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At least 1,117 records · Page 62
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

A strongly goal-directed close-range vision system for spacecraft docking

In this presentation, we will propose a strongly goal-oriented stereo vision system to establish proper docking approach motions for automated rendezvous and capture (AR&C). From an input sequence of stereo video image pairs, the system produces a current best estimate of: contact position; contact vector; contact velocity; and contact orientation. The processing demands imposed by this particular problem and its environment dictate a special case solution; such a system should necessarily be, in some sense, minimalist. By this we mean the system should construct a scene description just sufficiently rich to solve the problem at hand and should do no more processing than is absolutely necessary. In addition, the imaging resolution should be just sufficient. Extracting additional information and constructing higher level scene representations wastes energy and computational resources and injects an unnecessary degree of complexity, increasing the likelihood of malfunction. We therefore take a departure from most prior stereopsis work, including our own, and propose a system based on associative memory. The purpose of the memory is to immediately associate a set of motor commands with a set of input visual patterns in the two cameras. That is, rather than explicitly computing point correspondences and object positions in world coordinates and trying to reason forward from this information to a plan of action, we are trying to capture the essence of reflex behavior through the action of associative memory. The explicit construction of point correspondences and 3D scene descriptions, followed by online velocity and point of impact calculations, is prohibitively expensive from a computational point of view for the problem at hand. Learned patterns on the four image planes, left and right at two discrete but closely spaced instants in time, will be bused directly to infer the spacecraft reaction. This will be a continuing online process as the docking collar approaches.

Boyer, Kim L.↗
NASA NTRS1992

Computer systems

In addition to the discussions, Ocean Climate Data Workshop hosts gave participants an opportunity to hear about, see, and test for themselves some of the latest computer tools now available for those studying climate change and the oceans. Six speakers described computer systems and their functions. The introductory talks were followed by demonstrations to small groups of participants and some opportunities for participants to get hands-on experience. After this familiarization period, attendees were invited to return during the course of the Workshop and have one-on-one discussions and further hands-on experience with these systems. Brief summaries or abstracts of introductory presentations are addressed.

Olsen, Lola↗
NASA NTRS1990

EVA and telerobot interaction

We are about to enter into a new era - that of astronauts working hand in hand with telerobots in space. This has been done to some degree with astronauts and the Space Station Shuttle's Remote Manipulator Arm. However, for the Space Station Freedom, not only will astronauts be working with the RMS type system but also with smaller, more dexterous systems such as the Flight Telerobotic Servicer (FTS). Because EVA time is a premium resource, the most effective use of the astronauts and the telerobot will be required. There may be some tasks for which it is most efficient to have both the EVA astronaut and the telerobot working together. This type of close integration has not occurred before and brings up many issues. Most of these issues are related to technology: communication must be infallible, new control systems and devices may be required, enhanced telerobot safety systems may be necessary. IVA operations may also be affected by the combined EVA telerobot tasks. There is also the issue of how the EVA astronaut and the telerobot work on separate tasks but at the same time. For both situations, research and development of at least some new technology is required; enhanced communication both by voice and data, sophisticated collision detection systems, more responsive controls and displays. These new systems or system enhancements may require knowledge base systems for their operation. Some of the important issues, types of tasks, the FTS capabilities, the technology that is needed to address those issues, and the possible impact on Space Station Freedom are reviewed.

Willshire, Kelli F.↗
NASA NTRS1992

EVA Glove Research Team

The goal of the basic research portion of the extravehicular activity (EVA) glove research program is to gain a greater understanding of the kinematics of the hand, the characteristics of the pressurized EVA glove, and the interaction of the two. Examination of the literature showed that there existed no acceptable, non-invasive method of obtaining accurate biomechanical data on the hand. For this reason a project was initiated to develop magnetic resonance imaging as a tool for biomechanical data acquisition and visualization. Literature reviews also revealed a lack of practical modeling methods for fabric structures, so a basic science research program was also initiated in this area.

