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At least 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

NDE NDT composite materials defects inspection↗
NASA NTRS1989

United States orbital transfer vehicle programs

Five U.S. orbital transfer vehicles carrying spacecraft to higher energy orbits than achievable by the Space Shuttle or various expandable launch vehicles are studied. These vehicles are the Payload Assist Module-Delta (PAM-D), an upgraded version designated PAM-DII, the Inertial Upper Stage (IUS), the U.S. Transfer Orbit Stage (TOS), and the Orbital Maneuvering Vehicle (OMV). Capabilities range from providing spacecraft with only a preprogrammed perigee velocity additions to man-in-the-loop remote controlled spacecraft rendezvous, docking, retrieval, and return to a space base. The PAM-D, PAM-DII, and IUS are mature vehicles currently available for mission support. Characteristics, flight records, and costs are defined. The TOS is being commercially developed while the OMV is government developed. The TOS and OMV capabilities, constraints, and costs are reviewed.

Gunn, Charles R.↗
NASA NTRS1981

Spacecraft automatic umbilical system

An umbilical system design is described that incorporates all the features specified for a power system to payload interconnect capability. A proof-of-concept prototype of the umbilical system was built to determine experimentally the suitability of the threading characteristics of the ram mechanism and to verify freedom from cross threading. It is concluded that Berthing systems that utilize remote manipulator systems (RMS) can be simplified by using RMS targets, closed circuit TV cameras, tie into the RMS control system, and grapple-fixture and end-effector-like capture and secure mechanisms. To effect a remotely controlled umbilical interconnect in proximity with a manned spacecraft and to provide for extravehicular activity backup and maintenance capabilities, 18 different mechanisms are found to be necessary. The weight impact of proving for maintenance capability in a large multiple connector umbilical system was found to be in the order of +60 percent.

Goldin, R. W.↗
NASA NTRS2005

Experimental Validation: Subscale Aircraft Ground Facilities and Integrated Test Capability

Experimental testing is an important aspect of validating complex integrated safety critical aircraft technologies. The Airborne Subscale Transport Aircraft Research (AirSTAR) Testbed is being developed at NASA Langley to validate technologies under conditions that cannot be flight validated with full-scale vehicles. The AirSTAR capability comprises a series of flying sub-scale models, associated ground-support equipment, and a base research station at NASA Langley. The subscale model capability utilizes a generic 5.5% scaled transport class vehicle known as the Generic Transport Model (GTM). The AirSTAR Ground Facilities encompass the hardware and software infrastructure necessary to provide comprehensive support services for the GTM testbed. The ground facilities support remote piloting of the GTM aircraft, and include all subsystems required for data/video telemetry, experimental flight control algorithm implementation and evaluation, GTM simulation, data recording/archiving, and audio communications. The ground facilities include a self-contained, motorized vehicle serving as a mobile research command/operations center, capable of deployment to remote sites when conducting GTM flight experiments. The ground facilities also include a laboratory based at NASA LaRC providing near identical capabilities as the mobile command/operations center, as well as the capability to receive data/video/audio from, and send data/audio to the mobile command/operations center during GTM flight experiments.

Bailey, Roger M.↗
NASA NTRS1998

Instrument Remote Control via the Astronomical Instrument Markup Language

The Instrument Remote Control (IRC) project ongoing at NASA's Goddard Space Flight Center's (GSFC) Information Systems Center (ISC) supports NASA's mission by defining an adaptive intranet-based framework that provides robust interactive and distributed control and monitoring of remote instruments. An astronomical IRC architecture that combines the platform-independent processing capabilities of Java with the power of Extensible Markup Language (XML) to express hierarchical data in an equally platform-independent, as well as human readable manner, has been developed. This architecture is implemented using a variety of XML support tools and Application Programming Interfaces (API) written in Java. IRC will enable trusted astronomers from around the world to easily access infrared instruments (e.g., telescopes, cameras, and spectrometers) located in remote, inhospitable environments, such as the South Pole, a high Chilean mountaintop, or an airborne observatory aboard a Boeing 747. Using IRC's frameworks, an astronomer or other scientist can easily define the type of onboard instrument, control the instrument remotely, and return monitoring data all through the intranet. The Astronomical Instrument Markup Language (AIML) is the first implementation of the more general Instrument Markup Language (IML). The key aspects of our approach to instrument description and control applies to many domains, from medical instruments to machine assembly lines. The concepts behind AIML apply equally well to the description and control of instruments in general. IRC enables us to apply our techniques to several instruments, preferably from different observatories.

