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At least 1,351 records · Page 75

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NASA NTRS1989

Operations considerations in Space Station Freedom assembly

The importance of planning the on-orbit operations inherent in the Space Station Freedom assembly sequence is discussed. Any solution to the assembly puzzle requires the simultaneous satisfaction of many diverse constraints, including: on-orbit assembly operations, NSTS (National Space Transportation System) payload bay constraints, NSTS performance capabilities, and provision of the requisite functionality for each on-orbit configuration. Because operations are in the critical path SSFP (Space Station Freedom Program) has chosen to carefully assess assembly operations as each launch manifest is developed and evaluated.

Doering, Stephen C.↗

NASA NTRS1990

Conceptual design and analysis of roads and road construction machinery for initial lunar base operations

Recent developments have made it possible for scientists and engineers to consider returning to the Moon to build a manned lunar base. The base can be used to conduct scientific research, develop new space technology, and utilize the natural resources of the Moon. Areas of the base will be separated, connected by a system of roads that reduce the power requirements of vehicles traveling on them. Feasible road types for the lunar surface were analyzed and a road construction system was designed for initial lunar base operations. A model was also constructed to show the system configuration and key operating features. The alternate designs for the lunar road construction system were developed in four stages: analyze and select a road type; determine operations and machinery needed to produce the road; develop machinery configurations; and develop alternates for several machine components. A compacted lunar soil road was selected for initial lunar base operations. The only machinery required to produce this road were a grader and a compactor. The road construction system consists of a main drive unit which is used for propulsion, a detachable grader assembly, and a towed compactor.

Sines, Jeffrey L.↗

NASA NTRS1990

The Flight Telerobotic Servicer (FTS) NASA's first operational robotic system

NASA has completed the preliminary definition phase of the Flight Telerobotic Servicer (FTS) and is now preparing to begin the detailed design and fabrication phase. The FTS will be designed and built by Martin Marietta Astronautics Group in Denver, CO, for the Goddard Space Flight Center, in support of the Space Station Freedom Program. The design concepts for the FTS are discussed, as well as operational scenarios for the assembly, maintenance, servicing and inspection tasks which are being considered for the FTS. The upcoming Development Test Flight (DTF-1) is the first of two shuttle test flights to test FTS operations in the environment of space and to demonstrate the FTS capabilities in performing tasks for Space Station Freedom. Operational planning for DTF-1 is discussed as well as development plans for the operational support of the FTS on the space station.

Andary, J.↗

NASA NTRS1990

Extensions of algebraic image operators: An approach to model-based vision

Researchers extend their previous research on a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets. Addition and multiplication are defined for the set of all grey-level images, which can then be described as polynomials of two variables. Utilizing this new algebraic structure, researchers devised an innovative, efficient edge detection scheme. An accurate method for deriving gradient component information from this edge detector is presented. Based upon this new edge detection system researchers developed a robust method for linear feature extraction by combining the techniques of a Hough transform and a line follower. The major advantage of this feature extractor is its general, object-independent nature. Target attributes, such as line segment lengths, intersections, angles of intersection, and endpoints are derived by the feature extraction algorithm and employed during model matching. The algebraic operators are global operations which are easily reconfigured to operate on any size or shape region. This provides a natural platform from which to pursue dynamic scene analysis. A method for optimizing the linear feature extractor which capitalizes on the spatially reconfiguration nature of the edge detector/gradient component operator is discussed.

Lerner, Bao-Ting↗

NASA NTRS1987

Robotic space simulation integration of vision algorithms into an orbital operations simulation

In order to successfully plan and analyze future space activities, computer-based simulations of activities in low earth orbit will be required to model and integrate vision and robotic operations with vehicle dynamics and proximity operations procedures. The orbital operations simulation (OOS) is configured and enhanced as a testbed for robotic space operations. Vision integration algorithms are being developed in three areas: preprocessing, recognition, and attitude/attitude rates. The vision program (Rice University) was modified for use in the OOS. Systems integration testing is now in progress.

Bochsler, Daniel C.↗

NASA NTRS1989

The JPL telerobot operator control station. Part 2: Software

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The software design of the operator control system is discussed.

Kan, Edwin P.↗

NASA NTRS1989

Performance limitations of bilateral force reflection imposed by operator dynamic characteristics

A linearized, single-axis model is presented for bilateral force reflection which facilitates investigation into the effects of manipulator, operator, and task dynamics, as well as time delay and gain scaling. Structural similarities are noted between this model and impedance control. Stability results based upon this model impose requirements upon operator dynamic characteristics as functions of system time delay and environmental stiffness. An experimental characterization reveals the limited capabilities of the human operator to meet these requirements. A procedure is presented for determining the force reflection gain scaling required to provide stability and acceptable operator workload. This procedure is applied to a system with dynamics typical of a space manipulator, and the required gain scaling is presented as a function of environmental stiffness.

