A computer aided teleoperator system Final report
Computer aided teleoperator system for remote handling tasks
Beckett, J.↗
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The 14th Annual Conference on Manual Control
Human operator dynamics during actual manual control or while monitoring the automatic control systems involved in air-to-air tracking, automobile driving, the operator of undersea vehicles, and remote handling are examined. Optimal control models and the use of mathematical theory in representing man behavior in complex man machine system tasks are discussed with emphasis on eye/head tracking and scanning; perception and attention allocation; decision making; and motion simulation and effects.
Source record↗
A quadrilateralized spherical cube Earth data base
A quadrilateralized spherical cube was constructed to form the basis for the rapid storage and retrieval of high resolution data obtained of the Earth's surface. The structure of this data base was derived from a spherical cube, which was obtained by radially projecting a cube onto its circumscribing sphere. An appropriate set of curvilinear coordinates were chosen such that the resolution cells on the spherical cube were of equal area and were also of essentially the same shape. The main properties of the Earth data base were that the indexing scheme was binary and telescopic in nature, the resolution cells were strung together in a two dimensional manner, the cell addresses were easily computed, and the conversion from geographic to data base coordinates was comparatively simple. It was concluded that this data base structure was perhaps the most viable one for handling remotely sensed data obtained by satellites.
Chan, F. K.↗
Magnetic spin reduction system for free spinning objects
A spinning Earth satellite is shown in which it is desired to reduce the rotation or spin to a level that the satellite may be secured or handled remotely from a spacecraft. This is accomplished by the spacecraft having a mast carrying an electrical current coil which encircles the satellite. The magnetic field of the coil is normal to the spin axis of the satellite which causes circular eddy current flow in the housing of the satellite. This generates magnetic force opposing the rotation. In another embodiment the magnetic field is generated by the use of an electromagnet on a remote manipulation arm.
Vontiesenhausen, G. F.↗
Consolidated fuel reprossing program: The implications of force reflection for teleoperation in space
Previous research on teleoperator force feedback is reviewed and results of a testing program which assessed the impact of force reflection on teleoperator task performance are reported. Force relection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force relection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space based teleoperator systems. The discussion described the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection.
Draper, John V.↗
Systems autonomy technology: Executive summary and program plan
The National Space Strategy approved by the President and Congress in 1984 sets for NASA a major goal of conducting effective and productive space applications and technology programs which contribute materially toward United States leadership and security. To contribute to this goal, OAST supports the Nation's civil and defense space programs and overall economic growth. OAST objectives are to ensure timely provision of new concepts and advanced technologies, to support both the development of NASA missions in space and the space activities of industry and other organizations, to utilize the strengths of universities in conducting the NASA space research and technology program, and to maintain the NASA centers in positions of strength in critical space technology areas. In line with these objectives, NASA has established a new program in space automation and robotics that will result in the development and transfer and automation technology to increase the capabilities, productivity, and safety of NASA space programs including the Space Station, automated space platforms, lunar bases, Mars missions, and other deep space ventures. The NASA/OAST Automation and Robotics program is divided into two parts. Ames Research Center has the lead role in developing and demonstrating System Autonomy capabilities for space systems that need to make their own decisions and do their own planning. The Jet Propulsion Laboratory has the lead role for Telerobotics (that portion of the program that has a strong human operator component in the control loop and some remote handling requirement in space). This program is intended to be a working document for NASA Headquarters, Program Offices, and implementing Project Management.
Bull, John S↗
A near-real-time full-parallax holographic display for remote operations
A near real-time, full parallax holographic display system was developed that has the potential to provide a 3-D display for remote handling operations in hazardous environments. The major components of the system consist of a stack of three spatial light modulators which serves as the object source of the hologram; a near real-time holographic recording material (such as thermoplastic and photopolymer); and an optical system for relaying SLM images to the holographic recording material and to the observer for viewing.
Iavecchia, Helene P.↗
Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management
Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.
Lew, Jae Young↗
Advanced Communication Architectures and Technologies for Missions to the Outer Planets
Missions to the outer planets would be considerably enhanced by the implementation of a future space communication infrastructure that utilizes relay stations placed at strategic locations in the solar system. These relay stations would operate autonomously and handle remote mission command and data traffic on a prioritized demand access basis. Such a system would enhance communications from that of the current direct communications between the planet and Earth. The system would also provide high rate data communications to outer planet missions, clear communications paths during times when the sun occults the mission spacecraft as viewed from Earth, and navigational "lighthouses" for missions utilizing onboard autonomous operations. Additional information is contained in the original extended abstract.
Bhasin, K.↗
Pre-Irradiated THOR Assembly and Remote Handling05/30/2024
Presentation on remote handling and assembly of THOR experiments containing pre-irradiated fuel.
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
Stripline Block Sensor System
he Long Baseline Neutrino Facility requires remote handling of the stripline block, the component responsible for providing current to the focusing horns. There are many constraints due to the surroundings the modules reside in such as small clearances as well as a highly radioactive environment. Existing systems have already been implemented within the process; however, these systems offer limited information leaving much risk during operations. This calls for a sensor system that is sufficiently accurate, complies with project constraints, and provides valuable information throughout the replacement period. A proposed solution utilizes a three dimensional indoor positioning system to provide the operator with real-time positioning and rotational information. Future work would consist of finding vendors capable of providing technology that fits our constraints, proof of concept tests, implementation planning, as well as trails within the target hall itself. A three dimensional indoor positioning system would provide an incredibly diverse tool capable of being utilized in a variety of situations.
