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At least 631 records · Page 35

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NASA NTRS1988

Space-based multifunctional end effector systems functional requirements and proposed designs

The end effector is an essential element of teleoperator and telerobot systems to be employed in space in the next decade. The report defines functional requirements for end effector systems to perform operations that are currently only feasible through Extra-Vehicular Activity (EVA). Specific tasks and functions that the end effectors must be capable of performing are delineated. Required capabilities for forces and torques, clearances, compliance, and sensing are described, using current EVA requirements as guidelines where feasible. The implications of these functional requirements on the elements of potential end effector systems are discussed. The systems issues that must be considered in the design of space-based manipulator systems are identified; including impacts on subsystems tightly coupled to the end effector, i.e., control station, information processing, manipulator arm, tool and equipment stowage. Possible end effector designs are divided into three categories: single degree-of-freedom end effectors, multiple degree of freedom end effectors, and anthropomorphic hands. Specific design alternatives are suggested and analyzed within the individual categories. Two evaluations are performed: the first considers how well the individual end effectors could substitute for EVA; the second compares how manipulator systems composed of the top performers from the first evaluation would improve the space shuttle Remote Manipulator System (RMS) capabilities. The analysis concludes that the anthropomorphic hand is best-suited for EVA tasks. A left- and right-handed anthropomorphic manipulator arm configuration is suggested as appropriate to be affixed to the RMS, but could also be used as part of the Smart Front End for the Orbital Maneuvering Vehicle (OMV). The technical feasibility of the anthropomorphic hand and its control are demonstrated. An evolutionary development approach is proposed and approximate scheduling provided for implementing the suggested manipulator systems in time for space stations operations in the early 1990s.

Mishkin, A. H.↗

NASA NTRS1988

Simulated final approach path captures using the microwave landing system

Computer simulation results are presented for intercepting final approach paths using various Microwave Landing System (MLS) path capture concepts. This study, conducted under the Advanced Transport Operating System (ATOPS) program, simulated these captures using the MD-80 aircraft as the study model. Several different capture concepts were investigated. Systems that could be retrofitted into existing aircraft with minimum hardware and software changes were considered. An enhanced ILS look-alike capture provided improved tracking performance over conventional ILS without using a full-up path computer. The other concepts used waypoint databases and path computers to provide smart captures. These captures included lateral path intercepts as well as vertical path control. Winds, turbulence, and MLS noise were included in the simulation. In all cases, acceptable tracking errors were obtained during transition to the final approach path.

Feather, J. B.↗

NASA NTRS1988

An intelligent interface for satellite operations: Your Orbit Determination Assistant (YODA)

An intelligent interface is often characterized by the ability to adapt evaluation criteria as the environment and user goals change. Some factors that impact these adaptations are redefinition of task goals and, hence, user requirements; time criticality; and system status. To implement adaptations affected by these factors, a new set of capabilities must be incorporated into the human-computer interface design. These capabilities include: (1) dynamic update and removal of control states based on user inputs, (2) generation and removal of logical dependencies as change occurs, (3) uniform and smooth interfacing to numerous processes, databases, and expert systems, and (4) unobtrusive on-line assistance to users of concepts were applied and incorporated into a human-computer interface using artificial intelligence techniques to create a prototype expert system, Your Orbit Determination Assistant (YODA). YODA is a smart interface that supports, in real teime, orbit analysts who must determine the location of a satellite during the station acquisition phase of a mission. Also described is the integration of four knowledge sources required to support the orbit determination assistant: orbital mechanics, spacecraft specifications, characteristics of the mission support software, and orbit analyst experience. This initial effort is continuing with expansion of YODA's capabilities, including evaluation of results of the orbit determination task.

