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Information processing demands on both civilian and military aircrews have increased enormously as rotorcraft have come to be used for adverse weather, day/night, and remote area missions. Applied psychology, engineering, or operational research for future helicopter cockpit design criteria were identified. Three areas were addressed: (1) operational requirements, (2) advanced avionics, and (3) man-system integration.
Rechargeable hydraulic powerpack functions as lightweight, compact source of mechanical energy. Self-contained hydraulic powerpack derives energy from solid chemical charge. Combustion of charge initiated by small hammer, and revolving feeder replaces charges expended. Combustion gases cool during expansion in turbine and not too hot for release to atmosphere. Unit has applications driving wheelchairs and operating drills, winches, and other equipment in remote areas. Also replaces electric motors and internal-combustion engines as source of power in explosive atmospheres.
The NASA Pilot Land Data System (PLDS) project is intended to enhance the effectiveness of data processing capabilities used by researchers applying remote sensing data in land science research. Two sites in the centerminous U.S. have been selected as study areas scanned by Landsat, Nimbus and GOES instruments. The data will be analyzed by teams of researchers representing different fields of expertise. The PLDS program will explore data management, networking and communications, system access capabilities, land analysis software, special processes and overall systems engineerng. The data will be processed by researchers working interactively through remote supermicrocomputer workstations using a variety of operating systems and on-site software capabilities.
The theoretical basis for remote sensing measurements of climate and ocean dynamics is examined. Consideration is given to: the absorption of electromagnetic radiation in the atmosphere; scattering in the atmosphere; and satellite observations using visible light. Consideration is also given to: the theory of radio scatter from the sea; scatter of centimeter waves from the sea; and the theory of operation of synthetic aperture radars. Additional topics include: the coordinate systems of satellite orbits for oceanographic remote sensing applications; the operating features of the major U.S. satellite systems for viewing the ocean; and satellite altimetry.
Reported in this paper are the Georgia Institute of Technology NO results from the fall 1983 NASA GTE/CITE 1 Airborne Field Sampling Program. These data were predominantly collected over a geographical area defined by the eastern and central North Pacific Ocean, spanning the latitude range of 15-42 deg N. These NO measurements were taken using the two-photon laser-induced fluorescence technique. The data show a general trend of increasing levels of NO from the boundary layer up to altitudes of nearly 10 km. The average midday value of NO at altitudes of less than or equal to 1.8 km was 4 parts per trillion by volume (pptv), and at about 6 km, 20 pptv, whereas that at about 9 km was 25-35 pptv, the higher value reflecting the inclusion of NO data collected from the outflow region of two electrically active cumulonimbus clouds. The high-altitude NO data strongly suggest that at least during the time of the GTE flight operation, the major sources of NO for remote regions of the Pacific Ocean were those resulting from lightning and the downward transport of stratospheric air.
Teleoperation (remote manipulation) will someday supplement/minimize astronaut extravehicular activity in space to perform such tasks as satellite servicing and repair, and space station construction and servicing. This technology is being investigated by NASA with teleoperation of two space-related tasks having been demonstrated at the Oak Ridge National Lab. The teleoperator experiments are discussed and the results of these experiments are summarized. The related equipment design recommendations are also presented. In addition, a general discussion of equipment design for teleoperation is also presented.
The Orbital Maneuvering Vehicle (OMV) will be remotely piloted during rendezvous, docking, or proximity operations with target spacecraft from a ground control console (GCC). The real-time mission simulator and graphics being used to design a console pilot-machine interface are discussed. A real-time orbital dynamics simulator drives the visual displays. The dynamics simulator includes a J2 oblate earth gravity model and a generalized 1962 rotating atmospheric and drag model. The simulator also provides a variable-length communication delay to represent use of the Tracking and Data Relay Satellite System (TDRSS) and NASA Communications (NASCOM). Input parameter files determine the graphics display. This feature allows rapid prototyping since displays can be easily modified from pilot recommendations. A series of pilot reviews are being held to determine an effective pilot-machine interface. Pilots fly missions with nominal to 3-sigma dispersions in translational or rotational axes. Console dimensions, switch type and layout, hand controllers, and graphic interfaces are evaluated by the pilots and the GCC simulator is modified for subsequent runs. Initial results indicate a pilot preference for analog versus digital displays and for two 3-degree-of-freedom hand controllers.
