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At least 1,585 records · Page 88

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NASA NTRS1986

Independent Orbiter Assessment (IOA): Analysis of the manned maneuvering unit

Results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve indepedence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. This report documents the independent analysis results corresponding to the Manned Maneuvering Unit (MMU) hardware. The MMU is a propulsive backpack, operated through separate hand controllers that input the pilot's translational and rotational maneuvering commands to the control electronics and then to the thrusters. The IOA analysis process utilized available MMU hardware drawings and schematics for defining hardware subsystems, assemblies, components, and hardware items. Final levels of detail were evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the worst case severity of the effect for each identified failure mode. The IOA analysis of the MMU found that the majority of the PCIs identified are resultant from the loss of either the propulsion or control functions, or are resultant from inability to perform an immediate or future mission. The five most severe criticalities identified are all resultant from failures imposed on the MMU hand controllers which have no redundancy within the MMU.

Bailey, P. S.↗

NASA NTRS1989

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, B.↗

NASA NTRS1989

OMV mission simulator

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.

Cok, Keith E.↗

NASA NTRS1989

Prototype part task trainer: A remote manipulator system simulator

The Part Task Trainer program (PTT) is a kinematic simulation of the Remote Manipulator System (RMS) for the orbiter. The purpose of the PTT is to supply a low cost man-in-the-loop simulator, allowing the student to learn operational procedures which then can be used in the more expensive full scale simulators. PTT will allow the crew members to work on their arm operation skills without the need for other people running the simulation. The controlling algorithms for the arm were coded out of the Functional Subsystem Requirements Document to ensure realistic operation of the simulation. Relying on the hardware of the workstation to provide fast refresh rates for full shaded images allows the simulation to be run on small low cost stand alone work stations, removing the need to be tied into a multi-million dollar computer for the simulation. PTT will allow the student to make errors which in full scale mock up simulators might cause failures or damage hardware. On the screen the user is shown a graphical representation of the RMS control panel in the aft cockpit of the orbiter, along with a main view window and up to six trunion and guide windows. The dials drawn on the panel may be turned to select the desired mode of operation. The inputs controlling the arm are read from a chair with a Translational Hand Controller (THC) and a Rotational Hand Controller (RHC) attached to it.

Shores, David↗

NASA NTRS1989

Adapting to variable prismatic displacement

In each of two studies, subjects were exposed to a continuously changing prismatic displacement with a mean value of 19 prism diopters (variable displacement) and to a fixed 19-diopter displacement (fixed displacement). In Experiment 1, significant adaptation (post-pre shifts in hand-eye coordination) was found for fixed, but not for variable, displacement. Experiment 2 demonstrated that adaptation was obtained for variable displacement, but it was very fragile and is lost if the measures of adaptation are preceded by even a very brief exposure of the hand to normal or near-normal vision. Contrary to the results of some previous studies, an increase in within-S dispersion was not found of target pointing responses as a result of exposure to variable displacement.

Welch, Robert B.↗

NASA NTRS1990

Modeling strength data for CREW CHIEF

The Air Force has developed CREW CHIEF, a computer-aided design (CAD) tool for simulating and evaluating aircraft maintenance to determine if the required activities are feasible. CREW CHIEF gives the designer the ability to simulate maintenance activities with respect to reach, accessibility, strength, hand tool operation, and materials handling. While developing the CREW CHIEF, extensive research was performed to describe workers strength capabilities for using hand tools and manual handling of objects. More than 100,000 strength measures were collected and modeled for CREW CHIEF. These measures involved both male and female subjects in the 12 maintenance postures included in CREW CHIEF. The data collection and modeling effort are described.