Schur, Anne↗

NASA NTRS1988

Light weight escape capsule for fighter aircraft

Emergency crew escape capabilities have been less than adequate for fighter aircraft since before WW II. From the over-the-side bailout of those days through the current ejection seat with a rocket catapult, escaping from a disabled aircraft has been risky at best. Current efforts are underway toward developing a high-tech, smart ejection seat that will give fighter pilots more room to live in the sky, but an escape capsule is needed to meet current and future fighter envelopes. Escape capsules have a bad reputation due to past examples of high weight, poor performance and great complexity. However, the advantages available demand that a capsule be developed. This capsule concept will minimize the inherent disavantages and incorporate the benefits while integrating all aspects of crew station design. The resulting design is appropriate for a crew station of the year 2010 and includes improved combat acceleration protection, chemical or biological combat capability, improved aircraft to escape system interaction, and the highest level of escape performance achievable. The capsule is compact, which can allow a reduced aircraft size and weighs only 1200 lb. The escape system weight penalty is only 120 lb higher than that for the next ejection seat and the capsule has a corresponding increase in performance.

Robert, James A.↗

NASA NTRS1988

Optimal solutions for complex design problems: Using isoperformance software for human factors trade offs

A major application of isoperformance is as a trade-off methodology of the three major drivers of system design; equipment, training variables, and user characteristics. The flexibility of isoperformance allows each of these three components to be nearly any rational variation. For example, aptitude may be military Armed Forces Qualification Testing (AFQT) categories, cutoff scores within a selection procedure, or simply dichotomizing high and low scorers (pass/fail). Equipment may be new versus old, 'smart' versus dumb, high versus low resolution, etc. Training may be short versus long or varieties of media types (lecture versus CAI/CBI versus self-paced workbooks). In its final computerized form isoperformance lets the user set an operational level of performance (e.g., a jet pilot in a simulated emergency must take prescribed corrective action and clear the plane in several seconds, pilot astronauts will check out all shuttle flight systems within 30 minutes, or Mission Specialists must handle sucdessfully a required number of job elements). At this point the computer program guides the user through any requested trade-offs of the three components while maintaining the specified operational level of performance through isoperformance curves. A demonstration of the computer program is currently available.

Kennedy, Robert S.↗

NASA NTRS1989

Carousel deployment mechanism for coilable lattice truss

The development of a mechanism for instrumentation and solar-array deployment is discussed. One part of the technology consists of a smart motor which can operate in either an analog mode to provide high speed and torque, or in the stepper mode to provide accurate positioning. The second technology consists of a coilable lattice mast which is deployed and rotated about its axis with a common drive system. A review of the design and function of the system is presented. Structural and thermal test data are included.

Warden, Robert M.↗

NASA NTRS1989

Flight telerobot mechanism design: Problems and challenges

Problems and challenges of designing flight telerobot mechanisms are discussed. Specific experiences are drawn from the following system developments: (1) the Force Reflecting Hand Controller, (2) the Smart End Effector, (3) the force-torque sensor, and a generic multi-degrees-of-freedom manipulator.

Dahlgren, John B.↗

NASA NTRS1988

Model-based satellite acquisition and tracking

A model-based optical processor is introduced for the acquisition and tracking of a satellite in close proximity to an imaging sensor of a space robot. The type of satellite is known in advance, and a model of the satellite (which exists from its design) is used in this task. The model base is used to generate multiple smart filters of the various parts of the satellite, which are used in a symbolic multi-filter optical correlator. The output from the correlator is then treated as a symbolic description of the object, which is operated upon by an optical inference processor to determine the position and orientation of the satellite and to track it as a function of time. The knowledge and model base also serves to generate the rules used by the inference machine. The inference machine allows for feedback to optical correlators or feature extractors to locate the individual parts of the satellite and their orientations.

Casasent, David↗

NASA NTRS1988

Evaluation of concepts and methods for extraction of flow parameters from laser transit anemometry data

A Monte-Carlo type simulation system was developed to test concepts and associated algorithms proposed by Mayo and Smart (1984) for the extraction of two-dimensional flow parameters from laser transit anemometry data sets. The Monte-Carlo LTA simulation program models a flow field as well as the sample volume geometry of the LTA system, thereby permitting simulation of two-dimensional data acquisition in a three-dimensional flow field. The results of these tests on the proposed processing concepts suggest that the instrument is capable of measuring mean velocities to less than +0.15 percent error and flow angles to less then +0.3 percent for turbulence intensities of up to 15.0 percent.

