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The development of freeflyer maneuvering system and shuttle orbiter flight profiles and hardware/software requirements that will provide and automated rendezvous, station keeping, and docking capability is discussed. Automated control techniques, sensors, target vehicle requirements, and a soft docking system are addressed.
The design of an improved and enclosed Automated Mixed Traffic Transit (AMTT) vehicle is described. AMTT is an innovative concept for low-speed tram-type transit in which suitable vehicles are equipped with sensors and controls to permit them to operate in an automated mode on existing road or walkway surfaces. The vehicle chassis and body design are presented in terms of sketches and photographs. The functional design of the sensing and control system is presented, and modifications which could be made to the baseline design for improved performance, in particular to incorporate a 20-mph capability, are also discussed. The vehicle system is described at the block-diagram-level of detail. Specifications and parameter values are given where available.
Results to automate the U.S. Department of Agriculture's process of segment shifting and obtain results within one-half pixel accuracy are presented. Given an initial registration, the digitized segment is shifted until a more precise fit to the LANDSAT data is found. The algorithm automates the shifting process and performs certain tests for matching and accepting the computed shift numbers. Results indicate the algorithm can obtain results within one-half pixel accuracy.
An important concept of the Action Information Management System (AIMS) approach is to evaluate office automation technology in the context of hands on use by technical program managers in the conduct of human acceptance difficulties which may accompany the transition to a significantly changing work environment. The improved productivity and communications which result from application of office automation technology are already well established for general office environments, but benefits unique to NASA are anticipated and these will be explored in detail.
While digital terrain grids are now in wide use, accurate delineation of drainage basins from these data is difficult to efficiently automate. A recursive order N solution to this problem is presented. The algorithm is fast because no point in the basin is checked more than once, and no points outside the basin are considered. Two applications for terrain analysis and one for remote sensing are given to illustrate the method, on a basin with high relief in the Sierra Nevada. This technique for automated basin delineation will enhance the utility of digital terrain analysis for hydrologic modeling and remote sensing.
A method is being developed to obtain creep data on foil gage metals at elevated temperatures using an automated data acquisition system in conjunction with a mechanically counter balanced extensometer. The automated system components include the Hewlett-Packard (HP) 9845A desktop computer, the HP 3455A digital voltmeter and the HP 3495A scanner. Software for test monitoring and data collection was developed; data manipulation, including curve plotting was done with a HP regression analysis software package. Initial creep tests were conducted on .003 in. thick foil specimens of Ti-6A1-4V at temperatures of 800 F and 1000 F and at stress levels of 25 ksi and 45 ksi. For comparison, duplicate tests were run on .049 in. thick specimens sheet of the same alloy. During testing, the furnace and specimen temperature, bridge voltage, strain and load output were automatically monitored and recorded at predetermined intervals. Using the HP regression analysis program, recorded strain output was plotted as a function of time. These resultant creep curves indicate that, under similar conditions of temperature and stress, foil gage specimens exhibit a higher creep rate than sheet specimens.
A simulation study assessing crew performance operating an advanced transport aircraft in an automated terminal area environment is described. The linking together of the Langley Advanced Transport Operating Systems Aft Flight Deck Simulator with the Terminal Area Air Traffic Model Simulation was required. The realism of an air traffic control (ATC) environment with audio controller instructions for the flight crews and the capability of inserting a live aircraft into the terminal area model to interact with computer generated aircraft was provided. Crew performance using the advanced displays and two separate control systems (automatic and manual) in flying area navigation routes in the automated ATC environment was assessed. Although the crews did not perform as well using the manual control system, their performances were within acceptable operational limits with little increase in workload. The crews favored using the manual control system and felt they were more alert and aware of their environment when using it.
