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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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At least 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
NASA NTRS1978

Simple models for the shuttle remote manipulator system

The investigation is aimed at establishing a series of simple models which can be used to study the forces and moments which occur due to the reaction control system (RCS) jet plume firings during a deployment or retrieval of an IUS type payload. The models considered in this investigation are primarily planar in nature. In this study primary attention is given to the roles the payload play in determining the overall moments on the remote manipulator system arm.

Fowler, W. T.↗
NASA NTRS1977

Multi-axis hand controller for the shuttle remote manipulator system

The Shuttle Remote Manipulator System, has a articulated arm of 50 ft. length with six motor-driven joints. The basic purpose is to establish physical contact with various space hardware items and maneuver these to the desired position and attitude with respect to the Orbiter, nulling out relative velocities and stabilizing the free-body system by managing residual energies. The normal operating mode is resolved-motion end-point rate control by man-in-loop command. The translational freedoms are defined so that the End Effector (EEFTR) of the arm will move in planes parallel to the principal translational planes of the Orbiter, at a rate commanded by the displacement of the Translation Hand Controller in the corresponding freedom and direction. The rotational freedoms are rate-controlled by the Rotation Hand Controller about pivot axes parallel to Orbiter roll, pitch and yaw, originating at the EEFTR reference point.

Lippay, A. L.↗
NASA NTRS1979

Payload installation and deployment aid for Space Shuttle Orbiter spacecraft remote manipulator system

An aid concept known as the PIDA (Payload Installation and Deployment Aid) is presented as a way to assist the RMS (Remote Manipulator System) by relaxing the accuracy required during payload handling in the payload bay. The aid concept was designed and developed to move payloads through a prescribed path between the confined quarters of the payload bay and a position outside the critical maneuvering area of the Orbiter. A description of the design requirements and the modes of operation of the various functions of the deployment and the docking mechanisms are covered.

Ross, T. O.↗
NASA NTRS1977

Adaptive supervisory control of remote manipulation

The command language by which an operator exerts supervisory control over a general purpose remote manipulator should be designed to accommodate certain characteristics of human performance if there is to be effective communication between the operator and the machine. Some of the ways in which people formulate tasks, use language, learn and make errors are discussed and design implications are drawn. A general approach to command language design is suggested, based on the notion matching the operator's current task schema or context by appropriate program structures or 'frames' in the machine.

Ferrell, W. R.↗
NASA NTRS1980

Solar maximum mission panel jettison analysis remote manipulator system

A study is presented of the development of the Remote Manipulator System (RMS) configurations for jettison of the solar panels on the Solar Maximum Mission/Multimission Satellite. A valid RMS maneuver between jettison configurations was developed. Arm and longeron loads and effector excursions due to the solar panel jettison were determined to see if they were within acceptable limits. These loads and end effector excursions were analyzed under two RMS modes, servos active in position hold submode, and in the brakes on mode.

Bauer, R. B.↗
NASA NTRS1980

EVA manipulation and assembly of space structure columns

Assembly techniques and hardware configurations used in assembly of the basic tetrahedral cell by A7LB pressure-suited subjects in a neutral bouyancy simulator were studied. Eleven subjects participated in assembly procedures which investigated two types of structural members and two configurations of attachment hardware. The assembly was accomplished through extra-vehicular activity (EVA) only, EVA with simulated manned maneuvering unit (MMU), and EVA with simulated MMU and simulated remote manipulator system (RMS). Assembly times as low as 10.20 minutes per tetrahedron were achieved. Task element data, as well as assembly procedures, are included.

Loughead, T. E.↗
NASA NTRS1979

Robotic manipulator control systems with invariant dynamic characteristics

The paper deals with robotic manipulator control systems with dynamic characteristics. It is shown that using model reference adaptive control techniques makes it possible to develop control algorithms which will maintain uniformly high performance over a wide range of system motions and payloads.

Dubowsky, D.↗
NASA NTRS1979

A forester's look at the application of image manipulation techniques to multitemporal Landsat data

Registered, multitemporal Landsat data of a study area in central Pennsylvania were analyzed to detect and assess changes in the forest canopy resulting from insect defoliation. Images taken July 19, 1976, and June 27, 1977, were chosen specifically to represent forest canopy conditions before and after defoliation, respectively. Several image manipulation and data transformation techniques, developed primarily for estimating agricultural and rangeland standing green biomass, were applied to these data. The applicability of each technique for estimating the severity of forest canopy defoliation was then evaluated. All techniques tested had highly correlated results. In all cases, heavy defoliation was discriminated from healthy forest. Areas of moderate defoliation were confused with healthy forest on northwest (NW) aspects, but were distinct from healthy forest conditions on southeast (SE)-facing slopes.

Williams, D. L.↗
NASA NTRS1980

Computer aided manipulator control

This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.