Sall, Ken↗
NASA NTRS2000

Microscope-Based Fluid Physics Experiments in the Fluids and Combustion Facility on ISS

At the NASA Glenn Research Center, the Microgravity Science Program is planning to conduct a large number of experiments on the International Space Station in both the Fluid Physics and Combustion Science disciplines, and is developing flight experiment hardware for use within the International Space Station's Fluids and Combustion Facility. Four fluids physics experiments that require an optical microscope will be sequentially conducted within a subrack payload to the Fluids Integrated Rack of the Fluids and Combustion Facility called the Light Microscopy Module, which will provide the containment, changeout, and diagnostic capabilities to perform the experiments. The Light Microscopy Module is planned as a fully remotely controllable on-orbit microscope facility, allowing flexible scheduling and control of experiments within International Space Station resources. This paper will focus on the four microscope-based experiments, specifically, their objectives and the sample cell and instrument hardware to accommodate their requirements.

Doherty, Michael P.↗
NASA NTRS2008

Programmable Low-Voltage Circuit Breaker and Tester

An instrumentation system that would comprise a remotely controllable and programmable low-voltage circuit breaker plus several electric-circuit-testing subsystems has been conceived, originally for use aboard a spacecraft during all phases of operation from pre-launch testing through launch, ascent, orbit, descent, and landing. The system could also be adapted to similar use aboard aircraft. In comparison with remotely controllable circuit breakers heretofore commercially available, this system would be smaller, less massive, and capable of performing more functions, as needed for aerospace applications.

Greenfield, Terry↗
NASA NTRS2012

NASA Integrated Space Communications Network

The NASA Integrated Network for Space Communications and Navigation (SCaN) has been in the definition phase since 2010. It is intended to integrate NASA s three existing network elements, i.e., the Space Network, Near Earth Network, and Deep Space Network, into a single network. In addition to the technical merits, the primary purpose of the Integrated Network is to achieve a level of operating cost efficiency significantly higher than it is today. Salient features of the Integrated Network include (a) a central system element that performs service management functions and user mission interfaces for service requests; (b) a set of common service execution equipment deployed at the all stations that provides return, forward, and radiometric data processing and delivery capabilities; (c) the network monitor and control operations for the entire integrated network are conducted remotely and centrally at a prime-shift site and rotating among three sites globally (a follow-the-sun approach); (d) the common network monitor and control software deployed at all three network elements that supports the follow-the-sun operations.

Tai, Wallace↗
NASA NTRS2012

NASA Integrated Space Communications Network

The NASA Integrated Network for Space Communications and Navigation (SCaN) has been in the definition phase since 2010. It is intended to integrate NASA’s three existing network elements, i.e., the Space Network, Near Earth Network, and Deep Space Network, into a single network. In addition to the technical merits, the primary purpose of the Integrated Network is to achieve a level of operating cost efficiency significantly higher than it is today. Salient features of the Integrated Network include (a) a central system element that performs service management functions and user mission interfaces for service requests; (b) a set of common service execution equipment deployed at the all stations that provides return, forward, and radiometric data processing and delivery capabilities; (c) the network monitor and control operations for the entire integrated network are conducted remotely and centrally at a prime-shift site and rotating among three sites globally (a follow-the-sun approach); (d) the common network monitor and control software deployed at all three network elements that supports the follow-the-sun operations.

