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NASA NTRS1992

Analysis and experimental evaluation of a Stewart platform-based force/torque sensor

The kinematic analysis and experimentation of a force/torque sensor whose design is based on the mechanism of the Stewart Platform are discussed. Besides being used for measurement of forces/torques, the sensor also serves as a compliant platform which provides passive compliance during a robotic assembly task. It consists of two platforms, the upper compliant platform (UCP) and the lower compliant platform (LCP), coupled together through six spring-loaded pistons whose length variations are measured by six linear voltage differential transformers (LVDT) mounted along the pistons. Solutions to the forward and inverse kinematics of the force sensor are derived. Based on the known spring constant and the piston length changes, forces/torques applied to the LCP gripper are computed using vector algebra. Results of experiments conducted to evaluate the sensing capability of the force sensor are reported and discussed.

Nguyen, Charles C.↗

NASA NTRS1991

Generic Techniques for the Calibration of Robots with Application of the 3-D Fixtures and Statistical Technique on the PUMA 500 and ARID Robots

A relatively simple, inexpensive, and generic technique that could be used in both laboratories and some operation site environments is introduced at the Robotics Applications and Development Laboratory (RADL) at Kennedy Space Center (KSC). In addition, this report gives a detailed explanation of the set up procedure, data collection, and analysis using this new technique that was developed at the State University of New York at Farmingdale. The technique was used to evaluate the repeatability, accuracy, and overshoot of the Unimate Industrial Robot, PUMA 500. The data were statistically analyzed to provide an insight into the performance of the systems and components of the robot. Also, the same technique was used to check the forward kinematics against the inverse kinematics of RADL's PUMA robot. Recommendations were made for RADL to use this technique for laboratory calibration of the currently existing robots such as the ASEA, high speed controller, Automated Radiator Inspection Device (ARID) etc. Also, recommendations were made to develop and establish other calibration techniques that will be more suitable for site calibration environment and robot certification.

Tawfik, Hazem↗

NASA NTRS1992

Development of a precision, six-axis laboratory dynamometer

This paper describes the design, fabrication, test, and operation of a unique six axis force/torque dynamometer The specimen table used to hold components under test is supported in a full six axis kinematic mount. Support struts fabricated from high strength steel with special integral two axis flexures link the specimen table to the load cell transducers. Realtime force/torque coordinate transform, root mean squared calculation, and data averaging, and color six axis display with controllable scaling are provided by a specially programmed desktop computer. The extensive structural analysis and design optimization required to obtain a stiff, well damped, lightweight structure is described in detail. Geometric optimization of the kinematic mount and fabrication details of the struts are also described.

P. J. Champagne↗

NASA NTRS1991

Self adaptive solution strategies: Locally bound constrained Newton Raphson solution algorithms

A summary is given of strategies which enable the automatic adjustment of the constraint surfaces recently used to extend the range and numerical stability/efficiency of nonlinear finite element equation solvers. In addition to handling kinematic and material induced nonlinearity, both pre-and postbuckling behavior can be treated. The scheme employs localized bounds on various hierarchical partitions of the field variables. These are used to resize, shape, and orient the global constraint surface, thereby enabling essentially automatic load/deflection incrementation. Due to the generality of the approach taken, it can be implemented in conjunction with the constraints of an arbitrary functional type. To benchmark the method, several numerical experiments are presented. These include problems involving kinematic and material nonlinearity, as well as pre- and postbuckling characteristics. Also included is a list of papers published in the course of the work.