Humphreys, W. M., Jr.↗

NASA NTRS1990

Active Limiters For Photodetectors

Active or "smart" electro-optical shutters proposed for protection of photodetectors, imaging devices, and other sensitive optical or optoelectronic elements. Responds rapidly and automatically to increase in illumination above prescribed level.

Katz, Joseph↗

NASA NTRS1989

Online submicron particle sizing by dynamic light scattering using autodilution

Efficient production of a wide range of commercial products based on submicron colloidal dispersions would benefit from instrumentation for online particle sizing, permitting real time monitoring and control of the particle size distribution. Recent advances in the technology of dynamic light scattering (DLS), especially improvements in algorithms for inversion of the intensity autocorrelation function, have made it ideally suited to the measurement of simple particle size distributions in the difficult submicron region. Crucial to the success of an online DSL based instrument is a simple mechanism for automatically sampling and diluting the starting concentrated sample suspension, yielding a final concentration which is optimal for the light scattering measurement. A proprietary method and apparatus was developed for performing this function, designed to be used with a DLS based particle sizing instrument. A PC/AT computer is used as a smart controller for the valves in the sampler diluter, as well as an input-output communicator, video display and data storage device. Quantitative results are presented for a latex suspension and an oil-in-water emulsion.

Nicoli, David F.↗

NASA NTRS1990

Some Aspects of Essentially Nonoscillatory (ENO) Formulations for the Euler Equations, Part 3

An essentially nonoscillatory (ENO) formulation is described for hyperbolic systems of conservation laws. ENO approaches are based on smart interpolation to avoid spurious numerical oscillations. ENO schemes are a superset of Total Variation Diminishing (TVD) schemes. In the recent past, TVD formulations were used to construct shock capturing finite difference methods. At extremum points of the solution, TVD schemes automatically reduce to being first-order accurate discretizations locally, while away from extrema they can be constructed to be of higher order accuracy. The new framework helps construct essentially non-oscillatory finite difference methods without recourse to local reductions of accuracy to first order. Thus arbitrarily high orders of accuracy can be obtained. The basic general ideas of the new approach can be specialized in several ways and one specific implementation is described based on: (1) the integral form of the conservation laws; (2) reconstruction based on the primitive functions; (3) extension to multiple dimensions in a tensor product fashion; and (4) Runge-Kutta time integration. The resulting method is fourth-order accurate in time and space and is applicable to uniform Cartesian grids. The construction of such schemes for scalar equations and systems in one and two space dimensions is described along with several examples which illustrate interesting aspects of the new approach.

Chakravarthy, Sukumar R.↗

NASA NTRS1989

Strain and dynamic measurements using fiber optic sensors embedded into graphite/epoxy tubes

Graphite/epoxy tubes were fabricated with embedded optical fibers to evaluate the feasibility of monitoring strains with a fiber optic technique. Resistance strain gauges were attached to the tubes to measure strain at four locations along the tube for comparison with the fiber optic sensors. Both static and dynamic strain measurements were made with excellent agreement between the embedded fiber optic strain sensor and the strain gauges. Strain measurements of 10(exp -7) can be detected with the optical phase locked loop (OPLL) system using optical fiber. Because of their light weight, compatibility with composites, immunity to electromagnetic interference, and based on the static and dynamic results obtained, fiber optic sensors embedded in composites may be useful as the sensing component of smart structures.

Dehart, D. W.↗

NASA NTRS1990

Curvature continuity of cubic Bezier curves in the solid modeling aerospace research tools design software

Preliminary results are presented of an investigation into the development of a procedure to provide curvature continuity between biparametric cubic Bezier surface patches in the computer-aided design package known as SMART (Solid Modeling Aerospace Research Tools). This initial effort was aimed at providing the designer with the ability to locally impose curvature continuity at the intersection of two Bezier curves without disrupting either the curvature or slope continuity that may exist at the ends of these curves. Such a method was found if the original Bezier control points are all coplanar. If they are not, then it is possible to find a minimum deviation from exact curvature continuity. In cases where this is not sufficient, then an entire piecewise curve must be made curvature continuous simultaneously. A method was developed based on cubic splines which is very fast. The procedure returns new Bezier control points which have both slope and curvature continuity.