Bhasin, Kul↗
NASA NTRS2002

Development and Flight Testing of an Adaptive Vehicle Health-Monitoring Architecture

On going development and testing of an adaptable vehicle health-monitoring architecture is presented. The architecture is being developed for a fleet of vehicles. It has three operational levels: one or more remote data acquisition units located throughout the vehicle; a command and control unit located within the vehicle, and, a terminal collection unit to collect analysis results from all vehicles. Each level is capable of performing autonomous analysis with a trained expert system. The expert system is parameterized, which makes it adaptable to be trained to both a user's subject reasoning and existing quantitative analytic tools. Communication between all levels is done with wireless radio frequency interfaces. The remote data acquisition unit has an eight channel programmable digital interface that allows the user discretion for choosing type of sensors; number of sensors, sensor sampling rate and sampling duration for each sensor. The architecture provides framework for a tributary analysis. All measurements at the lowest operational level are reduced to provide analysis results necessary to gauge changes from established baselines. These are then collected at the next level to identify any global trends or common features from the prior level. This process is repeated until the results are reduced at the highest operational level. In the framework, only analysis results are forwarded to the next level to reduce telemetry congestion. The system's remote data acquisition hardware and non-analysis software have been flight tested on the NASA Langley B757's main landing gear. The flight tests were performed to validate the following: the wireless radio frequency communication capabilities of the system, the hardware design, command and control; software operation and, data acquisition, storage and retrieval.

Woodard, Stanley E.↗
NASA NTRS1990

The telerobot testbed: An architecture for remote servicing

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups.

Matijevic, J. R.↗
NASA NTRS1992

A step towards space-station user operations - An operational test-bed

A joint ESA/NASA project for researching and evaluating various remote payload operations for Space Station Freedom, using the ATLAS-1 Solar Constant (SOLCON) experiment as a representative payload and the MSFC Payload Operations Center (POCC) command and telemetry system as the base operations system, is described. A basic remote-user-center capability is to be implemented within the Columbus Crew Workstation facility at ESTEC in Noordwijk (NL), to demonstrate the ability to monitor real-time payload operations remotely and allow some command and control functions through the MSFC POCC. After the test-bed system is demonstrated for SOLCON, it is proposed to improve the capability and make it a standard service for Spacelab operations. This paper discusses POCC telemetry, command, and operations issues, NASA communications issues, SOLCON experiment-specific issues, NASA/ESA procedural issues, and system verification issues relating to the project.

Biddis, G. T.↗
NASA NTRS2017

Promoting Crew Autonomy: Current Advances and Novel Techniques

Since the dawn of the era of human space flight, mission control centers around the world have played an integral role in guiding space travelers toward mission success. In the International Space Station (ISS) program, astronauts and cosmonauts have the benefit of near constant access to the expertise and resources within mission control, as well as lifeboat capability to quickly return to Earth if something were to go wrong. As we move into an era of longer duration missions to more remote locations, rapid and ready access to mission control on earth will no longer be feasible. To prepare for such missions, long duration crews must be prepared to operate more autonomously, and the mission control paradigm that has been successfully employed for decades must be re-examined. The team at NASA's Payload Operations and Integration Center (POIC) in Huntsville, Alabama is playing an integral role in the development of concepts for a more autonomous long duration crew of the future via research on the ISS.

Harris, Samantha↗
NASA NTRS1995

Remote Neural Pendants In A Welding-Control System

Neural network integrated circuits enhance functionalities of both remote terminals (called "pendants") and communication links, without necessitating installation of additional wires in links. Makes possible to incorporate many features into pendant, including real-time display of critical welding parameters and other process information, capability for communication between technician at pendant and host computer or technician elsewhere in system, and switches and potentiometers through which technician at pendant exerts remote control over such critical aspects of welding process as current, voltage, rate of travel, flow of gas, starting, and stopping. Other potential manufacturing applications include control of spray coating and of curing of composite materials. Potential nonmanufacturing uses include remote control of heating, air conditioning, and lighting in electrically noisy and otherwise hostile environments.

