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At least 73 records · Page 4

Life Science Research Facility materials management requirements and concepts

The Advanced Programs Office at NASA Ames Research Center has defined hypothetical experiments for a 90-day mission on Space Station to allow analysis of the materials necessary to conduct the experiments and to assess the impact on waste processing of recyclable materials and storage requirements of samples to be returned to earth for analysis as well as of nonrecyclable materials. The materials include the specimens themselves, the food, water, and gases necessary to maintain them, the expendables necessary to conduct the experiments, and the metabolic products of the specimens. This study defines the volumes, flow rates, and states of these materials. Process concepts for materials handling will include a cage cleaner, trash compactor, biological stabilizer, and various recycling devices.

Johnson, Catherine C.

Vacuum pumps and systems: A review of current practice

A review of the fundamental characteristics of the many types of vacuum pumps and vacuum pumping systems is given. The optimum pumping range, relative cost, performance limitations, maintenance problems, system operating costs and similar subjects are discussed. Experiences from the thin film deposition, chemical processing, material handling, food processing and other industries, as well as space simulation are used to support conclusions and recommendations.

Giles, Stuart

Software for integrated manufacturing systems, part 2

Part 1 presented an overview of the unified approach to manufacturing software. The specific characteristics of the approach that allow it to realize the goals of reduced cost, increased reliability and increased flexibility are considered. Why the blending of a components view, distributed languages, generics and formal models is important, why each individual part of this approach is essential, and why each component will typically have each of these parts are examined. An example of a specification for a real material handling system is presented using the approach and compared with the standard interface specification given by the manufacturer. Use of the component in a distributed manufacturing system is then compared with use of the traditional specification with a more traditional approach to designing the system. An overview is also provided of the underlying mechanisms used for implementing distributed manufacturing systems using the unified software/hardware component approach.

Volz, R. A.

A robotic system for automation of logistics functions on the Space Station

Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

Martin, J. C.

Experimental verification of a large flexible manipulator

A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

Lee, Jac Won

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Cetinkunt, Sabri

Telerobotic assembly of space station truss structures

Discussed here are methods of assembling the space station's structure utilizing only telerobotic devices, i.e.: (1) an approximately anthropomorphic telerobot with two dextrous arms; (2) the Shuttle Remote Manipulator System (SRMS); and (3) various material handling machines. Timelines and task recommendations for autonomous operations are also included. Also described are some experimental results comparing two manipulator control devices.

Fischer, G.

Uncertainty management in intelligent design aiding systems

A novel approach to uncertainty management which is particularly effective in intelligent design aiding systems for large-scale systems is presented. The use of this approach in the materials handling system design domain is discussed. It is noted that, during any point in the design process, a point value can be obtained for the evaluation of feasible designs; however, the techniques described provide unique solutions for these point values using only the current information about the design environment.

Brown, Donald E.

CREW CHIEF: A computer graphics simulation of an aircraft maintenance technician

Approximately 35 percent of the lifetime cost of a military system is spent for maintenance. Excessive repair time is caused by not considering maintenance during design. Problems are usually discovered only after a mock-up has been constructed, when it is too late to make changes. CREW CHIEF will reduce the incidence of such problems by catching design defects in the early design stages. CREW CHIEF is a computer graphic human factors evaluation system interfaced to commercial computer aided design (CAD) systems. It creates a three dimensional man model, either male or female, large or small, with various types of clothing and in several postures. It can perform analyses for physical accessibility, strength capability with tools, visual access, and strength capability for manual materials handling. The designer would produce a drawing on his CAD system and introduce CREW CHIEF in it. CREW CHIEF's analyses would then indicate places where problems could be foreseen and corrected before the design is frozen.

Aume, Nilss M.

Modeling strength data for CREW CHIEF

The Air Force has developed CREW CHIEF, a computer-aided design (CAD) tool for simulating and evaluating aircraft maintenance to determine if the required activities are feasible. CREW CHIEF gives the designer the ability to simulate maintenance activities with respect to reach, accessibility, strength, hand tool operation, and materials handling. While developing the CREW CHIEF, extensive research was performed to describe workers strength capabilities for using hand tools and manual handling of objects. More than 100,000 strength measures were collected and modeled for CREW CHIEF. These measures involved both male and female subjects in the 12 maintenance postures included in CREW CHIEF. The data collection and modeling effort are described.

Mcdaniel, Joe W.

Anthropomorphic Remote Manipulator

Two-armed telerobot undergoing development manipulates objects with dexterity approaching that of human. Designed to be remotely operated by human. Operator wears harness with exoskeletonlike sleeves and gloves; remote manipulator follows operator's arm, hand, and finger movements and feeds back position and force information so operator has sense of manipulating object held by telerobot. Developed for use in outer space. Suited for such terrestrial uses as handling materials and maintaining equipment in hazardous environments where mechanical dexterity and nearly instantaneous feedback of sensory information needed.

Jau, Bruno M.

