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At least 937 records · Page 52
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Neural Network Classifies Teleoperation Data

Prototype artificial neural network, implemented in software, identifies phases of telemanipulator tasks in real time by analyzing feedback signals from force sensors on manipulator hand. Prototype is early, subsystem-level product of continuing effort to develop automated system that assists in training and supervising human control operator: provides symbolic feedback (e.g., warnings of impending collisions or evaluations of performance) to operator in real time during successive executions of same task. Also simplifies transition between teleoperation and autonomous modes of telerobotic system.

Fiorini, Paolo↗
NASA NTRS1993

Electrical Actuation Technology Bridging

This document contains the proceedings of the NASA Electrical Actuation Technology Bridging (ELA-TB) Workshop held in Huntsville, Alabama, September 29-October 1, 1992. The workshop was sponsored by the NASA Office of Space Systems Development and Marshall Space Flight Center (MSFC). The workshop addressed key technologies bridging the entire field of electrical actuation including systems methodology, control electronics, power source systems, reliability, maintainability, and vehicle health management with special emphasis on thrust vector control (TVC) applications on NASA launch vehicles. Speakers were drawn primarily from industry with participation from universities and government. In addition, prototype hardware demonstrations were held at the MSFC Propulsion Laboratory each afternoon. Splinter sessions held on the final day afforded the opportunity to discuss key issues and to provide overall recommendations. Presentations are included in this document.

Hammond, Monica↗
NASA NTRS1993

Development of a prototype kinestatic platform for application to space and ground servicing tasks. Phase 1: Concept Modeling

The Center for Intelligent Machines and Robotics (CIMAR) of the University of Florida, in conjunction with Rockwell International is developing an electro-mechanical device called a Kinestatic Platform (KP) for aerospace applications. The goal of the current project is to develop a prototype KP which is capable of manipulating a 50 lb. payload. This prototype will demonstrate the feasibility of implementing a scaled up version to perform high precision manipulation of distributed systems and to control contact forces and allowable motions (rotations and translations), which is defined here as Kinestatic Control, in a six dimensional, partially constrained environment, simultaneously and independently. The objectives of the Phase 1 effort were as follows: (1) Identify specific NASA applications where the KP technology can be applied. (2) Select one application for development. (3) Develop a conceptual design of the KP specifically for the selected application. This includes the steps of developing a set of detailed performance criteria, establishing and making selection of the mechanism design parameters, and evaluating the expected system response. (4) Develop a computer graphics animation of the KP as it performs the selected application. This report will proceed by providing a technical description of the KP followed by how each of these objectives was addressed.

Duffy, J.↗
NASA NTRS2000

Structuring Formal Control Systems Specifications for Reuse: Surviving Hardware Changes

Formal capture and analysis of the required behavior of control systems have many advantages. For instance, it encourages rigorous requirements analysis, the required behavior is unambiguously defined, and we can assure that various safety properties are satisfied. Formal modeling is, however, a costly and time consuming process and if one could reuse the formal models over a family of products, significant cost savings would be realized. In an ongoing project we are investigating how to structure state-based models to achieve a high level of reusability within product families. In this paper we discuss a high-level structure of requirements models that achieves reusability of the desired control behavior across varying hardware platforms in a product family. The structuring approach is demonstrated through a case study in the mobile robotics domain where the desired robot behavior is reused on two diverse platforms-one commercial mobile platform and one build in-house. We use our language RSML (-e) to capture the control behavior for reuse and our tool NIMBUS to demonstrate how the formal specification can be validated and used as a prototype on the two platforms.

Thompson, Jeffrey M.↗
NASA NTRS2000

Simulators for the X-38/CRV Parafoil and Re-Entry Phases

The X38/CRV is unique in several aspects: it does not afford the pilot a forward view through a window and it utilizes a parafoil in the final landing flight phase. As a result of some of these unique attributes the prototype on-board displays will need to provide enhanced situation awareness to aid a crew member in supervising the onboard GNC software to select a landing site, and possible obstacle avoidance during the final flight phase. In the ESA/ESTEC visualization prototype system the scene is visualized using MultiGen OpenFlight models on high-end SGI machines. The Parafoil Guidance Navigation and Control (PGNC) algorithms are being developed as a joint NASA/ESA venture. These algorithms will be used onboard the vehicle to create nominal flight trajectories for the vehicle to follow. These same algorithms are also used as parafoil simulators in our augmented situation awareness system we are developing. The output of the parafoil simulator is displayed on a Windows-based computer running the LandForm FlightVision software. The FlightVision software is used to create the synthetic environment displays and all the necessary HUD symbology. Maps, such as aeronautical charts, as well as satellite imagery are optionally overlaid on the 3D-terrain model to provide additional situation awareness for the crew.

