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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Numerical analysis of right-half plane zeros for a single-link manipulator

The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

Girvin, Douglas Lynn↗
NASA NTRS1991

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Lee, Jeh Won↗
NASA NTRS1994

Spatial-Operator Algebra For Flexible-Link Manipulators

Method of computing dynamics of multiple-flexible-link robotic manipulators based on spatial-operator algebra, which originally applied to rigid-link manipulators. Aspects of spatial-operator-algebra approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). In extension of spatial-operator algebra to manipulators with flexible links, each link represented by finite-element model: mass of flexible link apportioned among smaller, lumped-mass rigid bodies, coupling of motions expressed in terms of vibrational modes. This leads to operator expression for modal-mass matrix of link.

Jain, Abhinandan↗
NASA NTRS1993

Data link air traffic control and flight deck environments: Experiment in flight crew performance

This report describes an experiment undertaken in a full mission simulation environment to investigate the performance impact of, and human/system response to, data-linked Air Traffic Control (ATC) and automated flight deck operations. Subjects were twenty pilots (ten crews) from a major United States air carrier. Crews flew the Advanced Concepts Flight Simulator (ACFS), a generic 'glass cockpit' simulator at NASA Ames. The method of data link used was similar to the data link implementation plans for a next-generation aircraft, and included the capability to review ATC messages and directly enter ATC clearance information into the aircraft systems. Each crew flew experimental scenarios, in which data reflecting communication timing, errors and clarifications, and procedures were collected. Results for errors and clarifications revealed an interaction between communication modality (voice v. data link) and communication type (air/ground v. intracrew). Results also revealed that voice crews initiated ATC contact significantly more than data link crews. It was also found that data link crews performed significantly more extraneous activities during the communication task than voice crews. Descriptive data from the use of the review menu indicate the pilot-not-flying accessing the review menu most often, and also suggest diffulty in accessing the target message within the review menu structure. The overall impact of communication modality upon air/ground communication and crew procedures is discussed.

Lozito, Sandy↗
NASA NTRS1999

Mars Global Surveyor Ka-Band Link Experiment Results

This paper presents The Mars Global Surveyor Ka-Band Link Experimental Results in viewgraph form. Topics include: 1) Deep Space Ka-band Link Advantage; 2) Deep Space Ka-band Telecommunications; 3) Mars Global Surveyor (MGS) Signal Levels and Ka-band Top for Clear Weather Pass; 4) MGS Signal Levels and Ka-band Top for Rainy Weather Pass; 5) MGS Ka-band to X-band Link Advantage; and 6) Conclusion. A 6 to 8 dB link advantage can be realized by using Ka band (32 GHz) as a telecommunications link frequency in place of X-band (8.4 GHz). This link advantage was demonstrated using two years worth of Mars Global Surveyor simultaneous Ka/X data after correcting for known equipment deficiencies.

Morabito, David↗
NASA NTRS2000

Cross-Linking Studies of Lysozyme Nucleation

Tetragonal chicken egg white crystals consist of 4(sub 3) helices running in alternating directions, the helix rows having a two fold symmetry with each other. The unit cell consists of one complete tetrameric turn from each of two adjacent helices (an octamer). PBC analysis indicates that the helix intermolecular bonds are the strongest in the crystal, therefore likely formed first. AFM analysis of the (110) surface shows only complete helices, no half steps or bisected helices being found, while AFM line scans to measure the growth step increments show that they are multiples of the 4(sub 3) helix tetramer dimensions. This supports our thesis that the growth units are in fact multiples of the four molecule 4(sub 3) helix unit, the "average" growth unit size for the (110) face being an octamer (two turns about the helix) and the (101) growth unit averaging about the size of a hexamer. In an effort to better understand the species involved in the crystal nucleation and growth process, we have initiated an experimental program to study the species formed in solution compared to what is found in the crystal through covalent cross-linking studies. These experiments use the heterobifunctional cross-linking agent aminoethyl-4-azidonitroanaline (AEANA). An aliphatic amine at one end is covalently attached to the protein by a carbodiimide-mediated reaction, and a photo reactive group at the other can be used to initiate crosslinking. Modifications to the parent structure can be used to alter the distance between the two reactive groups and thus the cross-linking agents "reach". In practice, the cross-linking agent is first coupled to the asp101 side chain through the amine group. Asp101 lies within the active site cleft, and previous work with fluorescent probes had shown that derivatives at this site still crystallize in the tetragonal space group. This was also found to be the case with the AEANA derivative, which gave red tetragonal crystals. The protein now has a reactive group that can be photoactivated at a specific point in the nucleation or crystal growth process to "capture" protein molecules bound within reach of the crosslinking agent. If those bound protein molecules have a defined geometric relationship with the capturing molecule, such as would be found in a crystal, then the photoreacted cross-linking site should be consistent. Random protein interactions, typical of an amorphous precipitate or interaction, would show a random cross-linking reaction. The results of these and other experiments will be presented.

