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NASA NTRS1993

Comparative hypsometric analysis of both Earth and Venus topographic distributions

Previous studies have compared the global topographic distribution of both planets by means of differential hypsometric curves. For the purpose of comparison, the terrestrial oceanic load was removed, and a reference base level was acquired. It was chosen on the basis of geometric considerations and reflected the geometric shape of the mean dynamical equilibrium figure of the planetary surface in both cases. This reference level corresponds to the well-known sea level for the Earth; for Venus, given its slow rate of rotation, a sphere of radius close to the mean, median and modal values of the planetary radii distribution were considered and the radius value of 6051 km arbitrarily taken. These studies were based on the low resolution (100 x 100 sq km) coverage of Venus obtained by the Pioneer Venus altimeter and on the 1 deg x 1 deg terrestrial topography. But, apart from revealing the distinct contrast existing between the Earth's bimodal and Venus' strong unimodal topographic distribution, the choice of such a reference level is inadequate and even misleading for the comparative geophysical understanding of the planetary relief distribution. The present work reinvestigates the comparison between Earth and Venus hypsometric distribution on the basis of the high-resolution data provided, on one hand, by the recent Magellan global topographic coverage of Venus' surface, and on the other hand, by the detailed NCAR 5 x 5 ft. grid topographic database currently available for the Earth's surface.

Rosenblatt, P.↗

NASA NTRS1993

Tumuli and tubes: Teaching scientific techniques

Planetary and space science is the best way to teach basic chemistry, physics, and math. Einstein once said that 'man is drawn to the mysterious and it is from that that we achieve true art and science.' Planets and the processes that shape them are especially mysterious and fascinating to students, young and old, and because of this planetary geology kindles interest that draws them further into the world of science. At the very least, they are engaged enough to learn how science works, a key ingredient in scientific literacy. A project involving field measurements on Kilauea volcano, Hawaii, by a Geology 101 honors class is described. Hawaii is blessed with spectacular, active, accessible, and relatively safe basaltic eruptions. The study of volcanoes, the landforms they produce, and the processes that operate on and in volcanoes, combined with the study of volcanoes on the other planets, is an excellent way to link aspects of Hawaiian geology to the planets. During the past year we have taken advantage of our setting to organize a NASA field workshop for junior investigators and senior graduate students, made field trips and planetary volcanism the centerpieces of our annual Summer Workshop for Teachers, and led a field trip around Kilauea Volcano during the Challenger Center Faculty Development conference, held on the island of Hawaii last summer. An activity for the honors Geology 101 class (all undergraduates) at the University of Hawaii is presently being planned. Our goal is to give them some hands on experience working on a field project and applying what they have learned to planetary volcanoes. The work will include qualitative observations and quantitative measurements on volcanic lava flows. Follow-up activities will involve data analysis. The trip requires planning (at least 3 months before hand) everything from accommodations and insurance to the actual activities we will be doing. Our goal is to stimulate interest and awareness in the students' surroundings, in this case, volcanoes, and to include planetary applications and how studies of terrestrial geology greatly aids studies of the other planets. Two studies are planned both of which are active research projects being conducted by the authors. These projects, tumuli in pahoehoe flow fileds and lava tube cross-secational areas, are described.

Tatsumura, Michelle J.↗

NASA NTRS1993

Transparent data service with multiple wireless access

The rapid introduction of digital wireless networks is an important part of the emerging digital communications scene. The introduction of Digital Cellular, LEO and GEO Satellites, and Personal Communications Services poses both a challenge and an opportunity for the data user. On the one hand wireless access will introduce significant new portable data services such as personal notebooks, paging, E-mail, and fax that will put the information age in the user's pocket. On the other hand the challenge of creating a seamless and transparent environment for the user in multiple access environments and across multiple network connections is formidable. A summary of the issues associated with developing techniques and standards that can support transparent and seamless data services is presented. The introduction of data services into the radio world represents a unique mix of RF channel problems, data protocol issues, and network issues. These problems require that experts from each of these disciplines fuse the individual technologies to support these services.