SITUATIONAL AWARENESS↗
NASA NTRS2011

Motion Imagery and Robotics Application (MIRA)

Objectives include: I. Prototype a camera service leveraging the CCSDS Integrated protocol stack (MIRA/SM&C/AMS/DTN): a) CCSDS MIRA Service (New). b) Spacecraft Monitor and Control (SM&C). c) Asynchronous Messaging Service (AMS). d) Delay/Disruption Tolerant Networking (DTN). II. Additional MIRA Objectives: a) Demo of Camera Control through ISS using CCSDS protocol stack (Berlin, May 2011). b) Verify that the CCSDS standards stack can provide end-to-end space camera services across ground and space environments. c) Test interoperability of various CCSDS protocol standards. d) Identify overlaps in the design and implementations of the CCSDS protocol standards. e) Identify software incompatibilities in the CCSDS stack interfaces. f) Provide redlines to the SM&C, AMS, and DTN working groups. d) Enable the CCSDS MIRA service for potential use in ISS Kibo camera commanding. e) Assist in long-term evolution of this entire group of CCSDS standards to TRL 6 or greater.

Martinez, Lindolfo↗
NASA NTRS2015

Load Bearing Equipment for Bone and Muscle Project

Axial skeletal loads coupled with muscle torque forces around joints maintain bone. Astronauts working in pairs to exercise can provide high eccentric loads for each other that are most effective. A prototype of load bearing equipment that will allow astronauts to perform exercises using each other for counter force generation in a controlled fashion and provide eccentric overload is proposed. A frame and attachments that can be rapidly assembled for use and easily stored will demonstrate feasibility of a design that can be adapted for ISS testing and Orion use.

Terrier, Douglas↗
NASA NTRS2016

CubeSub - A CubeSat Based Submersible Testbed for Space Technology

This report is a Master's Thesis in Aerospace Engineering, performed at the NASA Ames Research Center. It describes the development of the CubeSub, a submersible testbed compatible with the CubeSat form factor. The CubeSub will be used to mature technology and operational procedures to be used in space exploration, and possibly also as a tool for exploration of Earthly environments. CubeSats are carried as payloads, either containing technology to be tested or experiments and sensors for scientific use. The CubeSub is designed to be built up by modules, which can be assembled in different configurations to fulfill different needs. Each module is powered individually and intermodular communication is wireless, reducing the need for wiring. The inside of the hull is flooded with ambient water to simplify the interaction between payloads and surrounding environment. The overall shape is similar to that of a conventional AUV, slender and smooth. This is to make for a low drag, reduce the risk of snagging on surrounding objects and make it possible to deploy through an ice sheet via a narrow borehole. Rapid prototyping is utilized to a large extent, with full-scale prototypes being constructed through 3D-printing and with COTS (Commercial Off-The-Shelf) components. Arduino boards are used for control and internal communication. Modules required for basic operation have been designed, manufactured and tested. Each module is described with regards to its function, design and manufacturability. By performing tests in a pool it was found that the basic concept is sound and that future improvements include better controllability, course stability and waterproofing of electrical components. Further development is needed to make the CubeSub usable for its intended purposes. The largest gains are expected to be found by developing the software and improving controllability.

Europa↗
NASA NTRS2017

UAS C2 Radio System - Final Phase 1 Development and Testing

Phase 1 of the Command and Control Communications (C2) Subproject of NASA's UAS Integration in the National Airspace System Project included the development and testing of prototype C2 radio systems. This information paper provides an overview of the functionality and testing of the fifth and final Phase 1 generation of the prototype radio system.

communications↗
NASA NTRS2019

Small Stirling Technology Exploration Power for Future Space Science Missions

High efficiency dynamic Radioisotope Power Systems (RPS) could be mission enabling for low power space applications such as small probes, landers rovers, and communication repeaters. These applications would contain science instruments and be distributed across planetary surfaces or near objects of interest where solar flux is insufficient for using solar cells. Small RPS could be used to provide power for sensing radiation, temperature, pressure, seismic activity, and other measurements of interest to planetary scientists. Small RPS would use fractional versions of the General Purpose Heat Source (GPHS) or Light Weight Radioisotope Heater Units (LWRHU), to heat power conversion technologies. Dynamic power systems are capable of three to four times higher conversion efficiency compared to static power conversion technologies, and would provide an equal amount of power using less fuel or more power using an equal amount of fuel. Providing spacecraft with more power could decrease duty cycling of basic functions and, therefore, increase the quality and abundance of science data. NASA GRC is developing a low power dynamic RPS that would convert heat from multiple LWRHU to one watt of usable direct current electric power for spacecraft instrumentation and communication. The power system could be used to charge batteries or capacitors for higher power burst usage. The initial design, called Small Stirling Technology Exploration Power (smallSTEP), is around 3 kg, 11 cm diameter X 32 cm long, and converts 8 watts of heat to one watt of electricity using a Stirling convertor. This low power conversion system represents a new class of RPS with power levels two orders of magnitude lower than prototypes currently being developed for space applications under NASA contracts. Development of the 1-watt RPS includes maturation of convertor and controller designs, performance evaluation of an evacuated metal foil insulation, and development of system interfaces. Initial demonstration of the subsystems has been completed in a laboratory environment and a higher fidelity system is being pursued for demonstration in relevant environments for use on small spacecraft needed to carry out future space science missions.

