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NASA NTRS1986

Low-frequency electromagnetic waves driven by gyrotropic gyrating ion beams

The origin of left- and right-hand-polarized low-frequency waves in space plasmas is analyzed. It has been shown that a gyrotropic gyrating ion beam, a ring in velocity space, can excite electromagnetic modes in the plasma near the beam gyrofrequency. It excites left-hand-polarized shear Alfven waves and their harmonics via the coupling of Alfven modes with the beam modes. It can also excite right-hand-polarized fast-mode magnetosonic waves and their harmonics as well. The excitation is possible for beam ions heavier than the plasma ions. The growth rate varies as one-third power of the beam density and decreases with the angle of wave propagation with respect to the ambient magnetic field. The nonlocality has a stabilizing effect on the instability. The predicted values of the wave frequencies compare reasonably well with those observed in satellite data.

Sharma, O. P.↗

NASA NTRS1986

Parametric instabilities of the circularly polarized Alfven waves including dispersion

A class of parametric instabilities of large-amplitude, circularly polarized Alfven waves is considered in which finite frequency (dispersive) effects are included. The dispersion equation governing the instabilities is a sixth-order polynomial which is solved numerically. As a function of K identically equal to k/k-sub-0 (where k-sub-0 and k are the wave number of the 'pump' wave and unstable sound wave, respectively), there are three regionals of instability: a modulation instability at K less than 1, a decay instability at K greater than 1, and a relatively weak and narrow instability at K close to squared divided by v-sub-A squared (where c-sub-s and v-sub-A are the sound and Alfven speeds respectively), the modulational instability occurs when beta is less than 1 (more than 1) for left-hand (right-hand) pump waves, in agreement with the previous results of Sakai and Sonnerup (1983). The growth rate of the decay instability of left-hand waves is greater than the modulational instability at all values of beta. Applications to large-amplitude wave observed in the solar wind, in computer simulations, and in the vicinity of planetary and interplanetary collisionless shocks are discussed.

Wong, H. K.↗

NASA NTRS1985

On marching to two different drummers - Perceptual aspects of the difficulties

Three experiments which reveal that the difficulties involved in processing conflicting rhythms occur when monitoring a stimuli and indicating termination of one rhythmic sequence or tapping with one hand are described. The relation between perceiving and acting in temporal tapping tasks is studied. The effects of varying temporal compatibility on perceptual monitoring and one-hand tapping are examined. It is observed that the difficulty of two-handed tapping to polyrhythms with two different tones decreases as pitch differences between tones decrease, and the difficulty of rhythmic coordination can be perceptually controlled. It is noted that the evaluation of polyrhythmic performance provides a useful means of examining the interactions of perceptual and motor organizations.

Klapp, S. T.↗

NASA NTRS1986

Stability analysis of double-peaked proton distribution functions in the solar wind

Twelve proton velocity distribution functions as measured for different solar wind speeds by the plasma analyzer at the Helios spacecraft are modeled analytically by a superposition of two bi-Maxwellians. The stability of these distributions is investigated by solving the linear dispersion equation for parallel propagation of both left- and right-hand polarized modes. Due to the temperature anisotropy of the main proton component the presence of the resonant left-hand ion cyclotron instability is found to be typical for high-speed streams and is independent of an ion beam. The results indicate that the ratio of the beam density to total particle density and the beam drift velocity are generally close to the threshold values necessary to drive a highly unstable nonresonant right-hand mode. This instability is found for one proton distribution and is a consequence of the beam particles. It is concluded that both the ion cyclotron instability and the ion beam instability act as a regulating mechanism on the shape of solar wind double humped proton distribution functions.

Leubner, Manfred P.↗

NASA NTRS1987

On the polarization, compression and nonoscillatory behavior of hydromagnetic waves associated with pickup ions

Solution of the kinetic dispersion equation shows that heavy pickup ions with large perpendicular energies excite a new hydromagnetic wave mode with maximum growth, high (magnetic field and mass density) compression ratios, and almost linear polarization coexisting slightly away 6-15 deg from parallel propagation. The mode arises from the coupling of the heavy ion beam to the modified left-hand wave dispersion caused by the multiion nature of the medium. The ion beam can also bring about nonoscillatory, purely growing structures distinct from the mirror wave through the coupling of a counter-streaming left-hand mode to a costreaming right-hand wave. The free energy source parameters are varied to determine their relative influence and define the domain of existence of the instability. Its characteristics may prove helpful in the interpretation of recent cometary (Halley and Giacobini-Zinner) and artificial release (AMPTE) observations.