Bejczy, A. K.↗
NASA NTRS1982

3-D Manipulator for Mass Spectrometer

Small mass-spectrometer specimens are positioned in three dimensions by manipulator that employs two bellows to provide vacuum seal and accommodate movement of specimen holder. Inner bellows and outer bellows accommodate vertical and horizontal motion, respectively. Y-axis movement is in and out of plane of page. Specimen-holder column is hollow so electrical wires can pass through it to specimen.

Cirner, J. C.↗
NASA NTRS1982

Hybrid Position/Force Control of Robot Manipulators

In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.

Raibert, M. H.↗
NASA NTRS1980

Shuttle remote manipulator system hardware test facility

The shuttle remote manipulator (RMS) is designed and built for operations in a zero gravity environment. As such, the ground test facility for the integrated RMS must simulate conditions which support verification of the overall system performance. In order to allow ground test operations, a test facility was constructed with an area of 60 ft. x 120 ft. and extremely tight tolerances on floor flatness and slope. An air bearing support structure was designed for the RMS to operate with 4 degrees of freedom. The RMS system test facility and systems tests conducted to date are described.

Wagner-Bartak, C. G.↗
NASA NTRS1979

Acoustic levitation and manipulation for space applications

A wide spectrum of experiments to be performed in space in a microgravity environment require levitation and manipulation of liquid or molten samples. A novel acoustic method has been developed at JPL for controlling liquid samples without physical contacts. This method utilizes the static pressure generated by three orthogonal acoustic standing waves excited within an enclosure. Furthermore, this method will allow the sample to be rotated and/or oscillated by modifying the phase angles and/or the amplitude of the acoustic field. This technique has been proven both in our laboratory and in a microgravity environment provided by KC-135 flights. Samples placed within our chamber driven at (1,0,0), (0,1,0), and (0,0,1), modes were indeed levitated, rotated, and oscillated.

Wang, T. G.↗
NASA NTRS1981

Supervisory control of remote manipulation: A preliminary evaluation

A system for supervisory control is described, and preliminary results are presented. Supervisory control, where control is traded between man and computer, offers benefits in the control of a remote manipulator. The system has the potential to accomplish sophisticated tasks. It is indicated that supervisory control yields lower task completion times and is preferred over manual control.

Starr, G. P.↗
NASA NTRS1981

The Use of Interactive Raster Graphics in the Display and Manipulation of Multidimensional Data

Techniques for the review, display, and manipulation of multidimensional data are developed and described. Multidimensional data is meant in this context to describe scalar data associated with a three dimensional geometry or otherwise too complex to be well represented by traditional graphs. Raster graphics techniques are used to display a shaded image of a three dimensional geometry. The use of color to represent scalar data associated with the geometries in shaded images is explored. Distinct hues are associated with discrete data ranges, thus emulating the traditional representation of data with isarithms, or lines of constant numerical value. Data ranges are alternatively associated with a continuous spectrum of hues to show subtler data trends. The application of raster graphics techniques to the display of bivariate functions is explored.

Anderson, D. C.↗
NASA NTRS1981

Interactive Digital Image Manipulation System (IDIMS)

The implementation of an interactive digital image manipulation system (IDIMS) is described. The system is run on an HP-3000 Series 3 minicomputer. The IDIMS system provides a complete image geoprocessing capability for raster formatted data in a self-contained system. It is easily installed, documentation is provided, and vendor support is available.

Fleming, M. D.↗
NASA NTRS1982

The design and development of an end effector for the shuttle remote manipulator system

The design requirements, the design, and qualification and development test problems encountered on the Remote Manipulator End Effector are described. The constraints and interfaces with the arm, the Orbiter, and the payload are identified. The design solution to meet the requirements is a unique device that provides a soft-docking feature termed capture and a hard-docking feature termed rigidization.

Daniell, R. G.↗
NASA NTRS1982

Experimental evaluation of the concept of supevisory manipulation

A computer-controlled teleoperator system which is based on task-referenced sensor-aided control has been developed to study supervisory manipulation. This system, called SUPERMAN, is capable of performing complicated tasks in real-time by utilizing the operator for high-level functions related to the unpredictable portions of a task, while the subordinate machine performs the more well-defined subtasks under human supervison. To determine whether supervisory control schemes such as these offer any advantage over manual control under real-time conditions, a number of experiments involving both simple and complicated tasks were performed. Six representative tasks were chosen for the study: (1) obtaining a tool from a rack, (2) returning the tool to the rack, (3) removing a nut, (4) placing samples in a storage bin, (5) opening and closing a valve, and (6) digging with a shovel. The experiments were performed under simulated conditions using four forms of manual control (i.e., switch rate, joystick rate, master-slave position control, and master-slave with force feedback), as well as supervisory control. Through these experiments the effectiveness and quality of control were evaluated on the basis of the time required to complete each portion of the task and the type and number of errors which occurred.

Brooks, T. L.↗