Strauss, Alvin M.↗
NASA NTRS1992

Power assist EVA glove development

Structural modeling of the EVA glove indicates that flexibility in the metacarpophalangeal (MCP) joint can be improved by selectively lowering the elasticity of the glove fabric. Two strategies are used to accomplish this. One method uses coil springs on the back of the glove to carry the tension in the glove skin due to pressurization. These springs carry the loads normally borne by the glove fabric, but are more easily deformed. An active system was also designed for the same purpose and uses gas filled bladders attached to the back of the EVA glove that change the dimensions of the back of the glove and allow the glove to bend at the MCP joint, thus providing greater flexibility at this joint. A threshold control scheme was devised to control the action of the joint actuators. Input to the controller was provided by thin resistive pressure sensors placed between the hand and the pressurized glove. The pressure sensors consist of a layer of polyester film that has a thin layer of ink screened on the surface. The resistivity of the ink is pressure dependent, so an extremely thin pressure sensor can be fabricated by covering the ink patch with another layer of polyester film and measuring the changing resistance of the ink with a bridge circuit. In order to sense the force between the hand and the glove at the MCP joint, a sensor was placed on the palmar face of the middle finger. The resultant signal was used by the controller to decide whether to fill or exhaust the bladder actuators on the back of the glove. The information from the sensor can also be used to evaluate the effectiveness of a given control scheme or glove design since the magnitude of the measured pressures gives some idea of the torque required to bend a glove finger at the MCP joint. Tests of this actuator, sensor, and control system were conducted in an 57.2 kPa glove box by performing a series of 90 degree finger bends with a glove without an MCP joint assembly, a glove with the coil spring assembly, and with the four fingered actuated glove. The tests of these three glove designs confirm the validity of the model.

Main, John A.↗
NASA NTRS1992

Comparison of ground and satellite based measurements of the fraction of photosynthetically active radiation intercepted by tall-grass prairie

The fraction of photosynthetically active radiation intercepted by vegetation, F(sub ipar) is an important parameter for modeling the interactions between the land-surface and atmosphere and for estimating vegetation biomass productivity. This study was, therefore, an integral part of FIFE. The specific purpose of this experiment was to find out how well definitive measurements of F(sub ipar) on the ground relate to near-ground and satellite based spectral reflectance measurements. Concurrent measurements of F(sub ipar) and ground, helicopter, and satellite based reflectance measurements were taken at thirteen tall-grass prairie sites within the FIFE experimental area. The sites were subjected to various combinations of burning and grazing managements. The ground and helicopter based reflectance measurements were taken on the same day or few days from the time of the overpass of LANDSAT and SPOT satellites. Ground-based reflectance measurements and sun photometer readings taken at the times of the satellite overpasses were used to correct for atmospheric attenuation. Hand-held radiometer spectral indices were strongly correlated with helicopter and satellite based values (r = 0.94 for helicopter, 0.93 for LANDSAT Thematic Mapper, and 0.86 for SPOT). However, the ground, helicopter, and satellite based normalized difference spectral vegetation indices showed low sensitivity to changes in F(sub ipar). Reflectance measurements were only moderately well correlated with measurements of F(sub ipar) (r = 0.82 for hand-held radiometer, 0.84 for helicopter measurements, and 0.75 for the LANDSAT Thematic Mapper and SPOT). Improved spectral indices which can compensate for site differences are needed in order to monitor F(sub ipar) more reliably.

Demetriades-Shah, T. H.↗
NASA NTRS1991

S-R compatibility effects with orthogonal stimulus and response dimensions

An experiment was conducted to assess the relative influence of several factors on performance with orthogonal stimulus-response arrays. Subjects responded to the onset of one of three aligned light circles with a press of one of three aligned response keys. The response array was aligned parallel, angled, or orthogonal to the stimulus array. The results indicated that performance with orthogonal arrays is worse than with parallel or angled S-R arrays. For the orthogonal arrangements, the results also indicate that each hand prefers a mapping directly opposite to the other hand, and that this mapping reverses when the orientation of the stimulus and response arrays are transposed. In addition, the results also revealed that the relative costs of orthogonal S-R arrangements are somewhat attenuated when the assigned mapping associates (i.e., colocates) a given display with its closest control.

Andre, Anthony D.↗
NASA NTRS1993

Source characteristics and locations of hectometric radio emissions from the northern Jovian hemisphere

Northern Jovian hectometric (HOM) radio emissions, detected from high Jovian latitudes by the Unified Radio and Plasma Wave experiment on the Ulysses spacecraft, were observed at all Jovian longitudes. This emission was observed to be predominantly right-hand circularly polarized, but some left-hand circular polarization was observed implying the presence of O mode emissions from the northern Jovian hemisphere. Intense HOM emissions, with well-defined directions and polarizations, were often confined to similar longitudinal regions where intense HOM emissions were previously observed at low latitudes. The present analysis confirms that these northern HOM sources lie in the Jovian polar regions on magnetic field lines that pass through the Io plasma torus. The observations may be consistent with emission from either a filled cone beam or a longitudinal distribution of thin hollow cones.