An automated technique for extracting mesoscale winds from sequences of GOES VISSR image pairs was developed, tested and configured for quasi-real time/research applications on a computing system which gives mesoscale wind estimates at the highest spatial/temporal resolution possible from the VISSR imagery down to a wind vector separation of 10 km. Preprocessing of imagery using IR resampling, VIS edge preserving filtering, and reduced VIS resolution averaging improved height assignments and vector extraction for 10, 15, and 30 min imagery. An objective quality control system provides much greater than 99% accuracy in eliminating questionable wind estimates. Automated winds generally have better spatial coverage and density, and have random error estimates half as large as the manual winds. Dynamical analysis of cloud wind divergence revealed temporally consistent convergence centers on the meso beta scale that are highly correlated with on going and future developing convective storms. The entire system of computer codes was successfully vectorized for execution on an array processor resulting in job turnaround in less than one hour.
The design of the Hybrid Automated Reliability Predictor (HARP), now under development at Duke University, is presented. The HARP approach to reliability prediction is characterized by a decomposition of the overall model into fault-occurrence and fault-handling sub-models. The fault-occurrence model is a non-homogeneous Markov chain which is solved analytically, while the fault-handling model is a Petri Net which is simulated. HARP provides automated analysis of sensitivity to uncertainties in the input parameters and in the initial state specifications. It then produces a predicted reliability band as a function of mission time, as well as estimates of the improvement (narrowing of the band) to be gained by a specified amount of reduction in uncertainty.
The emphasis on automation and robotics in the augmentation of the human centered systems as it concerns the space station is discussed. How automation and robotics can amplify the capabilities of humans is detailed. A detailed developmental program for the space station is outlined.
The man machine automation tradeoff methodology presented is of four research tasks comprising the autonomous spacecraft system technology (ASST) project. ASST was established to identify and study system level design problems for autonomous spacecraft. Using the Space Station as an example spacecraft system requiring a certain level of autonomous control, a system level, man machine automation tradeoff methodology is presented that: (1) optimizes man machine mixes for different ground and on orbit crew functions subject to cost, safety, weight, power, and reliability constraints, and (2) plots the best incorporation plan for new, emerging technologies by weighing cost, relative availability, reliability, safety, importance to out year missions, and ease of retrofit. A fairly straightforward approach is taken by the methodology to valuing human productivity, it is still sensitive to the important subtleties associated with designing a well integrated, man machine system. These subtleties include considerations such as crew preference to retain certain spacecraft control functions; or valuing human integration/decision capabilities over equivalent hardware/software where appropriate.
Lower frequency bands allocated for satellite communications use are becoming saturated due to steadily increasing demand. An ongoing program to develop the new technologies required to meet the demands of future systems is described. Higher frequency components and more efficient system techniques are developed. In order to accurately evaluate the performance of these technologies, an automated test system was designed and built. The automated system's design an capabilities are discussed.
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures.
This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.
This final report, prepared by Martin Marietta Denver Aerospace, provides the technical results of their input to the Space Station Automation Study, the purpose of which is to develop informed technical guidance in the use of autonomous systems to implement space station functions, many of which can be programmed in advance and are well suited for automated systems.
NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.
The research issues associated with the increasing autonomy and independence of machines and their evolving relationships to human beings are explored. The research, conducted by Langley Research Center (LaRC), will produce a new social work order in which the complementary attributes of robots and human beings, which include robots' greater strength and precision and humans' greater physical and intellectual dexterity, are necessary for systems of cooperation. Attention is given to the tools for performing the research, including the Intelligent Systems Research Laboratory (ISRL) and industrial manipulators, as well as to the research approaches taken by the Automation Technology Branch (ATB) of LaRC to achieve high automation levels. The ATB is focusing on artificial intelligence research through DAISIE, a system which tends to organize its environment into hierarchical controller/planner abstractions.
Assertions can be used to automate the process of testing software. Two methods for automating the generation of input test data are described in this paper. One method selects the input values of variables at regular intervals in a 'grid'. The other, adaptive testing, uses assertion violations as a measure of errors detected and generates new test cases based on test results. The important features of assertion testing are that: it can be used throughout the entire testing cycle; it provides automatic notification of error conditions; and it can be used with automatic input generation techniques which eliminate the subjectivity in choosing test data.