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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 775 records · Page 43
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Feasibility of remotely manipulated welding in space: A step in the development of novel joining technologies

A six month research program entitled Feasibility of Remotely Manipulated Welding in Space - A Step in the Development of Novel Joining Technologies is performed at the Massachusetts Institute of Technology for the Office of Space Science and Applications, NASA, under Contract No. NASW-3740. The work is performed as a part of the Innovative Utilization of the Space Station Program. The final report from M.I.T. was issued in September 1983. This paper presents a summary of the work performed under this contract. The objective of this research program is to initiate research for the development of packaged, remotely controlled welding systems for space construction and repair. The research effort includes the following tasks: (1) identification of probable joining tasks in space; (2) identification of required levels of automation in space welding tasks; (3) development of novel space welding concepts; (4) development of recommended future studies; and (5) preparation of the final report.

Masubuchi, K.↗
NASA NTRS1985

Self-locking telescoping manipulator arm

A telescoping manipulator arm and pivotable finger assembly are disclosed. The telescoping arm assembly includes a generally T-shaped arm having three outwardly extending fingers guided on grooved roller guides to compensate for environmental variations. The pivotable finger assembly includes four pivoting fingers. Arcuate teeth are formed on the ends of the fingers. A rack having teeth on four sides meshes with each one of the fingers. One surface of the rack includes teeth along its entire surface which mesh with teeth of one of the fingers. The teeth at the remote end of the rack engage teeth of a gear wheel. The wheel includes a worm which meshes with a worn drive shaft of the drive motor providing a ninety degree self-locking drive for locking the fingers in a desired position. A similar drive provides a self-locking drive for positioning the telescoping arm.

Nesmith, M. F.↗
NASA NTRS1986

Modified Petri net model sensitivity to workload manipulations

Modified Petri Nets (MPNs) are investigated as a workload modeling tool. The results of an exploratory study of the sensitivity of MPNs to work load manipulations in a dual task are described. Petri nets have been used to represent systems with asynchronous, concurrent and parallel activities (Peterson, 1981). These characteristics led some researchers to suggest the use of Petri nets in workload modeling where concurrent and parallel activities are common. Petri nets are represented by places and transitions. In the workload application, places represent operator activities and transitions represent events. MPNs have been used to formally represent task events and activities of a human operator in a man-machine system. Some descriptive applications demonstrate the usefulness of MPNs in the formal representation of systems. It is the general hypothesis herein that in addition to descriptive applications, MPNs may be useful for workload estimation and prediction. The results are reported of the first of a series of experiments designed to develop and test a MPN system of workload estimation and prediction. This first experiment is a screening test of MPN model general sensitivity to changes in workload. Positive results from this experiment will justify the more complicated analyses and techniques necessary for developing a workload prediction system.

White, S. A.↗
NASA NTRS1986

Active control of robot manipulator compliance

Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

Nguyen, C. C.↗
NASA NTRS1986

Application of model reference adaptive control to a flexible remote manipulator arm

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Meldrum, D. R.↗
NASA NTRS1986

Nonlinear interfaces for acceleration-commanded control of spacecraft and manipulators

Nominal command generation in real time for the control of manipulators or of maneuvering spacecraft is hampered by the nonlinearity of the equations of motion. Likewise the real time tracking of a computed nominal trajectory in the presence of disturbances requires the computation of time-varying Jacobians of the motion. An alternative approach is the formulation of acceleration-commanded control laws in appropriately chosen generalized advantageous to design dedicated circuit interfaces to perform the required transformation. It is also possible to guarantee that actuator and sensor saturation limits are not exceeded, by means of feedback-biased circuits that implement automatic overload limitation of acceleration commands. Recent developments following this 'hardware computation' point of view will be discussed.

Dwyer, T. A. W., III↗
NASA NTRS1984

The Shuttle Remote Manipulator System and its flight tests

The Shuttle Remote Manipulator System (SRMS) has now been flown on seven Space Shuttle Orbiter missions with an eighth mission imminent in June, 1984. This paper describes the design features of the SRMS, a six degree of freedom anthropomorphic man-machine system, and summarizes the results of its Orbital Flight Tests (OFT's) aimed at verifying performance and validating simulation models. In general, behavior and performance of the system has closely followed predictions made by nonreal-time and real-time simulations. Some typical comparisons are presented. Mention is made of operational performance demonstrated on recent flights.

Ravindran, R.↗
NASA NTRS1987

Skin friction measurements following manipulation of a turbulent boundary layer

Results are presented from three experiments in which direct, local measurements of the skin friction reduction due to flat-plate turbulence manipulators for overall viscous drag reduction were obtained. The results suggest that only a very small overall net drag reduction will be possible for such devices at moderate momentum thickness-derived Reynolds number values, since maximum skin friction drag is neither large nor sustained.