Reiner, M. J.↗
NASA NTRS1993

Advanced Main Combustion Chamber structural jacket strength analysis

The structural analysis of the Advanced Main Combustion Chamber (AMCC) is presented. The AMCC is an advanced fabrication concept of the Space Shuttle Main Engine main combustion chamber (MCC). Reduced cost and fabrication time of up to 75 percent were the goals of the AMCC with cast jacket with vacuum plasma sprayed or platelet liner. Since the cast material for the AMCC is much weaker than the wrought material for the MCC, the AMCC is heavier and strength margins much lower in some areas. Proven hand solutions were used to size the manifolds cutout tee areas for combined pressure and applied loads. Detailed finite element strength analyses were used to size the manifolds, longitudinal ribs, and jacket for combined pressure and applied local loads. The design of the gimbal actuator strut attachment lugs were determined by finite element analyses and hand solutions.

Johnston, L. M.↗
NASA NTRS1992

Pilot investigation - Nominal crew induced forces in zero-g

This report presents pilot-study data of test subject forces induced by intravehicular activities such as push-offs and landings with both hands and feet. Five subjects participated in this investigation. Three orthogonal force axes were measured in the NASA KC-135 research aircraft's 'zero-g' environment. The largest forces were induced during vertical foot push-offs, including one of 534 newtons (120 lbs). The mean vertical foot push-off was 311 newtons (70 lbs). The vertical hand push-off forces were also relatively large, including one of 267 newtons (60 lbs) with a mean of 151 newtons (34 lbs). These force magnitudes of these forces would result in a Shuttle gravity environment of about 1 x exp 10 -4 g's.

Klute, Glenn K.↗
NASA NTRS1993

Source characteristics of Jovian narrow-band kilometric radio emissions

New observations of Jovian narrow-band kilometric (nKOM) radio emissions were made by the Unified Radio and Plasma Wave (URAP) experiment on the Ulysses spacecraft during the Ulysses-Jupiter encounter in early February 1992. These observations have demonstrated the unique capability of the URAP instrument for determining both the direction and polarization of nKOM radio sources. An important result is the discovery that nKOM radio emission originates from a number of distinct sources located at different Jovian longitudes and at the inner and outermost regions of the Io plasma torus. These sources have been tracked for several Jovian rotations, yielding their corotational lags, their spatial and temporal evolution, and their radiation characteristics at both low latitudes far from Jupiter and at high latitudes near the planet. Both right-hand and left-hand circularly polarized nKOM sources were observed. The polarizations observed for sources in the outermost regions of the torus seem to favor extraordinary mode emission.

Reiner, M. J.↗
NASA NTRS1954

Flight Tests of a Man Standing on a Platform Supported by a Teetering Rotor

Because previous flight tests of a man standing on a jet-supported platform were very successful, a series of flight tests were made to determine the flying qualities of a man standing on a platform supported by a teetering rotor. The rotor was 7 feet in diameter and was driven by air jets at the rotor tips fed by hollow blades and air hoses connected to an external air supply. The machine was tested with a free-teetering rotor and with a spring-restrained rotor, and, as an alternate arrangement, with the rotor and foot platform isolated from the framework by rubber connections to reduce the inertia of the moving parts. The machine was tested indoors in hovering and in limited translational flight and outdoors in light and in strong gusty winds. The stability and controllability with the spring-restrained rotor were uniformly good. The stability with the free-teetering rotor was marginal, but, when an experienced flyer placed his hands on a hand rail, the stability and controllability were good. The stability and controllability with the rubber-isolated frame and spring-restrained teetering rotor were very good and quite like the jet-supported platform.

Paul R Hill↗
NASA NTRS1925

The sparking voltage of spark plugs

This report has been prepared in order to collect and correlate into convenient and useful form the available data on this subject. The importance of the subject lies in the fact that it forms the common meeting ground for studies of the performance of spark generators and spark plugs on the one hand and of the internal combustion engines on the other hand. While much of the data presented was obtained from various earlier publications, numerous places were found where necessary data were lacking, and these have been provided by experiments in gasoline engines at the Bureau of Standards.

Silsbee, F B↗
NASA NTRS1933

Pressure Rise, Gas Vibrations and Combustion Noises During the Explosion of Fuels

In the use of piezo-quartz indicators for high-speed automobile engines, the interpretation of pressure-time diagrams made by an oscillograph offers certain difficulties. On the one hand, the scale of the pressure amplitudes is not always the same under all conditions, while, on the other hand, the atmospheric zero line may be shifted from its correct position in the oscillogram. These facts make necessary to verify the readings of the quartz indicators by direct calibration before and after each series of tests and, on the basis of the results, to determine the scale for the oscillograms.

