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All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Uncorrectable sequences and telecommand

The purpose of a tail sequence for command link transmission units is to fail to decode, so that the command decoder will begin searching for the start of the next unit. A tail sequence used by several missions and recommended for this purpose by the Consultative Committee on Space Data Standards is analyzed. A single channel error can cause the sequence to decode. An alternative sequence requiring at least two channel errors before it can possibly decode is presented. (No sequence requiring more than two channel errors before it can possibly decode exists for this code.)

Ekroot, Laura↗
NASA NTRS1992

Current training: Where are we?

Petroleum Helicopters, Inc. maintains a staff of 750 helicopter pilots. The initial, transition, upgrade, and recurrent training for these pilots requires a significant financial outlay. Since a major portion of that training is done to satisfy the requirements of FAR 61.57, 'Recent Flight Experience, Pilot in Command' and 135.297, 'Pilot in Command: Instrument Proficiency Check Requirements', much could be accomplished using an approved simulator. However, it is imperative that credit be given for training time spent in the simulators and that the device be realistic, practical, and affordable.

Golden, Gerald↗
NASA NTRS1993

A vision system planner for increasing the autonomy of the Extravehicular Activity Helper/Retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools and equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This paper documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios are discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, and complementary usage of the sensors and redundant capabilities.

Magee, Michael↗
NASA NTRS1993

RACE pulls for shared control

Maintaining and supporting an aircraft fleet, in a climate of reduced manpower and financial resources, dictates effective utilization of robotics and automation technologies. To help develop a winning robotics and automation program the Air Force Logistics Command created the Robotics and Automation Center of Excellence (RACE). RACE is a command wide focal point. Race is an organic source of expertise to assist the Air Logistic Center (ALC) product directorates in improving process productivity through the judicious insertion of robotics and automation technologies. RACE is a champion for pulling emerging technologies into the aircraft logistic centers. One of those technology pulls is shared control. Small batch sizes, feature uncertainty, and varying work load conspire to make classic industrial robotic solutions impractical. One can view ALC process problems in the context of space robotics without the time delay. The ALC's will benefit greatly from the implementation of a common architecture that supports a range of control actions from fully autonomous to teleoperated. Working with national laboratories and private industry, we hope to transition shared control technology to the depot floor. This paper provides an overview of the RACE internal initiatives and customer support, with particular emphasis on production processes that will benefit from shared control technology.

Leahy, M. B., Jr.↗
NASA NTRS1992

Piloted simulation evaluation of pitch control designs for highly augmented STOVL aircraft

Analyses of design variations on a pitch axis stabilization and command augmentation system (SCAS) for a STOVL fighter aircraft are performed in a moving base simulation experiment. The primary goal of this study is to determine if turbulence-induced control activity could be reduced by modifying SCAS parameters while keeping the response-to-command characteristics of the baseline system that provide Level 1 flying qualities. Pilot ratings and control utilization statistics for the baseline system are in agreement with similar data gathered in a prior simulation test involving the same aircraft and control system.

Engelland, S. A.↗
NASA NTRS1992

Compliance control with embedded neural elements

The authors discuss a control approach that embeds the neural elements within a model-based compliant control architecture for robotic tasks that involve contact with unstructured environments. Compliance control experiments have been performed on actual robotics hardware to demonstrate the performance of contact control schemes with neural elements. System parameters were identified under the assumption that environment dynamics have a fixed nonlinear structure. A robotics research arm, placed in contact with a single degree-of-freedom electromechanical environment dynamics emulator, was commanded to move through a desired trajectory. The command was implemented by using a compliant control strategy.

Venkataraman, S. T.↗
NASA NTRS1992

The Servicing Aid Tool

The Servicing Aid Tool (SAT) is a teleoperated manipulation system designed for use on the NSTS Orbiter. The system will assist EVA servicing of spacecraft such as the Hubble Space Telescope and Explorer platform. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research and Schilling Development. Fairchild Space is providing the control electronics, safety system, and flight integration. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the Payload Bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm. Each slave arm joint receives position commands from the corresponding master arm joint; torque commands are reflected to each master joint based on the current state of the slave joint and the master/slave relationship. Scaled and indexed control will be accommodated, as will various features to ensure safe operation. The paper will focus on the development of the safety system, and operations for the demonstration and servicing missions.