Wilson, Scott D.↗
NASA NTRS2019

Small Stirling Technology Exploration Power for Future Space Science Missions

High efficiency dynamic Radioisotope Power Systems (RPS) could be mission enabling for low power space applications such as small probes, landers rovers, and communication repeaters. These applications would contain science instruments and be distributed across planetary surfaces or near objects of interest where solar flux is insufficient for using solar cells. Small RPS could be used to provide power for sensing radiation, temperature, pressure, seismic activity, and other measurements of interest to planetary scientists. Small RPS would use fractional versions of the General Purpose Heat Source (GPHS) or Light Weight Radioisotope Heater Units (LWRHU), to heat power conversion technologies. Dynamic power systems are capable of three to four times higher conversion efficiency compared to static power conversion technologies, and would provide an equal amount of power using less fuel or more power using an equal amount of fuel. Providing spacecraft with more power could decrease duty cycling of basic functions and, therefore, increase the quality and abundance of science data. NASA Glenn Research Center (GRC) is developing a low power dynamic RPS that would convert heat from multiple LWRHU to one watt of usable direct current electric power for spacecraft instrumentation and communication. The power system could be used to charge batteries or capacitors for higher power burst usage. The initial design, called Small Stirling Technology Exploration Power (smallSTEP), is around 3 kg, 11 cm diameter X 32 cm long, and converts 8 watts of heat to one watt of electricity using a Stirling convertor. This low power conversion system represents a new class of RPS with power levels two orders of magnitude lower than prototypes currently being developed for space applications under NASA contracts. Development of the 1-watt RPS includes maturation of convertor and controller designs, performance evaluation of an evacuated metal foil insulation, and development of system interfaces. Initial demonstration of the subsystems has been completed in a laboratory environment and a higher fidelity system is being pursued for demonstration in relevant environments for use on small spacecraft needed to carry out future space science missions.

Wilson, Scott↗
NASA NTRSDate not supplied

NASA’s Quiet Electric ENgines (QUEEN): Thermal Analysis and Testing of the Electronic Speed Controller (ESC)

An electric ducted fan system was tested at the NASA Glenn Research Center. Main components of the system include a commercial-off-the-Shelf (COTS) fan and motor, electronic speed controller, and cooling system. Motor speed, voltage, current, and temperatures were measured in this static ground test of the propulsor. The thermal performance of the Electronic Speed Controller (ESC) was also measured using two different methods to cool the ESC: air cooling and cold plate cooling. This propulsor prototype is one of NASA’s Quiet Electric ENgines (QUEENs) and is designated the ‘QUEEN V1.’ The Quiet Electric Engines are being developed for the 25% scale model of the Subsonic Single Aft Engine (SUSAN) Flight Research Vehicle and are intended to explore the potential of distributed electric propulsion for large regional single-aisle aircraft. Lessons learned will be used to guide development of future QUEEN prototypes and thermal management systems.

Firas G Asfoor↗
NASA NTRS1990

Computer implementation of analysis and optimization procedures for control-structure interaction problems

Implementation aspects of control-structure interaction analysis and optimization by the staggered use of single-discipline analysis modules are discussed. The single-discipline modules include structural analysis, controller synthesis and optimization. The software modularity is maintained by employing a partitioned control-structure interaction analysis procedure, thus avoiding the need for embedding the single-discipline modules into a monolithic program. A software testbed has been constructed as a stand-alone analysis and optimization program and tested for its versatility and software modularity by applying it to the dynamic analysis and preliminary design of a prototype Earth Pointing Satellite. Experience with the in-core testbed program so far demonstrates that the testbed is efficient, preserves software modularity, and enables the analyst to choose a different set of algorithms, control strategies and design parameters via user software interfaces. Thus, the present software architecture is recommended for adoption by control-structure interaction analysts as a preliminary analysis and design tool.

