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At least 163 records · Page 9

Prediction of physical workload in reduced gravity

The background, development, and application of a methodology to predict human energy expenditure and physical workload in low gravity environments, such as a Lunar or Martian base, is described. Based on a validated model to predict energy expenditures in earth-based industrial jobs, the model relies on an elemental analysis of the proposed job. Because the job itself need not physically exist, many alternative job designs may be compared in their physical workload. The feasibility of using the model for prediction of low gravity work was evaluated by lowering body and load weights, while maintaining basal energy expenditure. Comparison of model results was made both with simulated low gravity energy expendiure studies and with reported Apollo 14 Lunar EVA expenditure. Prediction accuracy was very good for walking and for cart pulling on slopes less than 15 deg, but the model underpredicted the most difficult work conditions. This model was applied to example core sampling and facility construction jobs, as presently conceptualized for a Lunar or Martian base. Resultant energy expenditures and suggested work-rest cycles were well within the range of moderate work difficulty. Future model development requirements were also discussed.

Goldberg, Joseph H.↗

Rapid rotational/translational maneuvering experiments of a flexible steel beam

Future space manipulators may need translational base motion to expand the access region of a manipulator. An experiment was conducted to demonstrate slewing of flexible structures with coupled rotational and translational axes while simultaneously suppressing vibrational motion during the maneuver. In the experiment, a flexible steel beam carried by a translational cart was maneuvered by an active controller to perform position-control tasks. Experimental results are presented to show how the flexibility of the steel beam influences the multi-input multi-output feedback controller.

Juang, Jer-Nan↗

Mobile Centers For Secondary Power Distribution

Concept for distribution of 60-Hz ac power in large building devoted to assembly and testing of equipment improves safety, reduces number of outlets and lengthy cables, and readily accommodates frequent changes in operations and configuration. Power from floor recess fed via unobtrusive cable to portable power management center. A cart containing variety of outlets and circuit breakers, wheeled to convenient location near equipment to be assembled or tested. Power distribution system presents larger range of operational configurations than fixed location. Meets tighter standards to feed computers and delicate instruments. Industrial-grade power suitable for power tools and other hardware. Three-phase and single-phase outlets available from each.

Mears, Robert L.↗

Payload vibration isolation in a microgravity environment

Many in-space research experiments require the microgravity environment attainable near the center of mass of the Space Station. Disturbances to the structure surrounding an experiment may lead to vibration levels that will degrade the microgravity environment and undermine the experiment's validity. In-flight disturbances will include vibration transmission from nearby equipment and excitation from crew activity. Isolation of these vibration-sensitive experiments is required. Analytical and experimental work accomplished to develop a payload (experiment) isolation system for use in space is described. The isolation scheme allows the payload to float freely within a prescribed boundary while being kept centered with forces generated by small jets of air. The vibration criterion was a maximum payload acceleration of 10 micro-g's (9.81x10(exp -5)m/s(exp 2), independent of frequency. An experimental setup, composed of a cart supported by air bearings on a flat granite slab, was designed and constructed to simulate the microgravity environment in the horizontal plane. Experimental results demonstrate that the air jet control system can effectively manage payload oscillatory response. An analytical model was developed and verified by comparing predicted and measured payload response. The mathematical model, which includes payload dynamics, control logic, and air jet forces, is used to investigate payload response to disturbances likely to be present in the Space Station.

Alexander, Richard M.↗

NASA CSI suspension methods overview

New suspension techniques will be necesary for ground testing the flexible spacecraft anticipated in NASA's future space activity. The most complex spacecraft involve nonlinear maneuvering (i.e., large angle slewing) with articulating substructures such as remote manipulating systems. The NASA control-structure interaction (CSI) ground test method team has begun researching and developing methodology to suspend the future class of spacecraft. This overview describes the work completed thus far. The research objective and technical approach will be presented first. Second, will be a suspension device overview followed by an assessment of existing hardware. Two different mechanical zero-spring-rate mechanisms will be compared for optimal performance. Next, will be a description of how existing hardware can be evolved to meet more general suspension requirements. A comparison of suspending articulating structures overhead vs underneath will follow. After a few experimental results from the zero-spring-rate mechanism/air suspension cart will be concluding remarks and future work.

Woodard, Stanley E.↗

Neuromorphic learning of continuous-valued mappings from noise-corrupted data. Application to real-time adaptive control

The ability of feed-forward neural network architectures to learn continuous valued mappings in the presence of noise was demonstrated in relation to parameter identification and real-time adaptive control applications. An error function was introduced to help optimize parameter values such as number of training iterations, observation time, sampling rate, and scaling of the control signal. The learning performance depended essentially on the degree of embodiment of the control law in the training data set and on the degree of uniformity of the probability distribution function of the data that are presented to the net during sequence. When a control law was corrupted by noise, the fluctuations of the training data biased the probability distribution function of the training data sequence. Only if the noise contamination is minimized and the degree of embodiment of the control law is maximized, can a neural net develop a good representation of the mapping and be used as a neurocontroller. A multilayer net was trained with back-error-propagation to control a cart-pole system for linear and nonlinear control laws in the presence of data processing noise and measurement noise. The neurocontroller exhibited noise-filtering properties and was found to operate more smoothly than the teacher in the presence of measurement noise.