Forsythe, Elizabeth↗
NASA NTRS1999

Performance Benefits with Scene-Linked HUD Symbology: An Attentional Phenomenon?

Previous research has shown that in a simulated flight task, navigating a path defined by ground markers while maintaining a target altitude is more accurate when an altitude indicator appears in a virtual "scenelinked" format (projected symbology moving as if it were part of the out-the-window environment) compared to the fixed-location, superimposed format found on present-day HUDs (Foyle, McCann & Shelden, 1995). One explanation of the scene-linked performance advantage is that attention can be divided between scene-linked symbology and the outside world more efficiently than between standard (fixed-position) HUD symbology and the outside world. The present study tested two alternative explanations by manipulating the location of the scene-linked HUD symbology relative to the ground path markers. Scene-linked symbology yielded better ground path-following performance than standard fixed-location superimposed symbology regardless of whether the scene-linked symbology appeared directly along the ground path or at various distances off the path. The results support the explanation that the performance benefits found with scene-linked symbology are attentional.

Levy, Jonathan L.↗
NASA NTRS2001

Flight Deck Data Link Displays: An Evaluation of Textual and Graphical Implementations

In Experiment 1, 16 pilots participated in a part-task simulation study that evaluated pilot data link communication for short and long message types and for two textual formats. No differences were found between the two textual formats when evaluating data link transaction times and pilot performance on a secondary task. Pilots initiated flight changes more quickly with the T-Scan format, where location of clearance information roughly corresponded to the cockpit instrument layout. Longer messages were less problematic than two short messages sent in close succession as pilots required more verbal clarification for closely spaced messages. 24 pilots participated in a second experiment that evaluated pilot communication performance for textual data link, two implementations of graphical data link, and a combined graphical and textual information modality. The two modalities incorporating text resulted in significantly faster transaction times and better performance on the secondary task than the two graphical-only implementations. The interval between messages was also more systematically varied in Experiment 2, and a short interval between messages significantly increased the access time for the second message. This delay in access was long enough to increase significantly the total transaction time of the second message, and this effect was exaggerated for the graphical-only implementations. Time to view the message before acknowledgement and time to initiate flight changes were not affected by the interval manipulation, This suggests that pilots adopt a sequential message handling strategy, and presenting messages closely in succession may present operational problems in a data link Air Traffic Control (ATC) environment. The results of this study also indicate that the perceived importance of message content is currently a crucial element in pilot data link communication.

McGann, Alison↗
NASA NTRS2004

Forward and Backscattering Measurements of Rainfall using the NASA Microwave Link

This paper will present results from a study on the feasibility of making backscatter measurements from rainfall with the NASA/Microwave Link system at Wallops Island, VA. The study entails the implementation of an FMCW radar at the Link frequencies to enable simultaneous forward and backscatter measurements from rain. The Microwave Link system has been successfully employed in the development and testing of rainfall retrieval techniques. As presently configured, the Microwave Link measures attenuation and phase-shift due to rain over a 2.3 km path between the transmitting and receiving antennas. By their very nature, these measured quantities are averaged over the propagation path. As a result, the rainfall estimates obtained from the Link data are also averaged over the propagation path. However, rainfall is a highly variable process in space (as well as time). In order to gain a more detailed knowledge of its microphysics finer spatial resolutions are required. The backscatter measurements would enable range profiling over the Link path permitting a detailed study of the rainfall process. The backscatter measurements will be used in conjunction with the forward measurements and the measurements from a ground-based network of disdrometers and rain gauges located under the propagation path to develop new microwave retrieval techniques, and to test established single-frequency and dual-frequency radar retrieval algorithms relevant to the ongoing TRMM and up coming GPM missions.