Belvin, W. Keith↗
NASA NTRS2015

NASA Controller Acceptability Study 1(CAS-1) Experiment Description and Initial Observations

This paper describes the Controller Acceptability Study 1 (CAS-1) experiment that was conducted by NASA Langley Research Center personnel from January through March 2014 and presents partial CAS-1 results. CAS-1 employed 14 air traffic controller volunteers as research subjects to assess the viability of simulated future unmanned aircraft systems (UAS) operating alongside manned aircraft in moderate-density, moderate-complexity Class E airspace. These simulated UAS were equipped with a prototype pilot-in-the-loop (PITL) Detect and Avoid (DAA) system, specifically the Self-Separation (SS) function of such a system based on Stratway+ software to replace the see-and-avoid capabilities of manned aircraft pilots. A quantitative CAS-1 objective was to determine horizontal miss distance (HMD) values for SS encounters that were most acceptable to air traffic controllers, specifically HMD values that were assessed as neither unsafely small nor disruptively large. HMD values between 0.5 and 3.0 nautical miles (nmi) were assessed for a wide array of encounter geometries between UAS and manned aircraft. The paper includes brief introductory material about DAA systems and their SS functions, followed by descriptions of the CAS-1 simulation environment, prototype PITL SS capability, and experiment design, and concludes with presentation and discussion of partial CAS-1 data and results.

Chamberlain, James P.↗
NASA NTRS1997

Verifying Stability of Dynamic Soft-Computing Systems

Soft computing is a general term for algorithms that learn from human knowledge and mimic human skills. Example of such algorithms are fuzzy inference systems and neural networks. Many applications, especially in control engineering, have demonstrated their appropriateness in building intelligent systems that are flexible and robust. Although recent research have shown that certain class of neuro-fuzzy controllers can be proven bounded and stable, they are implementation dependent and difficult to apply to the design and validation process. Many practitioners adopt the trial and error approach for system validation or resort to exhaustive testing using prototypes. In this paper, we describe our on-going research towards establishing necessary theoretic foundation as well as building practical tools for the verification and validation of soft-computing systems. A unified model for general neuro-fuzzy system is adopted. Classic non-linear system control theory and recent results of its applications to neuro-fuzzy systems are incorporated and applied to the unified model. It is hoped that general tools can be developed to help the designer to visualize and manipulate the regions of stability and boundedness, much the same way Bode plots and Root locus plots have helped conventional control design and validation.

Wen, Wu↗
NASA NTRS2008

An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback

Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

Humphreys, William M, Jr.↗
NASA NTRS1979

Test and evaluation of Fern Engineering Company, Incorporated, solar heating and hot water system

Tests, test results, examination and evaluation by Underwriters Laboratory, Inc., of a single family solar heating and hot water system consisting of collector, storage, control, transport, and data acquisition are presented. The structural characteristics of the solar flat plate collectors were evaluated according to snow and wind loads indicated in various building codes to determine their suitability for use both Michigan and Pennsylvania where prototype systems were installed. The flame spread classification of the thermal insulation is discussed and the fire tests conducted on components are described. The operation and dielectrics withstand tests of the energy transport module indicate the module is capable of rated air delivery. Tests of the control panel indicate the relay coil temperatures exceed the temperature limits allowed for the insulating materials involved.

Source record↗
NASA NTRS2000

Variable Emissivity Through MEMS Technology

This paper discusses a new technology for variable emissivity (vari-e) radiator surfaces, which has significant advantages over traditional radiators and promises an alternative design technique for future spacecraft thermal control systems. All spacecraft rely on radiative surfaces to dissipate waste heat. These radiators have special coatings, typically with a low solar absorptivity and a high infrared-red emissivity, that are intended to optimize performance under the expected heat load and thermal sink environment. The dynamics of the heat loads and thermal environment make it a challenge to properly size the radiator and often require some means of regulating the heat rejection rate of the radiators in order to achieve proper thermal balance. Specialized thermal control coatings, which can passively or actively adjust their emissivity offer an attractive solution to these design challenges. Such systems would allow intelligent control of the rate of heat loss from a radiator in response to heat load and thermal environmental variations. Intelligent thermal control through variable emissivity systems is well suited for nano and pico spacecraft applications where large thermal fluctuations are expected due to the small thermal mass and limited electric resources. Presently there are three different types of vari-e technologies under development: Micro ElectroMechanical Systems (MEMS) louvers, Electrochromic devices, and Electrophoretic devices. This paper will describe several prototypes of micromachined (MEMS) louvers and experimental results for the emissivity variations measured on theses prototypes. It will further discuss possible actuation mechanisms and space reliability aspects for different designs. Finally, for comparison parametric evaluations of the thermal performances of the new vari-e technology and standard thermal control systems are presented in this paper.

Darrin, Ann Garrison↗