Chapel, Jim D.↗

NASA NTRS1988

A spatial operator algebra for manipulator modeling and control

A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

Rodriguez, G.↗

NASA NTRS1990

FTS operations

The first planned use of the Flight Telerobotic Servicer (FTS) in the Space Station Freedom program is for the initial assembly of the station. Before the station is permanently manned, the FTS will operate out of the Shuttle bay. After initial assembly is complete, the 60-ft-long arm of the Canadian Mobile Servicing Center (MSC) will transport the FTS to the worksites. The FTS has three operating modes: dependent, transporter attached, and independent. Further details are given for each of these modes. In analyzing assembly operations, potential tasks were examined for their similarity to the six baseline FTS tasks. Operations will also include ground support for the servicer. Future tasks are being analyzed and verified by hardware performance in the lab.

Andary, James F.↗

NASA NTRS1989

Operator induced multigrid algorithms using semirefinement

A variant of multigrid, based on zebra relaxation, and a new family of restriction/prolongation operators is described. Using zebra relaxation in combination with an operator-induced prolongation leads to fast convergence, since the coarse grid can correct all error components. The resulting algorithms are not only fast, but are also robust, in the sense that the convergence rate is insensitive to the mesh aspect ratio. This is true even though line relaxation is performed in only one direction. Multigrid becomes a direct method if an operator-induced prolongation is used, together with the induced coarse grid operators. Unfortunately, this approach leads to stencils which double in size on each coarser grid. The use of an implicit three point restriction can be used to factor these large stencils, in order to retain the usual five or nine point stencils, while still achieving fast convergence. This algorithm achieves a V-cycle convergence rate of 0.03 on Poisson's equation, using 1.5 zebra sweeps per level, while the convergence rate improves to 0.003 if optimal nine point stencils are used. Numerical results for two- and three-dimensional model problems are presented, together with a two level analysis explaining these results.

Decker, Naomi Henderson↗

NASA NTRS1990

Operations view of Space Station in the 21st century

Operations envisioned onboard the Space Station are described. The operations framework and functions are examined, and the need for implementing more automation is discussed. It is concluded that increasing automation is the key to keeping operation costs down, while providing the flexibility needed to support the operations envisioned in the 21st century.

Cannon, Kathy↗

NASA NTRS1988

The Clouds distributed operating system - Functional description, implementation details and related work

Clouds is an operating system in a novel class of distributed operating systems providing the integration, reliability, and structure that makes a distributed system usable. Clouds is designed to run on a set of general purpose computers that are connected via a medium-of-high speed local area network. The system structuring paradigm chosen for the Clouds operating system, after substantial research, is an object/thread model. All instances of services, programs and data in Clouds are encapsulated in objects. The concept of persistent objects does away with the need for file systems, and replaces it with a more powerful concept, namely the object system. The facilities in Clouds include integration of resources through location transparency; support for various types of atomic operations, including conventional transactions; advanced support for achieving fault tolerance; and provisions for dynamic reconfiguration.

Dasgupta, Partha↗

NASA NTRS1990

Results from teleoperated free-flying spacecraft simulations in the Martin Marietta space operations simulator lab

To augment the capabilities of the Space Transportation System, NASA has funded studies and developed programs aimed at developing reusable, remotely piloted spacecraft and satellite servicing systems capable of delivering, retrieving, and servicing payloads at altitudes and inclinations beyond the reach of the present Shuttle Orbiters. Since the mid 1970's, researchers at the Martin Marietta Astronautics Group Space Operations Simulation (SOS) Laboratory have been engaged in investigations of remotely piloted and supervised autonomous spacecraft operations. These investigations were based on high fidelity, real-time simulations and have covered a wide range of human factors issues related to controllability. Among these are: (1) mission conditions, including thruster plume impingements and signal time delays; (2) vehicle performance variables, including control authority, control harmony, minimum impulse, and cross coupling of accelerations; (3) maneuvering task requirements such as target distance and dynamics; (4) control parameters including various control modes and rate/displacement deadbands; and (5) display parameters involving camera placement and function, visual aids, and presentation of operational feedback from the spacecraft. This presentation includes a brief description of the capabilities of the SOS Lab to simulate real-time free-flyer operations using live video, advanced technology ground and on-orbit workstations, and sophisticated computer models of on-orbit spacecraft behavior. Sample results from human factors studies in the five categories cited above are provided.