Venable, Richard A.↗
NASA NTRS2011

Developing a Prototype ALHAT Human System Interface for Landing

The goal of the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project is to safely execute a precision landing anytime/anywhere on the moon. This means the system must operate in any lighting conditions, operate in the presence of any thruster generated regolith clouds, and operate without the help of redeployed navigational aids or prepared landing site at the landing site. In order to reach this ambitious goal, computer aided technologies such as ALHAT will be needed in order to permit these landings to be done safely. Although there will be advanced autonomous capabilities onboard future landers, humans will still be involved (either onboard as astronauts or remotely from mission control) in any mission to the moon or other planetary body. Because many time critical decisions must be made quickly and effectively during the landing sequence, the Descent and Landing displays need to be designed to be as effective as possible at presenting the pertinent information to the operator, and allow the operators decisions to be implemented as quickly as possible. The ALHAT project has established the Human System Interface (HSI) team to lead in the development of these displays and to study the best way to provide operators enhanced situational awareness during landing activities. These displays are prototypes that were developed based on multiple design and feedback sessions with the astronaut office at NASA/ Johnson Space Center. By working with the astronauts in a series of plan/build/evaluate cycles, the HSI team has obtained astronaut feedback from the very beginning of the design process. In addition to developing prototype displays, the HSI team has also worked to provide realistic lunar terrain (and shading) to simulate a "out the window" view that can be adjusted to various lighting conditions (based on a desired date/time) to allow the same terrain to be viewed under varying lighting terrain. This capability will be critical to determining the effect of terrain/lighting on the human pilot, and how they use windows and displays during landing activities. The Apollo missions were limited to about 28 possible launch days a year due to lighting and orbital constraints. In order to take advantage of more landing opportunities and venture to more challenging landing locations, future landers will need to utilize sensors besides human eyes for scanning the surface. The ALHAT HSI system must effectively convey ALHAT produced information to the operator, so that landings can occur during less "optimal" conditions (lighting, surface terrain, slopes, etc) than was possible during Apollo missions. By proving this capability, ALHAT will simultaneously provide more flexible access to the moon, and greater safety margins for future landers. This paper will specifically focus on the development of prototype displays (the Trajectory Profile Display (TPD), Landing Point Designation (LPD), and Crew Camera View (CCV) ), implementation of realistic planetary terrain, human modeling, and future HSI plans.

Hirsh, Robert L.↗
NASA NTRS1975

Man-machine interactive imaging and data processing using high-speed digital mass storage

The role of vision in teleoperation has been recognized as an important element in the man-machine control loop. In most applications of remote manipulation, direct vision cannot be used. To overcome this handicap, the human operator's control capabilities are augmented by a television system. This medium provides a practical and useful link between workspace and the control station from which the operator perform his tasks. Human performance deteriorates when the images are degraded as a result of instrumental and transmission limitations. Image enhancement is used to bring out selected qualities in a picture to increase the perception of the observer. A general purpose digital computer, an extensive special purpose software system is used to perform an almost unlimited repertoire of processing operations.

Alsberg, H.↗
NASA NTRS1978

The NASA Standard Telemetry and Command Components /STACC/

The Standard Telemetry and Command Components (STACC) were conceived by NASA for use on the Multimission Modular Spacecraft. The components have wider application, however, and already are being considered for many other spacecraft. A programmable Central Unit controls Remote Interface Units via a full duplex data bus, providing data acquisition and command distribution capability throughout the spacecraft. The Central Unit can meet any uplink, time code, and format requirements without hardware changes. Each remote unit can acquire any type of data (serial digital, bi-level, analog, or passive analog) on any channel. A third type of unit is an optional interface providing I/O capability to an on-board computer. The protocols used on the 1Mbps data bus are compatible with MSFC's 'Standard Interfaces for Digital Data, Multiplex Serial Data Acquisition and Distribution Systems (SIDD/MSDADS Standard)'. The bus design saves significant harness weight and simplifies the single point ground and isolation approaches.

Elliott, N. P.↗
NASA NTRS1992

Needs for supervised space robots in space exploration

The areas of application for space robots in the Space Exploration Initiative (SEI) are examined by reviewing the roles of SEI supervised robots particularly with planet-surface systems (PSSs). Treatment is given to both teleoperated conventional robot systems and autonomous intelligent systems for comparison in terms of safety, reliability, and productivity. Two development stages are proposed including one with a robotic actor, human observer, and a human supervisor and a second in which a closed-loop control and monitoring system is established. The use of remote control is shown to require robustness, self-calibration and -diagnosis, adjustable autonomy, and multitask capability. The requirements of intelligent control are also listed so that the PSSs of the SEI can be used to enable surface exploration, local-resource utilization potential, and reductions of human tasks.

Erickson, Jon D.↗