Padovan, Joe↗

NASA NTRS1990

Dual redundant arm system operational quality measures and their applications - Dynamic measures

Dual-arm dynamic operation quality measures are presented which quantify the efficiency and capability of generating Cartesian accelerations by two cooperative arms based on the analysis of dual-arm dynamic interactions. Dual-arm dynamic manipulability is defined as the efficiency of generating Cartesian accelerations under the dynamic and kinematic interactions between individual arms and an object under manipulation. The analysis of dual-arm dynamic interactions is based on the so-called Cartesian space agent model of an arm, which represents an individual arm as a force source acting upon a point mass with the effective Cartesian space arm dynamics and an environment or an object under manipulation. The Cartesian space agent model of an arm makes it possible to derive the dynamic and kinematic constraints involved in the transport, assembly and grasping modes of dual-arm cooperation. A task-oriented operational quality measure, (TOQd) is defined by evaluating dual-arm dynamic manipulability in terms of given task requirements. TOQd is used in dual-arm joint configuration optimization. Simulation results are shown. A complete set of forward dynamic equations for a dual-arm system is derived, and dual-arm dynamic operational quality measures for various modes of dual-arm cooperation allowing sliding contacts are established.

Lee, Sukhan↗

NASA NTRS1990

Indexing system for optical beam steering

This paper describes the design and testing of an indexing system for optical-beam steering. The cryogenic beam-steering mechanism is a 360-degree rotation device capable of discrete, high-precision alignment positions. It uses low-precision components for its rough alignment and kinematic design to meet its stringent repeatability and stability requirements (of about 5 arcsec). The principal advantages of this design include a decoupling of the low-precision, large angular motion from the high-precision alignment, and a power-off alignment position that potentially extends the life or hold time of cryogenic systems. An alternate design, which takes advantage of these attributes while reducing overall motion, is also presented. Preliminary test results show the kinematic mount capable of sub-arc second repeatability.

Sullivan, Mark T.↗

NASA NTRS1990

Design of a compliant passive magnetic bearing for use in SIRTF's Tertiary Mirror Assembly

A proposed baseline design for the Space Infrared Telescope Facility includes a Tertiary Mirror Assembly (TMA) which selectively redirects the telescope's converging science beam to each of several instruments. The TMA's mirror rotates on an axis coincident with the beam's axis, and is held steady during observation by a kinematic mount. A bearing has been designed whose compliance causes minimal interference with the precision of the kinematic mount, and which is well suited to the particular requirements of a cryogenic satellite such as SIRTF. The bearing suspends its rotor by taking advantage of the repulsion between a superconductor and a magnet. It potentially eliminates problems associated with mechanical bearings that arise in similar applications, such as lubricant loss or failure, bearing wear, and sensitivity to particulates, and does so without imposing the thermal load of a bearing heater or active magnetic bearing. The bearing shows promise of offering an alternative to ball bearings in cryogenic applications where some compliance is acceptable or advantageous.

Cannon, David M.↗

NASA NTRS1992

Study of explosive and nonexplosive cyclogenesis during FGGE

Explosive cyclogenesis during the winter of the First Global GARP Experiment (January-February 1979) is analyzed using the revised European Centre for Medium Range Weather Forecasts (ECMWF) analyses. Explosive cyclogenesis is defined as a decrease in the sea level pressure at the rate of 1 mb/h for at least 12 h. Diagnostics for 23 explosively developing cases and 16 nonexplosive cases are evaluated. Parameters compared include the dry static stability, low-level relative vorticity, vorticity advection, upper-level divergence, and kinematic vertical velocities. These parameters are compared statistically at the initial, 12-, and 24-h time periods. Parameters for which the explosive and nonexplosive cyclone ensembles were statistically separable are the kinematic vertical velocity and the upper-level divergence and vorticity advection. The strong upper-level processes for the explosive cases at the initial time indicate the importance of upper-tropospheric features in producing the stronger vertical motions and more rapid cyclogenesis.

Wash, Carlyle H.↗

NASA NTRS1991

On the nature of control algorithms for free-floating space manipulators

It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.