Brinca, Armando L.↗

NASA NTRS1987

Simulation of amplitude-modulated circularly polarized Alfven waves for beta less than one

The nonlinear properties of the amplitude-modulated circularly polarized Alfven wave are studied for beta less than one. The temporal behavior of the wave packet of the electromagnetic hybrid simulation is compared with a numerical solution of the derivative nonlinear Schroedinger (DNLS) equation. It is shown that the left-hand-polarized mode evolves into a shocklike structure due to the modulational instability. However, both cyclotron damping and a snowplow effect near the steepened wave packet suppress its further steepening, contrary to the predictions of the DNLS equation. For the right-hand mode, formation of the shock does not take place, and the initial time development is well described by the DNLS equation. The daughter Alfven wave and ion acoustic waves are excited due to the decay instability at a later time. Heating or acceleration of the particles takes place for both left- and right-hand waves. Energy transfer from the wave to the particles occurs effectively when substantial modulation in the wave amplitude is present.

Machida, S.↗

NASA NTRS1988

Easy-To-Use Connector-Assembly Tool

Tool compensates for user's loss of dexterity under awkward conditions. Has jaws that swivel over 180 degree so angle adjusts with respect to handles. Oriented and held in position most comfortable and effective for user in given situation. Jaws lined with rubber pads so they conform to irregularly shaped parts and grips firmly but gently. Once tool engages part, it locks on it so user can release handles without losing part. Ratchet mechanism in tool allows user to work handles back and forth in confined space to connect or disconnect part. Quickly positioned, locked, and released. Gives user feel of its grip on part. Frees grasping muscles from work during part of task, giving user greater freedom to move hand. Operates with only one hand, leaving user's other hand free to manipulate wiring or other parts. Also adapts to handling and positioning extremely-hot or extremely-cold fluid lines, contaminated objects, abrasive or sharp objects, fragile items, and soft objects.

Redmon, John W., Jr.↗

NASA NTRS1988

Expert system application education project

Artificial intelligence (AI) technology, and in particular expert systems, has shown potential applicability in many areas of operation at the Kennedy Space Center (KSC). In an era of limited resources, the early identification of good expert system applications, and their segregation from inappropriate ones can result in a more efficient use of available NASA resources. On the other hand, the education of students in a highly technical area such as AI requires an extensive hands-on effort. The nature of expert systems is such that proper sample applications for the educational process are difficult to find. A pilot project between NASA-KSC and the University of Central Florida which was designed to simultaneously address the needs of both institutions at a minimum cost. This project, referred to as Expert Systems Prototype Training Project (ESPTP), provided NASA with relatively inexpensive development of initial prototype versions of certain applications. University students likewise benefit by having expertise on a non-trivial problem accessible to them at no cost. Such expertise is indispensible in a hands-on training approach to developing expert systems.

Gonzelez, Avelino J.↗

NASA NTRS1988

Sampling Mars: Analytical requirements and work to do in advance

Sending a mission to Mars to collect samples and return them to the Earth for analysis is without doubt one of the most exciting and important tasks for planetary science in the near future. Many scientifically important questions are associated with the knowledge of the composition and structure of Martian samples. Amongst the most exciting questions is the clarification of the SNC problem- to prove or disprove a possible Martian origin of these meteorites. Since SNC meteorites have been used to infer the chemistry of the planet Mars, and its evolution (including the accretion history), it would be important to know if the whole story is true. But before addressing possible scientific results, we have to deal with the analytical requirements, and with possible pre-return work. It is unlikely to expect that a possible Mars sample return mission will bring back anything close to the amount returned by the Apollo missions. It will be more like the amount returned by the Luna missions, or at least in that order of magnitude. This requires very careful sample selection, and very precise analytical techniques. These techniques should be able to use minimal sample sizes and on the other hand optimize the scientific output. The possibility to work with extremely small samples should not obstruct another problem: possible sampling errors. As we know from terrestrial geochemical studies, sampling procedures are quite complicated and elaborate to ensure avoiding sampling errors. The significance of analyzing a milligram or submilligram sized sample and putting that in relationship with the genesis of whole planetary crusts has to be viewed with care. This leaves a dilemma on one hand, to minimize the sample size as far as possible in order to have the possibility of returning as many different samples as possible, and on the other hand to take a sample large enough to be representative. Whole rock samples are very useful, but should not exceed the 20 to 50 g range, except in cases of extreme inhomogeneity, because for larger samples the information tends to become redundant. Soil samples should be in the 2 to 10 g range, permitting the splitting of the returned samples for studies in different laboratories with variety of techniques.