Espinoza, David↗
Online Alpha Monitoring of High Cs-137 Hanford and SRS High Level Waste with Tensioned Metastable Fluid Detectors
The Department of Energy’s Hanford and Savannah River Sites maintain millions of gallons of caustic supernate and salt high activity waste in their high-level waste (HLW) tank farm inventories. The Savannah River Site is currently treating this waste with a calixarene-based solvent extraction of Cs-137 to reduce these inventories. Hanford is employing an at-tank crystalline silico titanate (CST) based solid phase extraction methodology to reduce their liquid HLW inventories. Due to the high solubility of Cs-137 and the relative insolubility of the actinides in these caustic waste forms, the beta to alpha radioactivity ratio can often exceed six orders of magnitude in the feed solutions to these treatment processes. This unique characteristic leads to significant technical challenges in making rapid gross alpha measurements in the presence of the overwhelming beta, gamma, as well as dissolved sodium salt in these HLW matrices. Conventional radioanalytical techniques, such as liquid scintillation analysis or gas flow proportional counting require significant radiochemistry preparation prior to the radiometric measurements for gross alpha activity. These required pretreatments render these technologies untenable for rapid quantification of gross alpha activity that could be required to support on or at-line measurements ensuring a waste stream will meet regulatory requirements. The radiation measurement properties of Tensioned Metastable Fluid Detectors (TMFDs) have been studied by Purdue University’s Taleyarkhan research group for well over a decade. Fluids tensioned to the appropriate degree will rupture when struck by radiation, resulting in a measurable cavitation event. The negative pressure generating this tension can be adjusted by centrifugal rotation or by acoustic means in such a way that these cavitation events can be generated from alpha radiation but will not be generated by beta or gamma radiation. Purdue University and the Savannah River National Laboratory are currently collaborating to develop a gamma/beta blind, spectroscopic alpha measurement system based on the Tensioned Metastable Fluid Detector technology to provide a potential solution for performing rapid gross alpha measurements on these high gamma/beta sample matrices. Measurements using the Indirect Drive Acoustically Tensioned Metastable Fluid Detectors developed as part of this collaboration were performed with an alpha emitting radionuclide. Successful determination of gross alpha activity was observed, indicating a potential pathway for rapid gross alpha measurements in remote-handled shielded cells or in process situations requiring online alpha monitoring. Measurements using this system have been conducted on high beta activity solutions, demonstrating the beta blind capability of this system. Measurements are currently underway to test the system’s capability to measure gross alpha activity on Savannah River Site high level waste high Cs-137 samples that have been measured by the SRNL radiochemistry team. This work was supported by the DOE EM Technology Development program.
DiPrete, David [Savannah River National Laboratory↗
Digital Handling and Processing of Remote Sensing Data
Details of plans for developing a digital image processing facility to handle remote sensing data are reported. Also given are programs for data acquisition and handling, systems for use in programming various digital image processing tasks, and algorithms for feature enhancement.
Algazi, R.↗
A multichannel image data handling system for agricultural remote sensing
Multichannel image data handling system for agricultural remote sensing
Landgrebe, D.↗
A multichannel image data handling system for agricultural remote sensing.
Multichannel image data handling and processing system using multispectral analysis for remote agricultural sensing and surveying from aerospace platforms
MULTICHANNEL RECEIVER↗
Sample Acquisition and Handling System from a Remote Platform
A system has been developed to acquire and handle samples from a suspended remote platform. The system includes a penetrator, a penetrator deployment mechanism, and a sample handler. A gravity-driven harpoon sampler was used for the system, but other solutions can be used to supply the penetration energy, such as pyrotechnic, pressurized gas, or springs. The deployment mechanism includes a line that is attached to the penetrator, a spool for reeling in the line, and a line engagement control mechanism. The penetrator has removable tips that can collect liquid, ice, or solid samples. The handling mechanism consists of a carousel that can store a series of identical or different tips, assist in penetrator reconfiguration for multiple sample acquisition, and deliver the sample to a series of instruments for analysis. The carousel sample handling system was combined with a brassboard reeling mechanism and a penetrator with removable tips. It can attach the removable tip to the penetrator, release and retrieve the penetrator, remove the tip, and present it to multiple instrument stations. The penetrator can be remotely deployed from an aerobot, penetrate and collect the sample, and be retrieved with the sample to the aerobot. The penetrator with removable tips includes sample interrogation windows and a sample retainment spring for unconsolidated samples. The line engagement motor can be used to control the penetrator release and reeling engagement, and to evenly distribute the line on the spool by rocking between left and right ends of the spool. When the arm with the guiding ring is aligned with the spool axis, the line is free to unwind from the spool without rotating the spool. When the arm is perpendicular to the spool axis, the line can move only if the spool rotates.
Badescu, Mircea↗
Digital Handling and Processing of Remote Sensing Data
Progress is reported on the development of a computing facility that provides automatic processing of remote sensing data on earth resources. Preliminary work on digital signal processing algorithms and the writing of corresponding programs for the design of digital filters is outlined.
Algazi, R.↗
Acceleration environment of payloads while being handled by the Shuttle Remote Manipulator System
Described in this paper is the method used in the Draper Remote Manipulator System (RMS) Simulation to compute linear accelerations at the point on the SPAS01 payload where its accelerometers are mounted. Simulated accelerometer output for representative on-orbit activities is presented. The objectives of post-flight analysis of SPAS01 data are discussed. Finally, the point is made that designers of acceleration-dependent payloads may have an interest in the capability of simulating the acceleration environment of payloads while under the control of the overall Payload Deployment and retrieval System (PDRS) that includes the Orbiter and its attitude control system as well as the Remote Manipulator Arm.
Turnbull, J. F.↗