When teleoperating a robot using video from a remote camera, it is difficult for the operator to gauge depth and orientation from a single view. In addition, there are situations where a camera mounted for viewing by the teleoperator during a teleoperation task may not be able to see the tool tip, or the viewing angle may not be intuitive (requiring extensive training to reduce the risk of incorrect or dangerous moves by the teleoperator). A machine vision based teleoperator aid is presented which uses the operator's camera view to compute an object's pose (position and orientation), and then overlays onto the operator's screen information on the object's current and desired positions. The operator can choose to display orientation and translation information as graphics and/or text. This aid provides easily assimilated depth and relative orientation information to the teleoperator. The camera may be mounted at any known orientation relative to the tool tip. A preliminary experiment with human operators was conducted and showed that task accuracies were significantly greater with than without this aid.
A cooperative commercial development project designed to focus on cost-effective and practical applications of satellite remote sensing in forest management is discussed. The project, initiated in September, 1988 is being executed in three phases: (1) development of a forest resource inventory and geographic information system (GIS) updating systems; (2) testing and evaluation of remote-sensing products against forest industry specifications; and (3) integration of remote-sensing services and products in an operational setting. An advisory group represented by eleven major forest-product companies will provide direct involvement of the target market. The advisory group will focus on the following questions: Does the technology work for them? How can it be packaged to provide the needed forest-management information? Can the products and information be provided in a cost-effective manner?
A conventional remotely piloted vehicle (RPV) was designed to operate in a fictional 'Aeroworld' as a 30 passenger aircraft. The topics addressed include: economic/cost analysis, aerodynamics, weight and structures, propulsion, stability and control, and performance.
Proposed teleoperator control system incorporates several advanced features to improve coordination between remote robotic manipulator (slave arm) and human operator at control manipulator (master arm). Provides superior performance in terms of error profiles and task-completion time in presence of human control errors varying over wide range and maintains stability under large signal-propagation delays. System highly robust in presence of nonlinearities and incorrect human commands in both position and rate modes of control.
This poster presentation describes the Optical Attenuation Mechanism (OAM) Upgrades to the MOBLAS and TLRS Crustal Dynamics Satellite Laser Ranging (CDSLR) systems. The upgrades were for the purposes of preparing these systems to laser range to the TOPEX/POSEIDON spacecraft when it will be launched in the summer of 1992. The OAM permits the laser receiver to operate over the expected large signal dynamic range from TOPEX/POSEIDON and it reduces the number of pre- and post-calibrations for each satellite during multi-satellite tracking operations. It further simplifies the calibration bias corrections that had been made due to the pass-to-pass variation of the photomultiplier supply voltage and the transmit filter glass thickness. The upgrade incorporated improvements to the optical alignment capability of each CDSLR system through the addition of a CCD camera into the MOBLAS receive telescope and an alignment telescope onto the TLRS optical table. The OAM is stepper motor and microprocessor based; and the system can be controlled either manually by a control switch panel or computer controlled via an EIA RS-232C serial interface. The OAM has a neutral density (ND) range of 0.0 to 4.0 and the positioning is absolute referenced in steps of 0.1 ND. Both the fixed transmit filter and the daylight filter are solenoid actuated with digital inputs and outputs to and from the OAM microprocessor. During automated operation, the operator has the option to overide the remote control and control the OAM system via a local control switch panel.
NASA Headquarters' Office of Advanced Concepts and Technology (OACT) joined efforts with Johnson Space Center's (JSC) Automation and Robotics Division and Langley Research Center's (LaRC) Information Systems Division to capture the technologies developed during the cancelled NASA Flight Telerobotic Servicer (FTS) program planned for use on Space Station Freedom. The recent FTS technology capture effort completed the build and testing of one flight qualifiable FTS manipulator, deliverable to JSC's Automation & Robotics Division for environmental testing. The many robotic technologies developed to meet the 30 year space environment design requirements are discussed in this paper. The manipulator properties were to allow positioning control to one thousandths of an inch, with zero actuator backlash over a temperature range of -50 to +95 C, and were to include impedance control and inertial decoupling. Safety and reliability requirements are discussed that were developed to allow a thirty year life in space with minimum maintenance. The system had to meet the safety requirements for hazardous payloads for operation in the shuttle payload bay during demonstration test flights prior to station use. A brief description is contained on an orbiter based robotic experiment and operational application using the dexterous FTS manipulator operating on the end of the shuttle remote manipulator systems (SRMS) from ground control.