Papadopoulos, Evangelos↗

NASA NTRS1992

Spectroscopy of emission-line nebulae in powerful radio galaxies - Interpretation

Long-slit optical spectra of the emission-line nebulae associated with 21 low-redshift (less than 0.2) radio galaxies are analyzed. Nebulae are classified kinematically into three types: rotators, calm nonrotators, and violent nonrotators; these types are characterized. It is proposed that the rotators have dynamically young disks of gas recently acquired by the radio galaxy in an interaction or merger with a gas-rich galaxy. This is consistent with the data on the morphologies, colors, and stellar dynamics of radio galaxies with strong emission lines. It is inferred from the association of the large-scale gas kinematics with the radio and optical properties of an active galaxy that the angular momentum of the gas which fuels the AGN may be an important parameter in the determinant of how activity is manifest in an AGN.

Baum, S. A.↗

NASA NTRS1992

Neural joint control for Space Shuttle Remote Manipulator System

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Atkins, Mark A.↗

NASA NTRS1992

Stability and 3-D spatial dynamics analysis of a three cable crane

A 3-cable crane mechanism has been designed for incorporation into a highly loaded Lunar crane for planetary construction. This 3-cable crane must maintain a positive stability margin in all phases of the loading/unloading, assembly, or installation operations. A 2D kinematic curvature theory is applied to: (1) derive a general stability criterion to prevent the 3-cable crane from instability; and (2) determine a simple equation of natural frequency for two planar models of 3-cable crane. Investigation of the 2D vibrational characteristics of the planar models provides valuable insight toward understanding of 3D dynamic behavior of the 3-cable crane. Also, precision in natural frequency from this simple kinematic equation due to the exclusion of the radius-of-gyration of a suspended article is discussed. Multibody dynamics of the 3D 3-cable crane is presented and simulated to study the resulting vibrational characteristics under external disturbances and to verify the feasibility of the stability criterion for the 3-cable crane.

Yang, Li-Farn↗

NASA NTRS1992

Parallel computation of geometry control in adaptive truss structures

The fast computation of geometry control in adaptive truss structures involves two distinct parts: the efficient integration of the inverse kinematic differential equations that govern the geometry control and the fast computation of the Jacobian, which appears on the right-hand-side of the inverse kinematic equations. This paper present an efficient parallel implementation of the Jacobian computation on an MIMD machine. Large speedup from the parallel implementation is obtained, which reduces the Jacobian computation to an O(M-squared/n) procedure on an n-processor machine, where M is the number of members in the adaptive truss. The parallel algorithm given here is a good candidate for on-line geometry control of adaptive structures using attached processors.

Ramesh, A. V.↗

NASA NTRS1992

Fuzzy logic control of telerobot manipulators

Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

Franke, Ernest A.↗

NASA NTRS1991

Spaceborne centrifugal relays for spacecraft propulsion

Acceleration using centrifugal relays is a recently discovered method for the acceleration of spaceborne payloads to high velocity at high thrust. Centrifugal relays are moving rotors which progressively accelerate reaction mass to higher velocities. One important engineering problem consists of accurately tracking the position of the projectiles and rotors and guiding each projectile exactly onto the appropriate guide tracks on each rotor. The topics of this research are the system kinematics and dynamics and the computerized guidance system which will allow the projectile to approach each rotor with exact timing with respect to the rotor rotation period and with very small errors in lateral positions. Kinematics studies include analysis of rotor and projectile positions versus time and projectile/rotor interactions. Guidance studies include a detailed description of the tracking mechanism (interrupt of optical beams) and the aiming mechanism (electromagnetic focusing) including the design of electromagnetic deflection coils and the switching circuitry.

Ouzidane, Malika↗

NASA NTRS1993

A new observational and numerical study of tidal interactions in M81-M82-NGC3077 system