Hartley, Craig S.↗

NASA NTRS1990

A manned maneuvering unit proximity operations planning and flight guidance display and control system

This task concerns the design, development, testing, and evaluation of a new proximity operations planning and flight guidance display and control system for manned space operations. A forecast, derivative manned maneuvering unit (MMU) was identified as a candidate for the application of a color, highway-in-the-sky display format for the presentation of flight guidance information. A silicon graphics 4D/20-based simulation is being developed to design and test display formats and operations concepts. The simulation includes the following: (1) real-time color graphics generation to provide realistic, dynamic flight guidance displays and control characteristics; (2) real-time graphics generation of spacecraft trajectories; (3) MMU flight dynamics and control characteristics; (4) control algorithms for rotational and translational hand controllers; (5) orbital mechanics effects for rendezvous and chase spacecraft; (6) inclusion of appropriate navigation aids; and (7) measurement of subject performance. The flight planning system under development provides for: (1) selection of appropriate operational modes, including minimum cost, optimum cost, minimum time, and specified ETA; (2) automatic calculation of rendezvous trajectories, en route times, and fuel requirements; (3) and provisions for manual override. Man/machine function allocations in planning and en route flight segments are being evaluated. Planning and en route data are presented on one screen composed of two windows: (1) a map display presenting a view perpendicular to the orbital plane, depicting flight planning trajectory and time data attitude display presenting attitude and course data for use en route; and (2) an attitude display presenting local vertical-local horizontal attitude data superimposed on a highway-in-the-sky or flight channel representation of the flight planned course. Both display formats are presented while the MMU is en route. In addition to these displays, several original display elements are being developed, including a 3DOF flight detector for attitude commanding, a different flight detector for translation commands, and a pictorial representation of velocity deviations.

Gershzohn, Gary R.↗

NASA NTRS1979

Photovoltaic system criteria documents. Volume 1: Guidelines for evaluating the management and operations planning of photovoltaic applications

Guidelines are provided to the Field Centers for organization, scheduling, project and cost control, and performance in the areas of project management and operations planning for Photovoltaics Test and Applications. These guidelines may be used in organizing a T and A Project Team for system design/test, site construction and operation, and as the basis for evaluating T and A proposals. The attributes are described for project management and operations planning to be used by the Field Centers. Specifically, all project management and operational issues affecting costs, schedules and performance of photovoltaic systems are addressed. Photovoltaic tests and applications include residential, intermediate load center, central station, and stand-alone systems. The sub-categories of system maturity considered are: Initial System Evaluation Experiments (ISEE); System Readiness Experiments (SRE); and Commercial Readiness Demonstration Projects (CRDP).

Koenig, John C.↗

NASA NTRS1991

OFMspert: An architecture for an operator's associate that evolves to an intelligent tutor

With the emergence of new technology for both human-computer interaction and knowledge-based systems, a range of opportunities exist which enhance the effectiveness and efficiency of controllers of high-risk engineering systems. The design of an architecture for an operator's associate is described. This associate is a stand-alone model-based system designed to interact with operators of complex dynamic systems, such as airplanes, manned space systems, and satellite ground control systems in ways comparable to that of a human assistant. The operator function model expert system (OFMspert) architecture and the design and empirical validation of OFMspert's understanding component are described. The design and validation of OFMspert's interactive and control components are also described. A description of current work in which OFMspert provides the foundation in the development of an intelligent tutor that evolves to an assistant, as operator expertise evolves from novice to expert, is provided.

Mitchell, Christine M.↗

NASA NTRS1991

Computations involving differential operators and their actions on functions

The algorithms derived by Grossmann and Larson (1989) are further developed for rewriting expressions involving differential operators. The differential operators involved arise in the local analysis of nonlinear dynamical systems. These algorithms are extended in two different directions: the algorithms are generalized so that they apply to differential operators on groups and the data structures and algorithms are developed to compute symbolically the action of differential operators on functions. Both of these generalizations are needed for applications.

Crouch, Peter E.↗

NASA NTRS1990

Space astrophysics - Science operations

Science Operations in the Astrophysics Division of NASA Headquarters are the responsibility of the Science Operations Branch. The goals of Science Operations are to encourage multimission, panchromatic research in astrophysics and to foster coordination and cooperation among all mission operations and data analysis efforts. To meet these goals, the Branch is structured into four areas of responsibility. The paper describes these responsibilities.

Kutter, G. S.↗