Mcdaniel, Joe W.↗

NASA NTRS1990

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

Erickson, J. D.↗

NASA NTRS1990

Limits of adaptation, residual interferences

Methods of determining linear residual wall interference appear to be well established theoretically; however they need to be validated, for example by comparative studies of test data on the same model in different adaptive-wall wind tunnels as well as in passive, ventilated-wall tunnels. The GARTEur CAST 7 and the CAST 10/DOA 2 investigations are excellent examples of such comparative studies. Results to date in both one-variable and two-variable methods for nonlinear wall interference indicate that a great deal more research and validation are required. The status in 2D flow is advanced over that in 3D flow as is the case generally with adaptive-wall development. Nevertheless, it is now well established that for transonic testing with extensive supercritical flow present, significant wall interference is likely to exist in conventional ventilated test sections. Consequently, residual correction procedures require further development hand-in-hand with further adaptive-wall development.

Mokry, Miroslav↗

NASA NTRS1990

Artificial intelligence in the materials processing laboratory

Materials science and engineering provides a vast arena for applications of artificial intelligence. Advanced materials research is an area in which challenging requirements confront the researcher, from the drawing board through production and into service. Advanced techniques results in the development of new materials for specialized applications. Hand-in-hand with these new materials are also requirements for state-of-the-art inspection methods to determine the integrity or fitness for service of structures fabricated from these materials. Two problems of current interest to the Materials Processing Laboratory at UAH are an expert system to assist in eddy current inspection of graphite epoxy components for aerospace and an expert system to assist in the design of superalloys for high temperature applications. Each project requires a different approach to reach the defined goals. Results to date are described for the eddy current analysis, but only the original concepts and approaches considered are given for the expert system to design superalloys.

Workman, Gary L.↗

NASA NTRS1990

A vision-based telerobotic control station

A telerobotic control station is described. In it, a machine vision system measures the position, orientation, and configuration of a user's hand. A robotic manipulator mirrors the status of the hand. This concept has two benefits: control actions are intuitive and easily learned, and the workstation requires little volume or mass.

Tillotson, Brian↗

NASA NTRS1989

Liquid Rocket Booster (LRB) for the Space Transportation System (STS) systems study. Appendix E: Pressure-fed booster test bed for the liquid rocket booster study

The stress analysis/structural design of the Pressure-Fed Booster Engine Test Bed using the existing F-1 Test Facility Test Stand at Huntsville, Alabama is described. The analysis has been coded and set up for solution on NASTRAN. A separate stress program was established to take the NASTRAN output and perform stress checks on the members. Joint checks and other necessary additional checks were performed by hand. The notes include a brief description of other programs which assist in reproducing and reviewing the NASTRAN results. The redesign of the test stand members and the stress analysis was performed per the A.I.S.C. Code. Loads on the stand consist of the loaded run tanks; wind loads; seismic loads; live loads consisting of snow and ice: live and dead loads of steel; and loaded pressurant bottle. In combining loads, wind loads and seismic loads were each combined with full live loads. Wind and seismic loads were not combined. No one third increase in allowables was taken for the environmental loads except at decks 147 and 214, where the increase was used when considering the stay rods, brackets and stay beams. Wind and seismic loads were considered from each of the four coordinate directions (i.e. N,S,E,W) to give eight basic conditions. The analysis was run with the pressurant tank mounted at level 125. One seismic condition was also run with the tank mounted at levels 169 and 214. No failures were noted with mounting at level 169, but extensive deck failure with mounting at level 214 (the loadsets used are included on the tape, but no detailed results are included in the package). Decking support beams at levels 147 and 214 are not included in the model. The stress program thus does not reduce strut lengths to the length between support beams (the struts are attached to the beams at intersection points) and gives stress ratios larger than one for some of the struts. The affected members were therefore checked by hand.

Source record↗

NASA NTRS1989

Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

Lee, Thomas S.↗

NASA NTRS1989

Autonomous dexterous end-effectors for space robotics

The development of a knowledge-based controller is summarized for the Belgrade/USC robot hand, a five-fingered end effector, designed for maximum autonomy. The biological principles of the hand and its architecture are presented. The conceptual and software aspects of the grasp selection system are discussed, including both the effects of the geometry of the target object and the task to be performed. Some current research issues are presented.