Rincon, Rafael F.↗
NASA NTRS1991

Collagen telopeptides (cross-linking sites) play a role in collagen gel lattice contraction

Solubilized interstitial collagens will form a fibrillar, gel-like lattice when brought to physiologic conditions. In the presence of human dermal fibroblasts the collagen lattice will contract. The rate of contraction can be determined by computer-assisted planemetry. The mechanisms involved in contraction are as yet unknown. Using this system it was found that the rate of contraction was markedly decreased when collagen lacking telopeptides was substituted for native collagen. Histidinohydroxylysinonorleucine (HHL) is a major stable trifunctional collagen cross-link in mature skin that involves a carboxyl terminal, telopeptide site 16c, the sixteenth amino acid residue from the carboxy terminal of the telopeptide region of alpha 1 (I) in type I collagen. Little, if any, HHL was present in native, purified, reconstituted, soluble collagen fibrils from 1% acetic acid-extracted 2-year-old bovine skin. In contrast, HHL cross-links were present (0.22 moles of cross-link per mole of collagen) in lattices of the same collagen contracted by fibroblasts. However, rat tail tendon does not contain HHL cross-links, and collagen lattices made of rat tail tendon collagen are capable of contraction. This suggests that telopeptide sites, and not mature HHL cross-links per se, are essential for fibroblasts to contract collagen lattices. Beta-aminopropionitrile fumarate (BAPN), a potent lathyrogen that perturbs collagen cross-linking by inhibition of lysyl oxidase, also inhibited the rate of lattice cell contraction in lattices composed of native collagen. However, the concentrations of BAPN that were necessary to inhibit the contraction of collagen lattices also inhibited fibroblast growth suggestive of cellular toxicity. In accordance with other studies, we found no inhibition of the rate of lattice contraction when fibronectin-depleted serum was used. Electron microscopy of contracted gels revealed typical collagen fibers with a characteristic axial periodicity. The data provide evidence that collagen telopeptide sites play a role in collagen gel lattice contraction.

Non-NASA Center↗
NASA NTRS2007

Program Analyzes Spacecraft/Ground Radio Links

A versatile computer program analyzes the link-design control table necessary for designing the telecommunication subsystem of a spacecraft in orbit around the Earth or on a deep-space mission. The program helps to calculate all the important parameter values for spacecraft-to-ground telemetry links and ground-to-spacecraft command links. The program also enables the design of turn-around ranging and one-way ranging links, which are very useful for determining the positions of spacecraft and for satisfying various other operational needs. The user can specify several aspects of spacecraft telecommunication-subsystem design, including the nature of the antenna (paraboloidal reflector, patch, dipole, etc.), the power-amplifier rating, and the link data rate. The program enables the use of comparative design procedures and includes an extensive database on the capabilities, attributes, and costs of commercially available telecommunications equipment. Hence, the program can also perform cost analyses. The software includes an extensive ground-station database, so that link design can be carried out using different ground stations in a comparative process in an effort to select the best design. The output of the program is in the form of graphs as well as numbers.

Lansing, Faiza↗
NASA NTRS2005

Highly Reliable, High-Speed, Unidirectional Serial Data Links

Highly reliable, high-speed, unidirectional serial data-communication subsystems have been proposed to be installed in an upgrade of the computing systems aboard the space shuttles. The basic design concept of these serial data links is also adaptable to terrestrial use in applications in which there are requirements for highly reliable serial data communications. The hardware and software aspects of the architecture of the data links are dictated largely by a requirement, in the original space-shuttle application, for one computer to monitor the memory transactions and memory contents of other computers in real time with high reliability and without reliance on requests for retransmission. To minimize weight while affording a capability to transfer data at a required rate of 2.56 x 10(exp 8) bits per second, it was decided that the links would be serial ones of the fiber-channel type. [Fiber channel denotes a type of serial computer bus that is used to connect a computer (usually a supercomputer) with a high-speed data storage device. Depending on the specific application, the physical connection between the transmitter and receiver could be made via an optical fiber or a twisted pair of wires.] Heretofore, fiber-channel links have ordinarily been bidirectional and have operated under protocols that provide for receiving stations to detect errors and request retransmission when necessary. In the present case, the time taken by processing to request retransmission would conflict with the requirement for real-time transfer of data. To ensure reliability without retransmission, a link according to the proposal would utilize a modified version of the normal fiberchannel character set in conjunction with forward error correction by means of a Reed-Solomon code (see figure). The Reed-Solomon encoding and decoding and the translations between the normal and modified character sets would be effected by logic circuitry external to the fiber-channel transmitter and receiver, which would be commercial off-the-shelf units. The receiving end of the link could detect and correct errors at a rate as high as 4 million times per second, if necessary. The receiver detects uncorrectable double-byte errors. It has been estimated that uncorrectable-error rate would amount to one failure in about 10(exp 19) characters.