Nguyen, V. D.↗
NASA NTRS1986

Control of robot manipulator compliance

Robotic assembly operations such as mating and fastening of parts are more successful if the robot manipulator compliance can be controlled so that various coordinates are free to comply with external constraints. This paper presents the design of a hybrid controller to provide active compliance to a six-degree-of-freedom robot built at NASA/GSFC using force and position feedback. Simulation results of a 2 degree-of-freedom model is presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1987

Adaptive force and position control of manipulators

Systematic methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecture are presented. The force controller tracks the desired force setpoints while the position controller tracks the desired position trajectories. The present control schemes are computationally efficient and suitable for implementation in online control with high sampling rates.

Seraji, H.↗
NASA NTRS1988

Minimum-Time Control For Robotic Manipulators

Current theories examined critically. Report surveys state of art in theory of minimum-time control of robotic manipulators. Discusses some of the promising developments, pointing out, however, optimal-control problem in full generality remains unsolved. Compares various solution methods, indicating merits and flaws.

Wen, John T.↗
NASA NTRS1988

Minimum-Time Control For Robotic Manipulators

Existence theorem proved for nonlinear systems. Report discusses mathematical requirements for existence of solution to minimum-time control problem for robotic manipulator that obeys nonlinear equations of motion.

Wen, John T.↗
NASA NTRS1988

Manipulator For A Vacuum Chamber

Rotary seal provides for external actuators. Positioner in vacuum employs four actuators; up/down, horizontal rotary, horizontal, and vertical rotary. External up/down and azimuthal actuators drives shaft entering vacuum chamber through sliding and rotating seal. Placement of actuator motors outside vacuum chamber reduces heat-removal load on system. Atop 2.5-cm-diameter shaft is stage supporting masses as great as 15 kg. Small motors on stage provide horizontal translation and rotation in vertical plane. Manipulator developed for calibrating plasma detectors by subjecting them to particle beams in vacuum. Standard, commercially available parts used.

Hunsaker, F.↗
NASA NTRS1987

Trajectory control of robot manipulators with closed-kinematic chain mechanism

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

Nguyen, Charles C.↗
NASA NTRS1988

Cartesian path control of a two-degree-of-freedom robot manipulator

The problem of cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator with possible space station applications is considered. The study was performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. Excellent tracking quality and small overshoots are also evident.

Nguyen, Charles C.↗
NASA NTRS1987

Changes in the turbulent boundary layer structure associated with net drag reduction by outer layer manipulators

A specially designed wind tunnel was used to examine the effects of tandemly arranged parallel plate manipulators (TAPPMs) on a turbulent boundary-layer structure and the associated drag. Momentum balances, as well as measurements of the local shear stress from the velocity gradient near the wall, were used to obtain the net drag and local skin friction changes. Two TAPPMs, identical except for the thickness of their plates, were used in the study. Results with .003 inch plates were a maximum net drag reduction of 10 percent at 58 beta sub o (using a momentum balance). At 20 beta sub o, simultaneous laser sheet flow visualization and hot-wire anemometry data showed that the Reynolds stress in the large eddies was significantly reduced, as were the streamwise and normal velocity components. Using space-time correlations the reductions were again identified. Furthermore, quantitative flow visualization showed that the outward normal velocity of the inner region was also significantly decreased in the region around 20 beta sub o. However, throughout the first 130 beta sub o, the measured sublayer thickness with the TAPPMs in place was 15 to 20 percent greater. The data showed that the skin friction, as well as the structure of the turbulence, was strongly modified in the first 35 beta sub o, but that they both significantly relaxed toward unmanipulated boundary layer values by 50 beta sub o.

Rashidnia, N.↗
NASA NTRS1988

Microgravity manipulator demonstration

A test rig is being developed that will be used to demonstrate and evaluate approaches to limiting manipulator base reactions in microgravity environments. The demonstration will include a 4-degrees-of-freedom arm, control computing facilities, and a base reaction measurement system.

Brush, Andrew S.↗
NASA NTRS1988

Accurate positioning of long, flexible ARM's (Articulated Robotic Manipulator)

An articulated robotic manipulator (ARM) system is being designed for space applications. Work being done on a concept utilizing an infinitely stiff laser beam for position reference is summarized. The laser beam is projected along the segments of the ARM, and the position is sensed by the beam rider modules (BRM) mounted on the distal ends of the segments. The BRM concept is the heart of the system. It utilizes a combination of lateral displacements and rotational and distance measurement sensors. These determine the relative position of the two ends of the segments with respect to each other in six degrees of freedom. The BRM measurement devices contain microprocessor controlled data acquisition and active positioning components. An indirect adaptive controller is used to accurately control the position of the ARM.

Malachowski, Michael J.↗