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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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Synthetic aperature radar; systems components; data collection; data evaluation; optical sensor data; air pollution; water pollution; land and sea observation; active sensors (ir and w); and ers-1 are discussed.
The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned.
Release mechanism designed operable by remote control even if many of its components fail. In event it becomes inoperable, still actuated manually.
Manual control of rendezvous and docking (RVD) of two spacecraft in low earth orbit by a remote human operator is discussed. Experimental evidence has shown that control performance degradation for large transmission delays (between spacecraft and operations control center) can be substantially improved by the introduction of predictor displays. An intial Optimal Control Model (OCM) analysis of RVD translational and rotational perturbation control was performed, with emphasis placed on the predictive capabilities of the combined Kalman estimator/optimal predictor with respect to control performance, for a range of time delays, motor noise levels and tracking axes. OCM predictions are then used as a reference for comparing tracking performance with a simple predictor display, as well as with no display prediction at all. Use is made here of an imperfect internal model formulation, whereby it is assumed that the human operator has no knowledge of the system transmission delay.
The main topic of the paper is sensing and computer based automation and man-machine interface devices and techniques which permit task-level and 'intelligent' two-way communication between human operator and remote robot in earth orbit. General considerations are presented on control and information problems in teleoperation and on the characteristics of earth orbital teleoperation. Specific control and information display devices and techniques are discussed and exemplified with development results obtained at the Jet Propulsion Laboratory (JPL) in recent years.
Over a period of some 5 years Canadian Astronautics Limited (CAL) has developed a system to autonomously manage, and thus prolong the life of, secondary storage batteries. During the development, the system was aimed at the space vehicle application using nickel cadmium batteries, but is expected to be able to enhance the life and performance of any rechargeable electrochemical couple. The system handles the cells of a battery individually and thus avoids the problems of over, and under, drive that inevitably occur in a battery of cells managed by an averaging system. This individual handling also allow cells to be totally bypassed in the event of failure, thus avoiding the losses associated with low capacity, partial short circuit, and the catastrophe of open circuit. The system has an optional capability of managing redundant batteries simultaneously, adding the advantage of on line reconditioning of one battery, while the other maintains the energy storage capability of the overall system. As developed, the system contains a dedicated, redundant, microprocessor, but the capability exists to have this computing capability time shared, or remote, and operating through a data link. As adjuncts to the basic management system CAL has developed high efficiency, polyphase, power regulators for charge and discharge power conditioning.
The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.
A Weld Operator's Remote Monitoring System (WORMS) for remote viewing of manual and automatic GTA welds has been developed for use in Space Shuttle Main Engine (SSME) manufacturing. This system utilizes fiberoptics to transmit images from a receiving lens to a small closed-circuit television (CCTV) camera. The camera converts the image to an electronic signal, which is sent to a videotape recorder (VTR) and a monitor. The overall intent of this system is to provide a clearer, more detailed view of welds than is available by direct observation. This system has six primary areas of application: (1) welder training; (2) viewing of joint penetration; (3) viewing visually inaccessible welds; (4) quality control and quality assurance; (5) remote joint tracking and adjustment of variables in machine welds; and (6) welding research and development. This paper describes WORMS and how it applies to each application listed.
An investigation of the spectrum of space teleoperation activities likely in the 1985 to 1995 decade focused on the resolution of critical human engineering issues and characterization of the technology effect on performance of remote human operators. The study began with the identification and documentation of a set of representative reference teleoperator tasks. For each task, technology, development, and design options, issues, and alternatives that bear on human operator performance were defined and categorized. A literature survey identified existing studies of man/machine issues. For each teleoperations category, an assessment was made of the state of knowledge on a scale from adequate to void. The tests, experiments, and analyses necessary to provide the missing elements of knowledge were then defined. A limited set of tests were actually performed, including operator selection, baseline task definition, control mode study, lighting study, camera study, and preliminary time delay study.
Pilot effective delay increases with system delay. Report compares pilot effective time delays measured in simulations of aircraft-control systems equipped with Space Shuttle rotational hand controller and with two versions of conventional stick-type hand controller. Report of interest to those concerned with design of multiple-axis controllers in aircraft, armored vehicles, industrial machinery, and remote manipulators: operator response or delay critical to stable and accurate operation of such systems.