Bekey, George A.↗

NASA NTRS1989

Force-reflective teleoperated system with shared and compliant control capabilities

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Szakaly, Z.↗

NASA NTRS1989

Detection of elliptical polarization and mode splitting in discrete Schumann resonance excitations

Elliptical polarization and mode splitting have been detected in the magnetic component of discrete, well defined Schumann resonance excitations. These ELF excitations, which are large electromagnetic transients of approximately 1 s duration, are called Q-bursts and typically occur every few minutes. They are believed to be the signature of the impulsive excitation of the earth-ionosphere cavity by ultra-large lightning currents. In this paper the magnetic polarization and spectral characteristics of four large Q-bursts are examined in detail using a new analysis technique. Two events display right-hand polarization and two display left-hand polarization. The theoretical polarization properties of the central and side multiplets of the Schumann resonances are used to define a local orthogonal coordinate system in the measurement frame in which these components may be separated. Maximum entropy spectrums computed separately for what are identified to be the central and side multiplets in this coordinate system show distinctly different eigenfrequencies for the lowest mode near 7.5 Hz. For the limited number of cases examined the magnitude of the line splitting detected using this technique is roughly 1.4-1.8 Hz, larger by nearly a factor of two than theoretical or observed values of the splitting previously reported. The frequencies of the side multiplets may lie either above or below the frequency of the central multiplet.

Sentman, D. D.↗

NASA NTRS1989

Equatorially generated ULF waves as a source for the turbulence associated with ion conics

Consideration is given to the possible source of low frequency turbulence on closed field lines in the central plasma sheet, which is used to explain ion heating and conic formation. Observations show that ion distributions in the equatorial region are often anisotropic and that these distributions excite ion cyclotron waves below the proton gyrofrequency and near the harmonics of the hydrogen cyclotron frequency. It is suggested that downcoming right-hand circularly polarized waves acquire a left-hand circularly polarized component at the crossover frequency and may tunnel through a stop zone to altitudes where they contribute to ion heating.

Johnson, Jay R.↗

NASA NTRS1989

Whistler wave bursts upstream of the Uranian bow shock

Observations of magnetic field wave bursts upstream of the Uranian bow shock are reported which were recorded prior to the inbound shock crossing. Three wave types are identified. One exhibits a broad spectral enhancement from a few millihertz to about 50 mHz and is seen from 17 to 10 hr prior to the inbound shock crossing. It is argued that these waves are whistler waves that have propagated upstream from the shock. A second wave type has a spacecraft frame frequency between 20 and 40 mHz, is seen only within or immediately upstream of the shock pedestal, is right-hand polarized in the spacecraft frame, and has a typical burst duration of 90 s. The third wave type has a spacecraft frame frequency of about 0.15 Hz, is seen exclusively within the shock pedestal, is left-hand polarized in the spacecraft frame, and has a burst duration lasting up to 4 min. It is argued that the low-frequency bursts are whistler waves with phase speed comparable to, but in excess of, the solar wind speed.

Smith, Charles W.↗

NASA NTRS1990

Observation and theory of Pc 5 waves with harmonically related transverse and compressional components

The properties of 23 magnetic pulsation events observed by the AMPTE CCE spacecraft are studied. These events are selected on the basis of the field magnitude which oscillated at the second harmonic of a simultaneously present transverse oscillation. The events have a second harmonic period of 80-600 s (roughly the Pc 5 range), are observed in cluster in the dawn (0300-0800 magnetic local time, MLT) and dusk (1600-2100 MLT) sectors, and are localized near the magnetic equator. Although the azimuthal wave number estimated from an ion finite Larmor radius effect, is generally large (about 50), there is a marked difference between the events observed in the dawn and dusk sectors. In the dawn sector the waves have low frequencies (1-5 mHz), indicate left-hand polarization with respect to the ambient magnetic field, and propagate eastward with respect to the spacecraft. In the dusk sector the waves have high frequencies (5-15 mHz), indicate right-hand polarization, and propagate westward. It is suggested that the waves are all westward propagating in the plasma rest frame and that local-time-dependent Doppler shift is the reason for the local time dependence of the wave properties.

Takahashi, K.↗