lobe contamination from the near-nadir region for Ku-Band radars, a statistical characterization of global near-nadir backscatter is constructed. This characterization is performed for a variety of surface types using data from TRMM, Seasat, and Topex. An assessment of the relative calibration accuracy of these sensors is also presented.

Spencer, Michael W.↗

Characterization of Global Near-Nadir Backscatter for Remote Sensing Radar Design

In order to evaluate side-lobe contamination from the near-nadir region for Ku-Band radars, a statistical characterization of global near-nadir backscatter is constructed. This characterization is performed for a variety of surface types using data from TRMM, Seasat, and Topex. An assessment of the relative calibration accuracy of them sensors is also presented.

Spencer, Michael W.↗