Dean, Richard A.↗

NASA NTRS1993

A practical system for regional mobile satellite services

The Regional Mobile Satellite (MSAT) concept proposes a worldwide, interconnected mobile satellite service (MSS) network in which MSAT-type satellites provide the space segment services to separate regions (i.e., one or a few countries). Using this concept, mobile communications users across entire continents can now be served by a handful of regionally controlled satellites in geostationary earth orbit (GEO). All requirements, including hand-held telephone capabilities, can be cost-effectively provided using proven technologies. While other concepts of regional or global mobile communications continue to be explored, the Hughes Regional MSAT system demonstrates the near-term viability of the GEO approach.

Glein, Randall↗

NASA NTRS1993

The role of visual context in manual target localization

During space flight and immediately after return to the 1-g environment of earth, astronauts experience perceptual and sensory-motor disturbances. These changes result from adaptation of the astronaut to the microgravity environment of space. During space flight, sensory information from the eyes, limbs, and vestibular organs is reinterpreted by the central nervous system in order to produce appropriate body movements in the microgravity. This adaptation takes several days to develop. Upon return to earth, the changes in the sensory-motor system are no longer appropriate to a 1-g environment. Over several days, the astronaut must re-adapt to the terrestrial environment. Alterations in sensory-motor function may affect eye-head-hand coordination and, thus, the crewmember's ability to manually locate objects in extrapersonal space. Previous reports have demonstrated that crewmembers have difficulty in estimating joint and limb position and in pointing to memorized target positions on orbit and immediately postflight. The ability to point at or reach toward an object or perform other manual tasks is essential for safe Shuttle operation and may be compromised particularly during re-entry and landing sequences and during possible emergency egress from the Shuttle. An understanding of eye-head-hand coordination and the changes produced during space flight is necessary to develop effective countermeasures. This summer's project formed part of the study of the sensory cues use in the manual localization of objects.

Barry, Susan R.↗

NASA NTRS1994

Investigation of plasma instabilities in the polar cusp

During the last six months, considerable progress was made in studying the excitation of electromagnetic waves in the whistler frequency range by an anisotropic or gyrating electron beam. A paper entitled 'Electron Cyclotron Wave Generation by Relativistic Electrons' was published in the Journal of Geophysical Research. Another paper entitled 'Electron Beam Excitation of Upstream Waves in the Whistler Mode Frequency Range' was submitted for publication in Journal of Geophysical Research. This paper is in collaboration with Dr. C. W. Smith at Bartol Research Institute. In this paper, it was shown that an anisotropic electron beam (or gyrating electron beam) is capable of generating both left-hand and right-hand polarized electromagnetic waves in the whistler frequency range. Our earlier paper 'Electromagnetic Components of Auroral Hiss and Lower Hybrid Waves in the Polar Magnetosphere' was accepted for publication in the AGU Chapman Conference on Micro and Meso Scale Phenomena in Space Plasmas. Electromagnetic waves in the lower hybrid and whistler waves regime were identified and a mechanism of how these waves are generated was suggested.

Wong, H. K.↗

NASA NTRS1994

Extra-Vehicular Activity (EVA) glove evaluation test protocol

One of the most critical components of a space suit is the gloves, yet gloves have traditionally presented significant design challenges. With continued efforts at glove development, a method for evaluating glove performance is needed. This paper presents a pressure-glove evaluation protocol. A description of this evaluation protocol, and its development is provided. The protocol allows comparison of one glove design to another, or any one design to bare-handed performance. Gloves for higher pressure suits may be evaluated at current and future design pressures to drive out differences in performance due to pressure effects. Using this protocol, gloves may be evaluated during design to drive out design problems and determine areas for improvement, or fully mature designs may be evaluated with respect to mission requirements. Several different test configurations are presented to handle these cases. This protocol was run on a prototype glove. The prototype was evaluated at two operating pressures and in the unpressurized state, with results compared to bare-handed performance. Results and analysis from this test series are provided, as is a description of the configuration used for this test.

Hinman-Sweeney, E. M.↗

NASA NTRS1994

Object-based task-level control: A hierarchical control architecture for remote operation of space robots

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center.