Pullen, John L.↗
NASA NTRS1992

Compatibility and consistency in display-control systems - Implications for aircraft decision aid design

In this study we contrast display-control movement relations defined in terms of stimulus-response (physical) compatibility with those defined by stimulus-cognitive compatibility, and we relate these findings to the issue of command versus status levels of decision aid support. A second issue addressed is the cost of inconsistency across multiple display-control mappings. Subjects performed a flight control task while responding to one to four analog indicators, formatted as either command or status displays. The results suggest that there is an advantage for the status format when subjects are required to verbally report the state of the indicator(s), but no advantage was found for either format when subjects were required to manually correct the indicated state. The data point to the importance of display-control consistency and suggest that it may even outweigh that of compatibility.

Andre, Anthony D.↗
NASA NTRS1993

Intelligent sensing and control for advanced teleoperation

A theoretical framework is presented for a 'sensing-knowledge command-fusion' paradigm of interactive and cooperative sensing and control in advanced teleoperators, which takes advantage of both current and projected robotic dexterousness and sensor-based autonomy capabilities. Attention is given to (1) a method for the achievement of a sensing-knowledge-command computational mechanism that implements the intended cooperative/interactive system, and (2) the system architecture and man/machine-interface protocols entailed by this implementation.

Lee, Sukhan↗
NASA NTRS1988

An adaptive identification and control scheme for large space structures

A unified identification and control scheme capable of achieving space at form performance objectives under nominal or failure conditions is described. Preliminary results are also presented, showing that the methodology offers much promise for effective robust control of large space structures. The control method is a multivariable, adaptive, output predictive controller called Model Predictive Control (MPC). MPC uses a state space model and input reference trajectories of set or tracking points to adaptively generate optimum commands. For a fixed model, MPC processes commands with great efficiency, and is also highly robust. A key feature of MPC is its ability to control either nonminimum phase or open loop unstable systems. As an output controller, MPC does not explicitly require full state feedback, as do most multivariable (e.g., Linear Quadratic) methods. Its features are very useful in LSS operations, as they allow non-collocated actuators and sensors. The identification scheme is based on canonical variate analysis (CVA) of input and output data. The CVA technique is particularly suited for the measurement and identification of structural dynamic processes - that is, unsteady transient or dynamically interacting processes such as between aerodynamics and structural deformation - from short, noisy data. CVA is structured so that the identification can be done in real or near real time, using computationally stable algorithms. Modeling LSS dynamics in 1-g laboratories has always been a major impediment not only to understanding their behavior in orbit, but also to controlling it. In cases where the theoretical model is not confirmed, current methods provide few clues concerning additional dynamical relationships that are not included in the theoretical models. CVA needs no a priori model data, or structure; all statistically significant dynamical states are determined using natural, entropy-based methods. Heretofore, a major limitation in applying adaptive controllers to LSS problems has been the requirement for accurate models. We feel that MPC coupled with the CVA identification scheme will resolve this limitation. The results are based on research performed under an SBIR grant, administered by the Air Force Office of Scientific Research.

Carroll, J. V.↗
NASA NTRS1993

Assured Mission Support Space Architecture (AMSSA) study

The assured mission support space architecture (AMSSA) study was conducted with the overall goal of developing a long-term requirements-driven integrated space architecture to provide responsive and sustained space support to the combatant commands. Although derivation of an architecture was the focus of the study, there are three significant products from the effort. The first is a philosophy that defines the necessary attributes for the development and operation of space systems to ensure an integrated, interoperable architecture that, by design, provides a high degree of combat utility. The second is the architecture itself; based on an interoperable system-of-systems strategy, it reflects a long-range goal for space that will evolve as user requirements adapt to a changing world environment. The third product is the framework of a process that, when fully developed, will provide essential information to key decision makers for space systems acquisition in order to achieve the AMSSA goal. It is a categorical imperative that military space planners develop space systems that will act as true force multipliers. AMSSA provides the philosophy, process, and architecture that, when integrated with the DOD requirements and acquisition procedures, can yield an assured mission support capability from space to the combatant commanders. An important feature of the AMSSA initiative is the participation by every organization that has a role or interest in space systems development and operation. With continued community involvement, the concept of the AMSSA will become a reality. In summary, AMSSA offers a better way to think about space (philosophy) that can lead to the effective utilization of limited resources (process) with an infrastructure designed to meet the future space needs (architecture) of our combat forces.