Wawrziniok,↗
NASA NTRS1993

Manual control in space research on perceptual-motor functions under zero gravity conditions (L-10)

Are human abilities to control vehicles and other machines the same in space as those on Earth? The L-10 Manual Control Experiment of the First Materials Processing Tests (FMPT) started from this question. Suppose a pilot has the task to align the head of a space vehicle toward a target. His actions are to look at the target, to determine the vehicle movement, and to operate the manipulator. If the activity of the nervous system were the same as on Earth, the movements, of the eye and hand would become excessive because the muscles do not have to oppose gravity. The timing and amount of movement must be arranged for appropriate actions. The sensation of motion would also be affected by the loss of gravity because the mechanism of the otolith, the major acceleration sensor, depends on gravity. The possible instability of the sensation of direction may cause mistakes in the direction of control of manipulator movement. Thus, the experimental data can be used for designing man-machine systems in space, as well as for investigation of physiological mechanisms. In this experiment, the direction of vehicle heading is expressed by a light spot on an array of light emitting diodes and the manipulator is of a finger stick type. As the light spot moves up and down, the Japanese Payload Specialist, and the subject, must move the manipulator forward and backward to keep the movement of the light spot within the neighborhood of the central point of the display. The position of the light spot is computed in such a manner that when the stick is kept at the neutral position, a motion whose acceleration is proportional to the angle of deflection is added to the movement of the light spot. The Operator Describing Function, which is an expression of human control characteristics, can be calculated from 2 minutes of raw data of the light spot position and stick deflection. The 2 minutes of operation is called a run, and 8 runs with resting periods composes a session. The on-orbit experiment will be conducted on the second, fourth, and seventh days. One session of experiment of each of these days is conducted following the L-4 experiment, which uses the same apparatus. The Payload Specialist, aided by a Mission Specialist, will take our apparatus from a rack container, set up the apparatus, attach electrodes for measurements of eye movement and muscle activity, conduct the L-4 Visual Stability Experiment, conduct one session of the manual control experiment, and then dissemble and stow the apparatus. In addition to the flight experiment, pre-flight and post-flight experiments will be conducted. The data of three sessions on orbit will reflect adaption of physiological systems to microgravity. The data of post-flight experiments, on the other hand, will reflect re-adaptation of physiological systems to the gravity condition on the ground. Control data collected with and without psychological tension will be scheduled just prior to and long before launch.

Tada, Akira↗
NASA NTRS1993

SATCOP mission planning software package

As the CDSLR Network grows into the 1990's, it is undergoing many changes in both its capabilities and requirements. On the one hand, great progress has been made in terms of increasing the SLR systems' performance. Upgrades to the onsite computer and improved laser ranging hardware have greatly increased the number of satellite passes which can be acquired during an operating shift by reducing the amount of time needed for operations other than actual ranging. On the other hand, more requirements have been placed on the systems. Many more satellites have become available, with more scheduled for launch, thus, increasing the likelihood of simultaneous satellite visibility. In addition, the possible scenarios required for ranging these many satellites are changing frequently, with conflicting priorities and needs. It became apparent that some tools needed to be developed to assist the planners in determining Network ranging priorities. Such tools have been developed at Bendix under the direction of NASA's Dynamics of the Solid Earth Project (DOSE) for both long range planning and routine operations to maximize the amount of data collected. This paper reviews some of these tools and describe their uses.

Bucey, Steve↗
NASA NTRS1993

Investigation of the effects of extravehicular activity (EVA) gloves on performance

The objective was to assess the effects of extravehicular activity (EVA) gloves at different pressures on human hand capabilities. A factorial experiment was performed in which three types of EVA gloves were tested at five pressure differentials. The independent variables tested in this experiment were gender, glove type, pressure differential, and glove make. Six subjects participated in an experiment where a number of dexterity measures, namely time to tie a rope, and the time to assemble a nut and bolt were recorded. Tactility was measured through a two point discrimination test. The results indicate that with EVA gloves strength is reduced by nearly 50 percent, there is a considerable reduction in dexterity, performance decrements increase with increasing pressure differential, and some interesting gender glove interactions were observed, some of which may have been due to the extent (or lack of) fit of the glove to the hand. The implications for the designer are discussed.

Bishu, Ram R.↗
NASA NTRS1993

Force-endurance capabilities of extravehicular activity (EVA) gloves at different pressure levels

The human hand is a very useful multipurpose tool in all environments. However, performance capabilities are compromised considerably when gloves are donned. This is especially true to extravehicular activity (EVA) gloves. The primary intent was to answer the question of how long a person can perform tasks requiring certain levels of exertion. The objective was to develop grip force-endurance relations. Six subjects participated in a factorial experiment involving three hand conditions, three pressure differentials, and four levels of force exertion. The results indicate that, while the force that could be exerted depended on the glove, pressure differential, and the level of exertion, the endurance time at any exertion level depended just on the level of exertion expressed as a percentage of maximum exertion possible at that condition. The impact of these findings for practitioners as well as theoreticians is discussed.

Bishu, Ram R.↗