Stevens, H. D.↗

NASA NTRS1994

THE VERTICAL

'THE VERTICAL' computer keyboard is designed to address critical factors which contribute to Repetitive Motion Injuries (RMI) (including Carpal Tunnel Syndrome) in association with computer keyboard usage. This keyboard splits the standard QWERTY design into two halves and positions each half 90 degrees from the desk. In order to access a computer correctly. 'THE VERTICAL' requires users to position their bodies in optimal alignment with the keyboard. The orthopaedically neutral forearm position (with hands palms-in and thumbs-up) reduces nerve compression in the forearm. The vertically arranged keypad halves ameliorate onset occurrence of keyboard-associated RMI. By utilizing visually-reference mirrored mylar surfaces adjustable to the user's eye, the user is able to readily reference any key indicia (reversed) just as they would on a conventional keyboard. Transverse adjustability substantially reduces cumulative musculoskeletal discomfort in the shoulders. 'THE VERTICAL' eliminates the need for an exterior mouse by offering a convenient finger-accessible curser control while the hands remain in the vertically neutral position. The potential commercial application for 'THE VERTICAL' is enormous since the product can effect every person who uses a computer anywhere in the world. Employers and their insurance carriers are spending hundreds of millions of dollars per year as a result of RMI. This keyboard will reduce the risk.

Albert, Stephen L.↗

NASA NTRS1994

SPEAM-II experiment for the measurement of stratospheric NO2, O3 and aerosols

Following the success of the Sunphotometer Earth Atmosphere Measurement (SPEAM-I) experiment, a more involved experiment was developed to fly as part of the second set of Canadian Experiments (CANEX-2) which will fly on the US Space Shuttle in the fall of 1992. The instrument complement includes an IBM-PC compatible control computer, a hand-held diode array spectrophotometer, and an interference-filter, limb imaging radiometer for the measurement of the atmospheric airglow. The hand-held spectrometer will measure nitrogen dioxide, ozone and aerosols. The limb imaging radiometer will observe emissions from the O2(1 DELTA) and O2(1 SIGMA) airglow bands. Only the spectrophotometer will be discussed here.

Mcelroy, C. T.↗

NASA NTRS1994

Methodology for sensitivity analysis, approximate analysis, and design optimization in CFD for multidisciplinary applications

The straightforward automatic-differentiation and the hand-differentiated incremental iterative methods are interwoven to produce a hybrid scheme that captures some of the strengths of each strategy. With this compromise, discrete aerodynamic sensitivity derivatives are calculated with the efficient incremental iterative solution algorithm of the original flow code. Moreover, the principal advantage of automatic differentiation is retained (i.e., all complicated source code for the derivative calculations is constructed quickly with accuracy). The basic equations for second-order sensitivity derivatives are presented; four methods are compared. Each scheme requires that large systems are solved first for the first-order derivatives and, in all but one method, for the first-order adjoint variables. Of these latter three schemes, two require no solutions of large systems thereafter. For the other two for which additional systems are solved, the equations and solution procedures are analogous to those for the first order derivatives. From a practical viewpoint, implementation of the second-order methods is feasible only with software tools such as automatic differentiation, because of the extreme complexity and large number of terms. First- and second-order sensitivities are calculated accurately for two airfoil problems, including a turbulent flow example; both geometric-shape and flow-condition design variables are considered. Several methods are tested; results are compared on the basis of accuracy, computational time, and computer memory. For first-order derivatives, the hybrid incremental iterative scheme obtained with automatic differentiation is competitive with the best hand-differentiated method; for six independent variables, it is at least two to four times faster than central finite differences and requires only 60 percent more memory than the original code; the performance is expected to improve further in the future.

Taylor, Arthur C., III↗

NASA NTRS1991

On the role of exchange of power and information signals in control and stability of the human-robot interaction