Hamon, Rob↗
NASA NTRS1993

Investigation of the effects of bandwidth and time delay on helicopter roll-axis handling qualities

Several years of cooperative research conducted under the U.S./German Memorandum of Understanding (MOU) in helicopter flight control has recently resulted in a successful handling qualities study. The focus of this cooperative research has been the effects on handling qualities due to time delays in combination with a high bandwidth vehicle. The jointly performed study included the use of U.S. ground-based simulation and German in-flight simulation facilities. The NASA-Ames Vertical Motion Simulator (VMS) was used to develop a high bandwidth slalom tracking task which took into consideration the constraints of the facilities. The VMS was also used to define a range of the test parameters and to perform initial handling qualities evaluations. The flight tests were conducted using DLR's variable-stability BO 105 S3 Advanced Technology Testing Helicopter System (ATTHeS). Configurations included a rate command and an attitude command response system with added time delays up to 160 milliseconds over the baseline and bandwidth values between 1.5 and 4.5 rad/sec. Sixty-six evaluations were performed in about 25 hours of flight time during ten days of testing. The results indicate a need to more tightly constrain the allowable roll axis phase delay for the Level 1 and Level 2 requirements in the U.S. Army's specification for helicopter handling qualities, ADS-33C.

Pausder, Heinz-Juergen↗
NASA NTRS1991

Knowledge-based processing for aircraft flight control

The purpose is to develop algorithms and architectures for embedding artificial intelligence in aircraft guidance and control systems. With the approach adopted, AI-computing is used to create an outer guidance loop for driving the usual aircraft autopilot. That is, a symbolic processor monitors the operation and performance of the aircraft. Then, based on rules and other stored knowledge, commands are automatically formulated for driving the autopilot so as to accomplish desired flight operations. The focus is on developing a software system which can respond to linguistic instructions, input in a standard format, so as to formulate a sequence of simple commands to the autopilot. The instructions might be a fairly complex flight clearance, input either manually or by data-link. Emphasis is on a software system which responds much like a pilot would, employing not only precise computations, but, also, knowledge which is less precise, but more like common-sense. The approach is based on prior work to develop a generic 'shell' architecture for an AI-processor, which may be tailored to many applications by describing the application in appropriate processor data bases (libraries). Such descriptions include numerical models of the aircraft and flight control system, as well as symbolic (linguistic) descriptions of flight operations, rules, and tactics.

Painter, John H.↗
NASA NTRS1993

The influence of ATC message length and timing on pilot communication

Pilot-controller communication is critical to safe and efficient flight. It is often a challenging component of piloting, which is reflected in the number of incidents and accidents involving miscommunication. Our previous field study identified communication problems that disrupt routine communication between pilots and controllers. The present part-task simulation study followed up the field results with a more controlled investigation of communication problems. Pilots flew a simulation in which they were frequently vectored by Air Traffic Control (ATC), requiring intensive communication with the controller. While flying, pilots also performed a secondary visual monitoring task. We examined the influence of message length (one message with four commands vs. two messages with two commands each) and noncommunication workload on communication accuracy and length. Longer ATC messages appeared to overload pilot working memory, resulting in more incorrect or partial readbacks, as well as more requests to repeat the message. The timing between the two short messages also influenced communication. The second message interfered with memory for or response to the first short message when it was delivered too soon after the first message. Performing the secondary monitoring task did not influence communication. Instead, communication reduced monitoring accuracy.