Advanced Short Takeoff/Vertical Landing (STOVL) aircraft capable of operating from remote sites, damaged runways, and small air capable ships are being pursued for deployment around the turn of the century. To achieve this goal, it is important that the technologies critical to this unique class of aircraft be developed. Recognizing this need, NASA Lewis Research Center, McDonnell Douglas Aircraft, and DARPA defined a cooperative program for testing in the NASA Lewis 9- by 15-Foot Low Speed Wind Tunnel (LSWT) to establish a database for hot gas ingestion, one of the technologies critical to STOVL. Results from a test program are presented along with a discussion of the facility modifications allowing this type of testing at model scale. These modifications to the tunnel include a novel ground plane, an elaborate model support which included 4 degrees of freedom, heated high pressure air for nozzle flow, a suction system exhaust for inlet flow, and tunnel sidewall modifications. Several flow visualization techniques were employed including water mist in the nozzle flows and tufts on the ground plane. Headwind (free-stream) velocity was varied from 8 to 23 knots.
We recommend that a stereo camera system be utilized as a diagnostic for the particulate environment surrounding the Space Station. This system should have sufficient sensitivity to identify contaminated periods, to isolate the effects of sources and activities and to determine optical clearing times. A reasonable compromise between sensitivity and other operational constraints is recommended. Sensitivity comparable to the film camera systems should suffice, but long periods of unattended operation and remotely controlled exposure sequences are essential requirements.
A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.
Advanced Short Takeoff/Vertical Landing (STOVL) aircraft capable of operating from remote sites, damaged runways, and small air capable ships are being pursued for deployment around the turn of the century. To achieve this goal, it is important that the technologies critical to this unique class of aircraft be developed. Recognizing this need, NASA Lewis Research Center, McDonnell Douglas Aircraft, and DARPA defined a cooperative program for testing in the NASA Lewis 9- by 15-foot Low Speed Wind Tunnel (LSWT) to establish a database for hot gas ingestion, one of the technologies critical to STOVL. Results from a test program are presented along with a discussion of the facility modifications allowing this type of testing at modal scale. These modifications to the tunnel include a novel ground plane, an elaborate model support which included 4 degrees of freedom, heated high pressure air for nozzle flow, a suction system exhaust for inlet flow, and tunnel sidewall modifications. Several flow visualization techniques were employed including water mist in the nozzle flows and tufts on the ground plane. Headwind (free-stream) velocity was varied from 8 to 23 knots.
The paper reviews Langley's Telerobotic Technology Program and the recent and planned research in automated space assembly. Research areas include multiple manipulator coordination and control, automatic modes, evaluation of control modalities for teleoperated tasks, active sensing for world modeling and control, and architectures for distributed telerobotic systems. Studies of master/slave teleoperators performing representative space tasks showed that current teleoperator systems can be used to accomplish remote space operations. These studies also identified that research is required to improve the systems to reduce operator workload and task completion time. Closed-loop noncontact and contact sensor based control for automatic acquisition, positioning, and active compliance have been developed. A control structure for multiple manipulator coordination and control with manual, shared, and automatic modes performing space type tasks is being evaluated.
Advanced Short Takeoff/Vertical Landing (STOVL) aircraft which can operate from remote locations, damaged runways, and small air capable ships are being pursued for deployment around the turn of the century. To achieve this goal, NASA Lewis Research Center, McDonnell Douglas Aircraft, and DARPA defined a cooperative program for testing in the NASA Lewis 9- by 15-foot low speed wind tunnel (LSWT) to establish a database for hot gas ingestion, one of the technologies critical to STOVL. Results are presented which show the engine inlet distortions (both temperature and pressure) in a 9.2 percent scale vectored thrust STOVL model in ground effects. Results are shown for the forward nozzle splay angles of 0 degrees, -6 degrees, and 18 degrees. The model support system had 4 degrees of freedom, heated high pressure air for nozzle flow, and a suction system exhaust for inlet flow. The headwind (freestream) velocity was varied from 8 to 23 knots.
Advanced Short Takeoff/Vertical Landing (STOVL) aircraft which can operate from remote locations, damaged runways, and small air capable ships are being pursued for deployment around the turn of the century. To achieve this goal, a cooperative program has been defined for testing in the NASA Lewis 9- by 15-foot Low Speed Wind Tunnel (LSWT) to establish a database for hot gas ingestion, one of the technologies critical to STOVL. This paper presents results showing the engine inlet distortions (both temperature and pressure) in a 9.2 percent scale Vectored Thrust STOVL model in ground effects. Results are shown for the forward nozzle splay angles of 0, -6, and 18 deg. The model support system had 4 deg of freedom, heated high pressure air for nozzle flow, and a suction system exhaust for inlet flow. The headwind (freestream) velocity was varied from 8 to 23 kn.
Laser velocimeter developed for remotely controlled operation in large wind tunnel or at outdoor aircraft-testing site. Long-range laser velocimeter has expanded focal range and ability to measure two perpendicular components of velocity simultaneously. Includes electronic subsystems for control and acquisition of data.