A human's ability to perform physical tasks is limited, not only by his intelligence, but by his physical strength. If, in an appropriate environment, a machine's mechanical power is closely integrated with a human arm's mechanical power under the control of the human intellect, the resulting system will be superior to a loosely integrated combination of a human and a fully automated robot. Therefore, we must develop a fundamental solution to the problem of 'extending' human mechanical power. The work presented here defines 'extenders' as a class of robot manipulators worn by humans to increase human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The aim is to determine the fundamental building blocks of an intelligent controller, a controller which allows interaction between humans and a broad class of computer-controlled machines via simultaneous exchange of both power and information signals. The prevalent trend in automation has been to physically separate the human from the machine so the human must always send information signals via an intermediary device (e.g., joystick, pushbutton, light switch). Extenders, however are perfect examples of self-powered machines that are built and controlled for the optimal exchange of power and information signals with humans. The human wearing the extender is in physical contact with the machine, so power transfer is unavoidable and information signals from the human help to control the machine. Commands are transferred to the extender via the contact forces and the EMG signals between the wearer and the extender. The extender augments human motor ability without accepting any explicit commands: it accepts the EMG signals and the contact force between the person's arm and the extender, and the extender 'translates' them into a desired position. In this unique configuration, mechanical power transfer between the human and the extender occurs because the human is pushing against the extender. The extender transfers to the human's hand, in feedback fashion, a scaled-down version of the actual external load which the extender is manipulating. This natural feedback force on the human's hand allows him to 'feel' a modified version of the external forces on the extender. The information signals from the human (e.g., EMG signals) to the computer reflect human cognitive ability, and the power transfer between the human and the machine (e.g., physical interaction) reflects human physical ability. Thus the information transfer to the machine augments cognitive ability, and the power transfer augments motor ability. These two actions are coupled through the human cognitive/motor dynamic behavior. The goal is to derive the control rules for a class of computer-controlled machines that augment human physical and cognitive abilities in certain manipulative tasks.

Kazerooni, H.↗

NASA NTRS1994

Rack Insertion End Effector (RIEE) guidance

NASA-KSC has developed a mechanism to handle and insert Racks into the Space Station Logistic Modules. This mechanism consists of a Base with 3 motorized degrees of freedom, a 3 section motorized Boom that goes from 15 to 44 feet in length, and a Rack Insertion End Effector (RIEE) with 5 hand wheels for precise alignment. During the 1993 NASA-ASEE Summer Faculty Fellowship Program at KSC, I designed an Active Vision (Camera) Arrangement and developed an algorithm to determine (1) the displacements required by the Room for its initial positioning and (2) the rotations required at the five hand-wheels of the RIEE, for the insertion of the Rack, using the centroids fo the Camera Images of the Location Targets in the Logistic Module. Presently, during the summer of '94, I completed the preliminary design of an easily portable measuring instrument using encoders to obtain the 3-Dimensional Coordinates of Location Targets in the Logistics Module relative to the RIEE mechanism frame. The algorithm developed in '93 can use the output of this instrument also. Simplification of the '93 work and suggestions for the future work are discussed.

Malladi, Narasimha S.↗

NASA NTRS1994

Bevel gear driver and method having torque limit selection

This invention comprises a torque drive mechanism utilizing axially translatable, mutually engageable transmission members having mating crown gears, driven and driving members with a three-element drive train being biased together by resilient means or by a fluid actuator system, the apparatus being operable to transmit a precisely controlled degree of torque to a driven member. The apparatus is applicable for use in hand tools and as a replacement for impact torque drivers, torque wrenches, motorized screw drivers, or the like, wherein the applied torque must be precisely controlled or limited. The bevel torque drive includes a drive gear which is axially displaceable and rotatable within cylindrical driver housing, a rotatable intermediate gear, and an output gear. Key rotationally secures displaceable gear with respect to input shaft but permits axial movement therebetween. A thrust bearing is preferably connected to the lower end of shaft for support to reduce play and friction between shaft and a transmission joint disc during rotation of the gear train. Coaxially mounted coiled spring is footed against displaceable gear for biasing the displaceable gear toward and into engagement with the intermediate gear for driving intermediate gear and output gear. Torque control is achieved by the use of straight or spiral beveled gears which are of configurations adapted to withdraw from mutual engagement upon the torque exceeding a predetermined limit. The novel, advantageous features of the invention include the configuration of the mating, crown gear sets and the axially translatable, slidable drive gear. The mechanism is capable of transmitting a high degree of torque within a narrow, compact transmission housing. The compact size and narrow, elongated configuration of the housing is particularly applicable for use in hand tools and in multiple torque driver mechanisms in which it is necessary to drive multiple fasteners which are located in close proximity. Prior torque drivers such as 'click-type' torque wrenches do not actually limit torque application but only provide an audible warning that the limit has been reached.

