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At least 1,225 records · Page 68

Tracking performance of unbalanced QPSK demodulators. I - Biphase Costas loop with passive arm filters

Unbalanced quadriphase-shift-keying (QPSK) is an attractive means for transmitting two digital data streams which in general have different average powers, data rates, and data formats. Previous analyses of the tracking performance of Costas loop demodulators of unbalanced QPSK have accounted only for the filtering effect produced by the loop's two arm filters on the equivalent additive noise perturbing the loop. When the bandwidth of these filters is selected on the basis of the order of the data rate, as is typical of optimum Costas loop design, the filtering degradations of the data modulations themselves and the cross-modulation noise produced by their multiplication in the loop often cannot be neglected. The purpose of this paper is to incorporate these additional filtering effects into the analysis. Many of the results obtained herein are in the form of closed-form expressions which can easily be evaluated numerically for design and performance prediction purposes.

Simon, M. K.↗

Wind-tunnel investigation of an armed mini remotely piloted vehicle

A wind tunnel investigation of a full scale remotely piloted vehicle (RPV) armed with rocket launchers was conducted. The model had unacceptable longitudinal stability characteristics at negative angles of attack in the original design configuration. The addition of a pair of fins mounted in a V arrangement on the propeller shroud resulted in a configuration with acceptable longitudinal stability characteristics. The addition of wing mounted external stores to the modified configuration resulted in a slight reduction in the longitudinal stability. The lateral directional characteristics of the model were generally good, but the model had low directional stability at low angles of attack. Aerodynamic control power was very strong around all three axes.

Phelps, A. E., III↗

Computer aided control of a mechanical arm

A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

Derocher, W. L., Jr.↗

Some piloting experiences with multifunction isometric side-arm controllers in a helicopter

The installation of two side-arm mounted, isometric controllers in the NAE Airborne Simulator, a modified, variable stability Bell 205 A is described, as is the development of various control systems for use with them. The results of two experiments are presented indicating both the feasibility and acceptability of such systems for a wide variety of tasks in a conventional single rotor helicopter, with a minimum of stability augmentation. Areas of future research are indicated.

Morgan, J. M.↗

Torque-Wrench Extension Arm

Torque-wrench extension arm makes possible to apply torque to bolt, screw, or nut inaccessible to conventional wrenches or in areas where wrench cannot be manipulated. Used in narrow pockets and behind panels and walls.

Pacala, T. J.↗

The manned maneuvering unit flight controller arm

The Manned Maneuvering Unit (MMU) and its support equipment provide an extravehicular astronaut mobility, and the ability to work outside the confines of the Shuttle Orbiter payload bay. The MMU design requirements are based on the highly successful Skylab M-509 maneuvering unit. Design of the MMU was started as an R&D effort in April 1975 and Flight Hardware design was started in August 1979 to support a possible requirement for in-space inspection and repair of Orbiter thermal protection tiles. Subsequently, the qualification test and production activities were slowed, and the current projected earliest first flight is now STS-11 in January, 1984. The MMU propulsion subsystem provides complete redundancy with two identical "system". Each system contains a high pressure gaseous nitrogen tank, an isolation valve, a regulator, and twelve 1.7 lbf (7.5 N) thrusters. The thrusters are packaged to provide the crew member six-degree-of-freedom control in response to commands from translational and rotational hand controllers. This paper discusses the MMU control arm requirements, design, and developmental history.

Falkner, K. E.↗

Computer Control of a Seven Degree of Freedom Manipulator Arm

An algorithm for the computer control of a seven degree of freedom manipulator arm, termed the Hawk Control Mode, is described. The algorithm is segmented into two distinct parts. One part controls the extension, azimuth, and elevation of the wrist joint. The second part controls the attitude of the terminal device. The two segments interact to achieve decoupling of wrist joint translation and terminal device rotation.

Stensby, J.↗

Dual arm master controller development

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

Kuban, D. P.↗

Nonlinear adaptive control of an elastic robotic arm

An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.

Singh, S. N.↗

Robot-Arm Dynamic Control by Computer

Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

Bejczy, Antal K.↗

Recursive Robot-Arm Dynamics via Filtering and Smoothing

Forward and inverse dynamics solved using Kalman filtering and Bryson-Frazier smoothing. Dynamics of serial-link robot arm solved by using recursive techniques from linear filtering and smoothing theory. Solutions of dynamical equations give forces, moments, and accelerations at joints between links, and multilink inertia matrix and its inverse. Theoretical developments lay foundation for use of filtering and smoothing techniques in design of robot controls.

Rodriguez, Guillermo↗

Primary arm spacing in chill block melt spun Ni-Mo alloys

Chill block melt spun ribbons of Ni-Mo binary alloys containing 8.0 to 41.8 wt % Mo have been prepared under carefully controlled processing conditions. The growth velocity has been determined as a function of distance from the quench surface from the observed ribbon thickness dependence on the melt puddle residence time. Primary arm spacings measured at the midribbon thickness locations show a dependence on growth velocity and alloy composition which is expected from dendritic growth models for binary alloys directionally solidified in a positive temperature gradient.

Tewari, S. N.↗

Spiral arms and massive star formation: Analysis of the CO face-on pictures of the galaxy

The face-on distribution of molecular gas in the first Galactic quadrant, derived from the Massachusetts-Stony Brook Galactic Plane CO Survey, was compared to the Galactic distribution of giant radio HII regions. The HII regions were found to preferentially select gas regions of higher than average density (more than twice the mean) and showed a strong correlation with the second power of the gas density. Systematic effects were tested with a Monte Carlo simulated HII region distribution and found to be negligible. The 135 HII regions were selected from the radio catalogs of Downes et at. (1980) and Wink et al. (1982). The HII regions were required to be within the CO survey 1 and b limits, within the solar circle, and not part of the 3 kpc expanding arm. The velocities of the HII regions were tabulated by the catalog authors and obvious associations with known objects and H2CO absorptions were used by them to assign distances. The distance assignments were here grouped into two categories; (1) those HII regions with definite distance assignments (85 objects); and (2) those HII regions with less secure distance assignments and those for which no near-far assignment was possible (50 objects).

Clemens, D. P.↗

Local interstellar gasdynamical stability in spiral arm flow

The stability of two-dimensional interstellar gas flow passing through a spiral potential has been investigated. The background flow is assumed to move in a tightly wound potential, which may be regarded as external or self-generated. The unperturbed flow, which may be time dependent, is self-gravitating and satisfies the Roberts equations of motion. A polytropic, single-fluid assumption has been used. Magnetic effects are not considered. The motivation behind this work is to try to understand how much of the diversity of spiral arm morphology can be understood by large scale gas dynamical processes alone. To this end, it is suggested that spurring and feathering, and forming molecular cloud complexes may be closely related in the sense of having dynamically similar origins.

Balbus, S. A.↗

Grabber arm mechanism for the Italian Research Interim Stage (IRIS)

Two deployable arms, named grabbers, were designed and manufactured to provide lateral stability of the perigee spinning stage which will be deployed from the Space Shuttle cargo bay. The spinning stage is supported by a spin table on a cradle at its base. The Italian Research Interim Stage (IRIS) is designed to carry satellites of intermediate mass up to 900 kg. The requirements are defined and the mechanism is described. Functional test results are presented.

Turci, Edmondo↗

Traction-drive, seven-degree-of-freedom telerobot arm: A concept for manipulaton in space

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance.

Kuban, D. P.↗

Application of model reference adaptive control to a flexible remote manipulator arm

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Meldrum, D. R.↗