Dental equipment test during zero-gravity flight

The overall objectives of this program were to establish performance criteria and develop prototype equipment for use in the Health Maintenance Facility (HMF) in meeting the needs of dental emergencies during space missions. The primary efforts during this flight test were to test patient-operator relationships, patent (manikin) restraint and positioning, task lighting systems, use and operation of dental rotary instruments, suction and particle containment system, dental hand instrument delivery and control procedures, and the use of dental treatment materials. The initial efforts during the flight focused on verification of the efficiency of the particle containment system. An absorptive barrier was also tested in lieu of the suction collector. To test the instrument delivery system, teeth in the manikin were prepared with the dental drill to receive restorations, some with temporary filling materials and another with definitive filling material (composite resin). The best particle containment came from the combination use of the laminar-air/suction collector in concert with immediate area suction from a surgical high-volume suction tip. Lighting in the treatment area was provided by a flexible fiberoptic probe. This system is quite effective for small areas, but for general tasks ambient illumination is required. The instrument containment system (elastic cord network) was extremely effective and easy to use. The most serious problem with instrument delivey and actual treatment was lack of time during the microgravity sequences. The restorative materials handled and finished well.

Young, John

Real-time, interactive, visually updated simulator system for telepresence

Time delays and limited sensory feedback of remote telerobotic systems tend to disorient teleoperators and dramatically decrease the operator's performance. To remove the effects of time delays, key components were designed and developed of a prototype forward simulation subsystem, the Global-Local Environment Telerobotic Simulator (GLETS) that buffers the operator from the remote task. GLETS totally immerses an operator in a real-time, interactive, simulated, visually updated artificial environment of the remote telerobotic site. Using GLETS, the operator will, in effect, enter into a telerobotic virtual reality and can easily form a gestalt of the virtual 'local site' that matches the operator's normal interactions with the remote site. In addition to use in space based telerobotics, GLETS, due to its extendable architecture, can also be used in other teleoperational environments such as toxic material handling, construction, and undersea exploration.

Schebor, Frederick S.

Metallized gelled monopropellants

Thermochemical calculations of seven metallized monopropellants were conducted to quantify theoretical specific impulse and density specific impulse performance. On the basis of theoretical performance, commercial availability of formulation constituents, and anticipated viscometric behavior, two metallized monopropellants were selected for formulation characterization: triethylene glycol dinitrate, ammonium perchlorate, aluminum and hydrogen peroxide, aluminum. Formulation goals were established, and monopropellant formulation compatibility and hazard sensitivity were experimentally determined. These experimental results indicate that the friction sensitivity, detonation susceptibility, and material handling difficulties of the elevated monopropellant formulations and their constituents pose formidable barriers to their future application as metallized monopropellants.

Nieder, Erin G.

Robotics in near-earth space

The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

Card, Michael E.

The ROMPS robot in HitchHiker

The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

Voellmer, George

Task sequence planning in a robot workcell using AND/OR nets

An approach to task sequence planning for a generalized robotic manufacturing or material handling workcell is described. Given the descriptions of the objects in this system and all feasible geometric relationships among these objects, an AND/OR net which describes the relationships of all feasible geometric states and associated feasibility criteria for net transitions is generated. This AND/OR net is mapped into a Petri net which incorporates all feasible sequences of operations. The resulting Petri net is shown to be bounded and have guaranteed properties of liveness, safeness, and reversibility. Sequences are found from the reachability tree of the Petri net. Feasibility criteria for net transitions may be used to generate an extended Petri net representation of lower level command sequences. The resulting Petri net representation may be used for on-line scheduling and control of the system of feasible sequences. A simulation example of the sequences is described.

Cao, Tiehua

Investigation of the effects of Extra Vehicular Activity (EVA) and Launch and Entry (LES) gloves on performance

Human capabilities such as dexterity, manipulability, and tactile perception are unique and render the hand as a very versatile, effective and a multipurpose tool. This is especially true for unknown environments such as the EVA environment. In the microgravity environment interfaces, procedures, and activities are too complex, diverse, and defy advance definition. Under these conditions the hand becomes the primary means of locomotion, restraint, and material handling. Facilitation of these activities, with simultaneous protection from the cruel EVA environment are the two, often conflicting, objectives of glove design. The objectives of this study was (1) to assess the effects of EVA gloves at different pressures on human hand capabilities, (2) to devise a protocol for evaluating EVA gloves, (3) to develop force time relations for a number of EVA glove pressure combinations, and (4) to evaluate two types of launch and entry suit gloves. The objectives were achieved through three experiments. The experiments for achieving objectives 1, 2, and 3 were performed in the glove box in building 34. In experiment 1 three types of EVA gloves were tested at five pressure differentials. A number of performance measures were recorded. In experiment 2 the same gloves as in experiment 1 were evaluated in a reduced number of pressure conditions. The performance measure was endurance time. Six subjects participated in both the experiments. In experiment 3 two types of launch and entry suit gloves were evaluated using a paradigm similar to experiment 1. Currently the data is being analyzed. However for this report some summary analyses have been performed. The results indicate that a) With EVA gloves strength is reduced by nearly 50 percent, b) performance decrements increase with increasing pressure differential, c) TMG effects are not consistent across the three gloves tested, d) some interesting gender glove interactions were observed, some of which may have been due to the extent (or lack of) fit of the glove to the hand, and e) differences in performance exist between partial pressure suit glove and full pressure suit glove, especially in the unpressurized condition.

Bishu, Ram R.