Morrow, Daniel↗
NASA NTRS1993

A packet switched communications system for GRO

This paper describes the packet switched Instrumenters Communication System (ICS) that was developed for the Command Management Facility at GSFC to support the Gamma Ray Observatory (GRO) spacecraft. The GRO ICS serves as a vital science data acquisition link to the GRO scientists to initiate commands for their spacecraft instruments. The system is ready to send and receive messages at any time, 24 hours a day and seven days a week. The system is based on X.25 and the International Standard Organization's (ISO) 7-layer Open Systems Interconnection (OSI) protocol model and has client and server components. The components of the GRO ICS are discussed along with how the Communications Subsystem for Interconnection (CSFI) and Network Control Program Packet Switching Interface (NPSI) software are used in the system.

Husain, Shabu↗
NASA NTRS1992

The HEASARC graphical user interface

An OSF/Motif-based graphical user interface has been developed to facilitate the use of the database and data analysis software packages available from the High Energy Astrophysics Science Archive Research Center (HEASARC). It can also be used as an interface to other, similar, routines. A small number of tables are constructed to specify the possible commands and command parameters for a given set of analysis routines. These tables can be modified by a designer to affect the appearance of the interface screens. They can also be dynamically changed in response to parameter adjustments made while the underlying program is running. Additionally, a communication protocol has been designed so that the interface can operate locally or across a network. It is intended that this software be able to run on a variety of workstations and X terminals.

White, N.↗
NASA NTRS1992

Khoros software specification format and interoperability

Khoros defines formats for User Interface Specification (UIS) and Program Specification (PS) files. From such files, its code generator, Ghostwriter, creates source files and documentation. The great advantage of the system is that the code fragments that make up part of the PS file are purely generic. All Khoros-related code is created by the code generator; this includes all user interface code. As a matter of fact, both specification files are very generic in nature. Thus, one could imagine using it as the basis for other software systems. A case is made that writing a code generator that would create IRAF-compatible code from the Khoros UIS and PS files is fairly trivial. Another aspect of the Khoros system conventions concerns the way execution commands are generated by the user interface and the actual syntax of those commands. The protocols are such that interoperability at the level of executable modules is readily possible.

Rots, A. H.↗
NASA NTRS1992

Integrating a local database into the StarView distributed user interface

A distributed user interface to the Space Telescope Data Archive and Distribution Service (DADS) known as StarView is being developed. The DADS architecture consists of the data archive as well as a relational database catalog describing the archive. StarView is a client/server system in which the user interface is the front-end client to the DADS catalog and archive servers. Users query the DADS catalog from the StarView interface. Query commands are transmitted via a network and evaluated by the database. The results are returned via the network and are displayed on StarView forms. Based on the results, users decide which data sets to retrieve from the DADS archive. Archive requests are packaged by StarView and sent to DADS, which returns the requested data sets to the users. The advantages of distributed client/server user interfaces over traditional one-machine systems are well known. Since users run software on machines separate from the database, the overall client response time is much faster. Also, since the server is free to process only database requests, the database response time is much faster. Disadvantages inherent in this architecture are slow overall database access time due to the network delays, lack of a 'get previous row' command, and that refinements of a previously issued query must be submitted to the database server, even though the domain of values have already been returned by the previous query. This architecture also does not allow users to cross correlate DADS catalog data with other catalogs. Clearly, a distributed user interface would be more powerful if it overcame these disadvantages. A local database is being integrated into StarView to overcome these disadvantages. When a query is made through a StarView form, which is often composed of fields from multiple tables, it is translated to an SQL query and issued to the DADS catalog. At the same time, a local database table is created to contain the resulting rows of the query. The returned rows are displayed on the form as well as inserted into the local database table. Identical results are produced by reissuing the query to either the DADS catalog or to the local table. Relational databases do not provide a 'get previous row' function because of the inherent complexity of retrieving previous rows of multiple-table joins. However, since this function is easily implemented on a single table, StarView uses the local table to retrieve the previous row. Also, StarView issues subsequent query refinements to the local table instead of the DADS catalog, eliminating the network transmission overhead. Finally, other catalogs can be imported into the local database for cross correlation with local tables. Overall, it is believe that this is a more powerful architecture for distributed, database user interfaces.

Silberberg, D. P.↗