Cook, Joseph S., Jr.↗

NASA NTRS1992

Recent advances in Lanczos-based iterative methods for nonsymmetric linear systems

In recent years, there has been a true revival of the nonsymmetric Lanczos method. On the one hand, the possible breakdowns in the classical algorithm are now better understood, and so-called look-ahead variants of the Lanczos process have been developed, which remedy this problem. On the other hand, various new Lanczos-based iterative schemes for solving nonsymmetric linear systems have been proposed. This paper gives a survey of some of these recent developments.

Freund, Roland W.↗

NASA NTRS1994

Interactive autonomy and robotic skills

Current concepts of robot-supported operations for space laboratories (payload servicing, inspection, repair, and ORU exchange) are mainly based on the concept of 'interactive autonomy' which implies autonomous behavior of the robot according to predefined timelines, predefined sequences of elementary robot operations and within predefined world models supplying geometrical and other information for parameter instantiation on the one hand, and the ability to override and change the predefined course of activities by human intervention on the other hand. Although in principle a very powerful and useful concept, in practice the confinement of the robot to the abstract world models and predefined activities appears to reduce the robot's stability within real world uncertainties and its applicability to non-predefined parts of the world, calling for frequent corrective interaction by the operator, which in itself may be tedious and time-consuming. Methods are presented to improve this situation by incorporating 'robotic skills' into the concept of interactive autonomy.

Kellner, A.↗

NASA NTRS1995

Evaluation of restraint system concepts for the Japanese Experiment Module flight demonstration

The current International Space Station configuration includes a Japanese Experiment Module which relies on a large manipulator and a smaller dexterous manipulator to operate outside the pressurized environment of the experiment module. The module's flight demonstration is a payload that will be mounted in the aft flight deck on STS-87 to evaluate a prototype of the dexterous manipulator. Since the payload operations entail two 8-hour scenarios on consecutive days, adequate operator restraint at the workstation will be critical to the perceived success or failure of the payload. Simulations in reduced gravity environment on the KC-135A were the only way to evaluate the restraint systems and workstation configuration. Two astronaut and two non-astronaut operators evaluated the Advanced Lower Body Extremities Restraint Test and a foot loop restraint system by performing representative tasks at the workstation in each of the two restraint systems; at the end of each flight they gave their impressions of each system and the workstation. Results indicated that access to the workstation switch panels was difficult and manipulation of the hand controllers forced operators too low for optimal viewing of the aft flight deck monitors. The workstation panel should be angled for better visibility, and infrequently used switches should be on the aft flight deck panel. Pitch angle and placement of the hand controllers should optimize the operator's eye position with respect to the monitors. The lower body restraint was preferred over the foot loops because it allowed operators to maintain a more relaxed posture during long-duration tasks, its height adjustability allowed better viewing of aft flight deck monitors, and it provided better restraint for reacting forces imparted on the operator at the workstation. The foot loops provide adequate restraint for the flight demonstration tasks identified. Since results will impact the design of the workstation, both restraints should be flown and used during operation of the flight demonstration payload to evaluate the effect of restraint during long-duration tasks.

Sampaio, Carlos E.↗

NASA NTRS1995

Electronics manufacturing and assembly in Japan

In the consumer electronics industry, precision processing technology is the basis for enhancing product functions and for minimizing components and end products. Throughout Japan, manufacturing technology is seen as critical to the production and assembly of advanced products. While its population has increased less than 30 percent over twenty-five years, Japan's gross national product has increase thirtyfold; this growth has resulted in large part from rapid replacement of manual operations with innovative, high-speed, large-scale, continuously running, complex machines that process a growing number of miniaturized components. The JTEC panel found that introduction of next-generation electronics products in Japan goes hand-in-hand with introduction of new and improved production equipment. In the panel's judgment, Japan's advanced process technologies and equipment development and its highly automated factories are crucial elements of its domination of the consumer electronics marketplace - and Japan's expertise in manufacturing consumer electronics products gives it potentially unapproachable process expertise in all electronics markets.

Kukowski, John A.↗