Cole, Robert M.↗
NASA NTRS2012

Control and Non-Payload Communications Links for Integrated Unmanned Aircraft Operations

Technology for unmanned aircraft has advanced so rapidly in recent years that many new applications to public and commercial use are being proposed and implemented. In many countries, emphasis is now being placed on developing the means to allow unmanned aircraft to operate within non-segregated airspace along with commercial, cargo and other piloted and passenger-carrying aircraft.In the U.S., Congress has mandated that the Federal Aviation Administration reduce and remove restrictions on unmanned aircraft operations in a relatively short time frame. To accomplish this, a number of technical and regulatory hurdles must be overcome. A key hurdle involve the communications link connecting the remote pilot located at a ground control station with the aircraft in the airspace, referred to as the Control and Non-Payload Communications (CNPC) link. This link represents a safety critical communications link, and thus requires dedicated and protected aviation spectrum as well as national and international standards defining the operational requirements the CNPC system. The CNPC link must provide line-of-site (LOS) communications, primarily through a ground-based communication system, and beyond-line-of-sight (BLOS) communication achieved using satellite communications. In the U.S., the National Aeronautics and Space Administration (NASA) is charged with providing the technical body of evidence to support spectrum allocation requirements and national and international standards development for the CNPC link. This paper provides a description of the CNPC system, an overview of NASA's CNPC project, and current results in technology assessment, air-ground propagation characterization, and supporting system studies and analyses will be presented.

Kerczewski, Robert J.↗
NASA NTRS2018

Project Link!: Dynamics and Control of In-Flight Wing Tip Docking

Project Link! is a NASA-led effort to study the feasibility of multi-aircraft aerial docking systems. In these systems, a group of vehicles physically link to each other during flight to form a larger ensemble vehicle with increased aerodynamic performance and mission utility. This paper presents a dynamic model and control architecture for a system of fixed-wing vehicles with this capability. The dynamic model consists of the 6 degree-of-freedom fixed-wing aircraft equations of motion, a spring-damper-magnet system to represent the linkage force between constituent vehicles, and the NASA-Burnham-Hallock wingtip vortex model to represent the close-proximity aerodynamic interactions between constituents before the linking occurs. The control architecture consists of a guidance algorithm to autonomously drive the constituents towards their linking partners and an inner-loop angular rate controller. A simulation was constructed from the model, and the flight dynamic modes of the linked system were compared to the individual vehicles. Simulation results for both before and after linking are presented.

Cooper, John R.↗
NASA NTRS2018

Lunar Relay Coverage Analysis for RF and Optical Links

This paper describes our effort in searching different lunar relay architectures and assessing their coverage performance and other pros and cons for RF and optical links. Regarding RF links, we considered three notional lunar relay architectures, all communicating with the three sites of the Deep Space Network (DSN): Goldstone, California; Canberra, Australia; and Madrid, Spain: 1) A constellation of three relay orbiters: two at the Polar frozen elliptical orbits, and one at an equatorial circular orbit. 2) One relay orbiter in a 74-day Lissajous orbit at Earth-Moon Lagrange Point L2. 3) One relay orbiter in a 14-day Lunar distance retrograde orbit. Regarding optical link, we considered a notional multi-hop relay architecture that consists of one relay orbiter in a 74-day Lissajous orbit at Earth-Moon L2 (as in architecture #2 in the RF case), three Near-Earth relay satellites in geosynchronous orbit at longitudes 187° E, 110° E, and 347° E, and three ground stations at White Sands (US), Guam (US), and Tenerife (Spain). We introduce the additional constraints of Sun-“Earth”Probe (SEP) angle for return links, and Sun-Probe-“Earth” (SPE) angle for forward links. SPE and SPE angles determine the amount of sunlight (noise) that goes into the detector of the telescope, thus affecting the capacity of an optical link.