A nearby system of interacting galaxies M81-M82-NGC3077 triplet (D = 3.3 Mpc; Freeman & Madore 1988) has been studied using multi-wavelength observations and numerical simulations to obtain a comprehensive understanding on the dynamics and the consequences of tidal interactions in a group environment. The VLA 12-field Mosaic H I observations of 2 x 1.5 deg. region have revealed a vast array of H I filaments which suggests that the severity and extent of tidal disruptions far exceed the previous estimates. A tidal remnant of the former H I disk of M82 extending up to 30 kpc (in projection) is identified for the first time, and the pervasive effects of the tidal disruption are traced into the inner disk by optical and CO observations, including a kinematic trace of a large scale bar potential (Yun, Ho, & Lo 1992). The H I disk of M81 is traced out to 40 kpc in radius, and a large scale (l approx. 20 kpc) velocity anomaly ('High Velocity Trough'), which may be a remnant of a gaseous collision, is found within the disk of M81. The large H I bridge between M81 and NGC 3077 (van der Hulst 1979) is also found to extend approx. greater than 50 kpc further, bending around NGC 3077, toward M82. The total H I detected in this experiment, 5.6 x 10(exp 9) solar mass, represents the majority of the single-dish flux (Appleton, Davies, & Stephenson 1981) and suggests that the bulk of H I found in the region belongs to the three galaxies and the tidal filaments. The impact and details of the tidal interactions have been further examined through the use of numerical techniques. The 'restricted 3-body' approach was used to simulate the observed distribution of tidal H I streamers connecting the three galaxies, and the success of the simulation is further strengthened by the accurate predictions on the gas kinematics.

Yun, M. S.↗

NASA NTRS1993

The effects of flaring in H1 on the observed velocity field of spirals

This work is part of a larger project in which we want to determine the shapes of dark halos around spiral galaxies. Rotation curves 'probe' the halos in the radial direction. The derived halo mass distributions are badly constrained. The local halo densities fully determine the width of the gas distribution once the gaseous velocity dispersion is known. There where the dark halo dominates, the Full Width at Half Maximum (FWHM) of the gas layer is proportional to (rho(sub halo))(exp -0.5). Therefore, measuring the width of the gas layer probes the halo density directly. In a dark halo dominated potential, the FWHM of the gas layer increases linearly with radius. This increase of the thickness of the gas layer is known as 'flaring'. Flaring has been found inside the stellar disk. Beyond the edge of the stellar disk, the analysis is hampered by the onset of the warp. Since the galaxy we are studying, NGC 4244, has no significant warp we hope to extend Rupen's analysis into the halo dominated regime. The usual method to derive a rotation curve from an observed 2-dimensional velocity field is to assume that the hydrogen is distributed in infinitely thin rings. For a flaring disk, any line of sight samples many different parts of the galaxy, all having different densities and projected velocities. In order to fully exploit the information contained in the gas distribution, we have to understand the effects of flaring on the observables (the spectrum for each point of the galaxy). We have investigated the effects of a flaring disk on the observed velocity field. It is obvious that the largest (kinematical) effects are to be expected for low density dark halos at large inclinations. For low mass galaxies we expect that the flaring of the H1 layer will have a major effect on the observed kinematics. For galaxy with intermediate V(sub max,halo) seen at intermediate inclinations, one overestimates Vsin(i) typically by a few percent. For more massive galaxies, any effects arising from the flaring H1 layer are minuscule unless the inclination is not too far from 90 deg.

Olling, Rob↗

NASA NTRS1992

Radio continuum and radio recombination line observations of Sagittarius B1 and G0.6-0.0

Continuum emission and H110-alpha recombination line emission from Sgr B1 and G0.6-0.0 have been observed using the VLA. It is shown that Sgr B1 is a region of great complexity, both spatially and kinematically. The continuum observations show that this region is dominated by many extended features rather than compact sources. On the other hand, Sgr B2 is dominated by several ultracompact H II regions. The two regions may be in different stages of evolution, with Sgr B1 being older, perhaps by as much as 0 exp 6 yrs. The recombination line study shows that Sgr B1 is composed of two distinct kinematic regions, a simple western one and a more complex eastern one. G0.6-0.0 is a region composed of at least four ultracompact H II regions that is situated between Sgr B1 and Sgr B2. There is an arc of ionized gas that lies to the east and to the south of these compact regions. The velocity of G0.6-0.0 is intermediate between those of Sgr B1 and Sgr B2. These facts strengthen the argument that these regions are physically associated.

Mehringer, David M.↗