This paper outlines recent work done at the NASA Ames Artificial Intelligence Research Laboratory on automation and support of science experiments on the US Space Shuttle in low earth orbit. Three approaches to increasing the science return of these experiments using emerging automation technologies are described: remote control (telescience), science advisors for astronaut operators, and fully autonomous experiments. The capabilities and limitations of these approaches are reviewed.
We developed a force-reflecting teleoperation system that uses a real-time graphic simulator. This system eliminates the effects of communication time delays in remote robot manipulation. The simulator provides the operator with predictive display and feedback of computed contact forces through a six-degree of freedom (6-DOF) master arm on a real-time basis. With this system, peg-in-hole tasks involving round-trip communication time delays of up to a few seconds were performed at three support levels: a real image alone, a predictive display with a real image, and a real-time graphic simulator with computed-contact-force reflection and a predictive display. The experimental results indicate the best teleoperation efficiency was achieved by using the force-reflecting simulator with two images. The shortest work time, lowest sensor maximum, and a 100 percent success rate were obtained. These results demonstrate the effectiveness of simulated-force-reflecting teleoperation efficiency.
The Goddard Space Flight Center (GSFC) Distributed Active Archive Center (DAAC) has been developed to enhance Earth Science research by improved access to remote sensor earth science data. Building and operating an archive, even one of a moderate size (a few Terabytes), is a challenging task. One of the critical components of this system is Unitree, the Hierarchical File Storage Management System. Unitree, selected two years ago as the best available solution, requires constant system administrative support. It is not always suitable as an archive and distribution data center, and has moderate performance. The Data Archive and Distribution System (DADS) software developed to monitor, manage, and automate the ingestion, archive, and distribution functions turned out to be more challenging than anticipated. Having the software and tools is not sufficient to succeed. Human interaction within the system must be fully understood to improve efficiency to improve efficiency and ensure that the right tools are developed. One of the lessons learned is that the operability, reliability, and performance aspects should be thoroughly addressed in the initial design. However, the GSFC DAAC has demonstrated that it is capable of distributing over 40 GB per day. A backup system to archive a second copy of all data ingested is under development. This backup system will be used not only for disaster recovery but will also replace the main archive when it is unavailable during maintenance or hardware replacement. The GSFC DAAC has put a strong emphasis on quality at all level of its organization. A Quality team has also been formed to identify quality issues and to propose improvements. The DAAC has conducted numerous tests to benchmark the performance of the system. These tests proved to be extremely useful in identifying bottlenecks and deficiencies in operational procedures.
Project GOSAP is a multi organizational effort to determine how best to use remote sensing technology, and ERS-1 data in particular, to address offshore problems and operations faced by the exploration and marine engineering industries, in the Gulf of Mexico. Remotely sensed data integrated with sea truth are used to quantify meteorologic and oceanographic events, to detect and track ocean currents and gyres, to image the sea floor, map subsurface geology, or detect oil seeps from orbital altitudes. Participants are evaluating the potential for satellite based offshore exploration, ocean engineering, and environmental applications using combined satellite and airborne measurements constrained by real time sea truth.
AVIRIS is a NASA-sponsored Earth-remote-sensing imaging spectrometer designed, built and operated by the Jet Propulsion Laboratory (JPL). While AVIRIS has been operational since 1989, major improvements have been completed in most of the sensor subsystems during the winter maintenance cycles. As a consequence of these efforts, the capabilities of AVIRIS to reliably acquire and deliver consistently high quality, calibrated imaging spectrometer data continue to improve annually, significantly over those in 1989. Improvements to AVIRIS prior to 1994 have been described previously. This paper details recent and planned improvements to AVIRIS in the sensor task.