Lee, Charles↗
NASA NTRS2001

Spectroscopic characterization of collagen cross-links in bone

Collagen is the most abundant protein of the organic matrix in mineralizing tissues. One of its most critical properties is its cross-linking pattern. The intermolecular cross-linking provides the fibrillar matrices with mechanical properties such as tensile strength and viscoelasticity. In this study, Fourier transform infrared (FTIR) spectroscopy and FTIR imaging (FTIRI) analyses were performed in a series of biochemically characterized samples including purified collagen cross-linked peptides, demineralized bovine bone collagen from animals of different ages, collagen from vitamin B6-deficient chick homogenized bone and their age- and sex-matched controls, and histologically stained thin sections from normal human iliac crest biopsy specimens. One region of the FTIR spectrum of particular interest (the amide I spectral region) was resolved into its underlying components. Of these components, the relative percent area ratio of two subbands at approximately 1660 cm(-1) and approximately 1690 cm(-1) was related to collagen cross-links that are abundant in mineralized tissues (i.e., pyridinoline [Pyr] and dehydrodihydroxylysinonorleucine [deH-DHLNL]). This study shows that it is feasible to monitor Pyr and DHLNL collagen cross-links spatial distribution in mineralized tissues. The spectroscopic parameter established in this study may be used in FTIRI analyses, thus enabling the calculation of relative Pyr/DHLNL amounts in thin (approximately 5 microm) calcified tissue sections with a spatial resolution of approximately 7 microm.

Non-NASA Center↗
NASA NTRS1996

Organization of photosystem I polypeptides examined by chemical cross-linking

Photosystem I from the cyanobacterium Synechocystis sp. PCC 6803 was examined using the chemical cross-linkers glutaraldehyde and N-ethyl-1-3-[3-(dimethylamino)propyl]carbodiimide to investigate the organization of the polypeptide subunits. Thylakoid membranes and photosystem I, which was isolated by Triton X-100 fractionation, were treated with cross-linking reagents and were resolved using a Tricine/urea low-molecular-weight resolution gel system. Subunit-specific antibodies and western blotting analysis were used to identify the components of cross-linked species. These analyses identified glutaraldehyde-dependent cross-linking products composed of small amounts of PsaD and PsaC, PsaC and PsaE, and PsaE and PsaF. The novel cross-link between PsaE and PsaF was also observed following treatment with N-ethyl-1-3-[3-(dimethylamino)propyl]carbodiimide. These cross-linking results suggest a structural interaction between PsaE and PsaF and predict a transmembrane topology for PsaF.

NASA Discipline Plant Biology↗
NASA NTRS1999

Differential expression of human lysyl hydroxylase genes, lysine hydroxylation, and cross-linking of type I collagen during osteoblastic differentiation in vitro

The pattern of lysyl hydroxylation in the nontriple helical domains of collagen is critical in determining the cross-linking pathways that are tissue specific. We hypothesized that the tissue specificity of type I collagen cross-linking is, in part, due to the differential expression of lysyl hydroxylase genes (Procollagen-lysine,2-oxyglutarate,5-dioxygenase 1, 2, and 3 [PLOD1, PLOD2, and PLOD3]). In this study, we have examined the expression patterns of these three genes during the course of in vitro differentiation of human osteoprogenitor cells (bone marrow stromal cells [BMSCs]) and normal skin fibroblasts (NSFs). In addition, using the medium and cell layer/matrix fractions in these cultures, lysine hydroxylation of type I collagen alpha chains and collagen cross-linking chemistries have been characterized. High levels of PLOD1 and PLOD3 genes were expressed in both BMSCs and NSFs, and the expression levels did not change in the course of differentiation. In contrast to the PLOD1 and PLOD3 genes, both cell types showed low PLOD2 gene expression in undifferentiated and early differentiated conditions. However, fully differentiated BMSCs, but not NSFs, exhibited a significantly elevated level (6-fold increase) of PLOD2 mRNA. This increase coincided with the onset of matrix mineralization and with the increase in lysyl hydroxylation in the nontriple helical domains of alpha chains of type I collagen molecule. Furthermore, the collagen cross-links that are derived from the nontriple helical hydroxylysine-aldehyde were found only in fully differentiated BMSC cultures. The data suggests that PLOD2 expression is associated with lysine hydroxylation in the nontriple helical domains of collagen and, thus, could be partially responsible for the tissue-specific collagen cross-linking pattern.

NASA Discipline Musculoskeletal↗