Roach, Robert L.↗

NASA NTRS1990

Future automotive materials: Evolution or revolution

An exciting era is evolving in the application of new materials technologies to automotive applications. The desire on the part of the automobile industry to completely satisfy the customers while concurrently meeting increasing demands and regulations for stringent emission control and fuel efficiency is opening a plethora of opportunities for new materials. In many cases, materials solutions are the only mechanisms for resolving some of the upcoming issues. The materials scientist and engineer will therefore have a primary role to play and will assume a position of significance hithertofore unseen in the automobile industry. The nature of the industry dictates that changes are primarily evolutionary with respect to chronology but nevertheless some of the future material changes will be revolutionary in nature. This presentation will treat three primary systems of the vehicle separately, based on the different materials approaches which will be adopted. These areas are: (1) skin panels, (2) structures, and (3) powertrains. The competition between a variety of new materials in these 3 systems will be discussed in detail with the various tradeoffs being outlined. Amongst the more prominent of the new breed of materials will be new steel technologies, structural plastics (FRP), aluminum alloys (conventional and rapidly solidified), titanium alloys, metal matrix composites and smart materials (electrorheological fluids, etc.). The pace of development and application is accelerating rapidly and the impetus is likely to increase.

Beardmore, P.↗

NASA NTRS1989

Mars Rover imaging systems and directional filtering

Computer literature searches were carried out at Duke University and NASA Langley Research Center. The purpose is to enhance personal knowledge based on the technical problems of pattern recognition and image understanding which must be solved for the Mars Rover and Sample Return Mission. Intensive study effort of a large collection of relevant literature resulted in a compilation of all important documents in one place. Furthermore, the documents are being classified into: Mars Rover; computer vision (theory); imaging systems; pattern recognition methodologies; and other smart techniques (AI, neural networks, fuzzy logic, etc).

Wang, Paul P.↗

NASA NTRS1989

A Boltzmann machine for the organization of intelligent machines

In the present technological society, there is a major need to build machines that would execute intelligent tasks operating in uncertain environments with minimum interaction with a human operator. Although some designers have built smart robots, utilizing heuristic ideas, there is no systematic approach to design such machines in an engineering manner. Recently, cross-disciplinary research from the fields of computers, systems AI and information theory has served to set the foundations of the emerging area of the design of intelligent machines. Since 1977 Saridis has been developing an approach, defined as Hierarchical Intelligent Control, designed to organize, coordinate and execute anthropomorphic tasks by a machine with minimum interaction with a human operator. This approach utilizes analytical (probabilistic) models to describe and control the various functions of the intelligent machine structured by the intuitively defined principle of Increasing Precision with Decreasing Intelligence (IPDI) (Saridis 1979). This principle, even though resembles the managerial structure of organizational systems (Levis 1988), has been derived on an analytic basis by Saridis (1988). The purpose is to derive analytically a Boltzmann machine suitable for optimal connection of nodes in a neural net (Fahlman, Hinton, Sejnowski, 1985). Then this machine will serve to search for the optimal design of the organization level of an intelligent machine. In order to accomplish this, some mathematical theory of the intelligent machines will be first outlined. Then some definitions of the variables associated with the principle, like machine intelligence, machine knowledge, and precision will be made (Saridis, Valavanis 1988). Then a procedure to establish the Boltzmann machine on an analytic basis will be presented and illustrated by an example in designing the organization level of an Intelligent Machine. A new search technique, the Modified Genetic Algorithm, is presented and proved to converge to the minimum of a cost function. Finally, simulations will show the effectiveness of a variety of search techniques for the intelligent machine.

Moed, Michael C.↗

NASA NTRS1989

Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.

Rowe, Neil C.↗