Koeberl, Christian↗

NASA NTRS1989

AH-1S communication switch integration program

The C-6533/ARC communication system as installed on the test AH-1E Cobra helicopter was modified to allow discrete radio selection of all aircraft radios at the cyclic radio/intercommunication system switch. The current Cobra-fleet use of the C-6533 system is cumbersome, particularly during low-altitude operations. Operationally, the current system C-6533 configuration and design requires the pilot to estimate when he can safely remove his hand from an active flight control to select radios during low-altitude flight. The pilot must then physically remove his hand from the flight control, look inside the cockpit to select and verify the radio selection and then effect the selected radio transmission by activating the radio/ICS switch on the cyclic. This condition is potentially hazardous, especially during low-level flight at night in degraded weather. To improve pilot performance, communications effectiveness, and safety, manprint principles were utilized in the selection of a design modification. The modified C-6533 design was kept as basic as possible for potential Cobra-fleet modification. The communications system was modified and the design was subsequently flight-tested by the U.S. Army Aeroflightdynamics Directorate and NASA at the NASA Ames Research Center, Mountain View, California. The design modification enables the Cobra pilot to maintain hands-on flight controls while selecting radios during nap-of-the-Earth (NOE) flight without looking inside the cockpit which resulted in reduced pilot workload ratings, better pilot handling quality ratings and increased flight safety for the NOE flight environment.

Haworth, Loran↗

NASA NTRS1988

The development of a test methodology for the evaluation of EVA gloves

This paper describes the development of a standardized set of tests designed to assess EVA-gloved hand capabilities in six measurement domains: range of motion, strength, tactile perception, dexterity, fatigue, and comfort. Based upon an assessment of general human-hand functioning and EVA task requirements, several tests within each measurement domain were developed to provide a comprehensive evaluation. All tests were designed to be conducted in a glove box with the bare hand as a baseline and the EVA glove at operating pressure.

O'Hara, John M.↗

NASA NTRS1989

Rhesus monkeys (Macaca mulatta), video tasks, and implications for stimulus-response spatial contiguity

Recent reports support the argument that the efficiency of primate learning is compromised to the degree that there is spatial discontiguity between discriminands and the locus of response. Experiments are reported here in which two rhesus monkeys easily mastered precise control of a joystick to respond to a variety of computer-generated targets despite the fact that the joystick was located 9 to 18 cm from the video screen. It is argued that stimulus-response contiguity is a significant parameter of learning only to the degree that the monkey visually attends to the directional movements of its hand in order to displace discriminands. If attention is focused on the effects of the hand's movement rather than on the hand itself, stimulus-response contiguity is no longer a primary parameter of learning. The implications of these results for mirror-guided studies are discussed.

Rumbaugh, Duane M.↗

NASA NTRS1989

Grasp planning under uncertainty

The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

Erkmen, A. M.↗

NASA NTRS1989

Human machine interaction via the transfer of power and information signals

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Kazerooni, H.↗

NASA NTRS1989

Control strategies for a telerobot

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Ohara, John↗

NASA NTRS1990

Local sensory control of a dexterous end effector

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Pinto, Victor H.↗

NASA NTRS1991

Man overboard - What next?

A study was performed in the Virtual Interactive Environment Workstation (VIEW) at NASA Ames Research Center. Simulations were conducted to assess the feasibility and quantify the fuel and time reguirements for a stranded crewperson to return himself to a space station after an accidental separation. A hand-held thruster, similar to the Hand-Held Maneuvering Unit from the Gemini Program was used for propulsion. Thirty different separation scenarios were composed of three separation rates, five initial spin rates, and ability to use an attitude hold mode in a repeated measures design. Statistically significant results were produced by separation velocity. Fuel, maximum range, time to maximum range, maximum axial range, and final axial velocity increased with separation rate. VIEW was determined to be a useful device for simulating accidental separations, and a hand-held thruster is a viable alternative for accomplishing a self rescue.

Brody, Adam R.↗

NASA NTRS1981

Interpreting plant responses to clinostating. I - Mechanical stresses and ethylene

The possibility that the clinostat mechanical stresses (leaf flopping) induces ethylene production and, thus, the development of epinasty was tested by stressing vertical plants by constant gentle horizontal or vertical shaking or by a quick back-and-forth rotation (twisting). Clinostat leaf flopping was closely approximated by turning plants so that their stems were horizontal, rotating them quickly about the stem axis, and returning them to the vertical, with the treatment repeated every four minutes. It was found that horizontal and vertical shaking, twisting, intermittent horizontal rotating, and gentle hand shaking failed to induce epinasties that approached those observed on the slow clinostat. Minor epinasties were generated by vigorous hand-shaking (120 sec/day) and by daily application of Ag(+). Reducing leaf displacements by inverting plants did not significantly reduce the minor epinasty generated by vigorous hand-shaking.

Salisbury, Frank B.↗