Troudet, Terry↗

Lunar articulated remote transportation system

A first generation lunar transportation vehicle was designed for use on the surface of the Moon between the years 2010 and 2020. Attention is focussed on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three cart, six-wheeled articulated vehicle. It's purpose will be for the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 kilometers). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the asronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include: a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat restraints, heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model was built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

Beech, Geoffrey↗

Suspension systems for ground testing large space structures

A research program is documented for the development of improved suspension techniques for ground vibration testing of large, flexible space structures. The suspension system must support the weight of the structure and simultaneously allow simulation of the unconstrained rigid-body movement as in the space environment. Exploratory analytical and experimental studies were conducted for suspension systems designed to provide minimum vertical, horizontal, and rotational degrees of freedom. The effects of active feedback control added to the passive system were also investigated. An experimental suspension apparatus was designed, fabricated, and tested. This test apparatus included a zero spring rate mechanism (ZSRM) designed to support a range of weights from 50 to 300 lbs and provide vertical suspension mode frequencies less than 0.1 Hz. The lateral suspension consisted of a pendulum suspended from a moving cart (linear bearing) which served to increase the effective length of the pendulum. The torsion suspension concept involved dual pendulum cables attached from above to a pivoting support (bicycle wheel). A simple test structure having variable weight and stiffness characteristics was used to simulate the vibration characteristics of a large space structure. The suspension hardware for the individual degrees of freedom was analyzed and tested separately and then combined to achieve a 3 degree of freedom suspension system. Results from the exploratory studies should provide useful guidelines for the development of future suspension systems for ground vibration testing of large space structures.

Gold, Ronald R.↗

Lunar articulated remote transportation system

The students of the Florida A&M/Florida State University College of Engineering continued their design from 1988 to 1989 on a first generation lunar transportation vehicle for use on the surface of the Moon between the years 2010 and 2020. Attention is focused on specific design details on all components of the Lunar Articulated Remote Transportation System (Lunar ARTS). The Lunar ARTS will be a three-cart, six-wheeled articulated vehicle. Its purpose will be the transportation of astronauts and/or materials for excavation purposes at a short distance from the base (37.5 km). The power system includes fuel cells for both the primary system and the back-up system. The vehicle has the option of being operated in a manned or unmanned mode. The unmanned mode includes stereo imaging with signal processing for navigation. For manned missions the display console is a digital readout displayed on the inside of the astronaut's helmet. A microprocessor is also on board the vehicle. Other components of the vehicle include a double wishbone/flexible hemispherical wheel suspension; chassis; a steering system; motors; seat retraints; heat rejection systems; solar flare protection; dust protection; and meteoroid protection. A one-quarter scale dynamic model has been built to study the dynamic behavior of the vehicle. The dynamic model closely captures the mechanical and electrical details of the total design.

Source record↗

An architecture for designing fuzzy logic controllers using neural networks

Described here is an architecture for designing fuzzy controllers through a hierarchical process of control rule acquisition and by using special classes of neural network learning techniques. A new method for learning to refine a fuzzy logic controller is introduced. A reinforcement learning technique is used in conjunction with a multi-layer neural network model of a fuzzy controller. The model learns by updating its prediction of the plant's behavior and is related to the Sutton's Temporal Difference (TD) method. The method proposed here has the advantage of using the control knowledge of an experienced operator and fine-tuning it through the process of learning. The approach is applied to a cart-pole balancing system.

Berenji, Hamid R.↗

Astronauts give GRO a helping hand

The eighth mission of the Space Shuttle Atlantis, during which an emergency spacewalk was performed to help deploy the Gamma-Ray Observatory (GRO), is described and illustrated with extensive photographs. The countdown and liftoff are recalled, and a day-by-day history of the mission is provided. Particular attention is given to the Extravehicular Activity Development Flight Experiment, designed to obtain data for future spacewalks, and the Crew and Equipment Translation Aid, aimed at testing carts that spacewalking astronauts could use to move along the truss structure of the Space Station.

Schulling, Roelof L.↗

Neuromorphic learning of continuous-valued mappings from noise-corrupted data

The effect of noise on the learning performance of the backpropagation algorithm is analyzed. A selective sampling of the training set is proposed to maximize the learning of control laws by backpropagation, when the data have been corrupted by noise. The training scheme is applied to the nonlinear control of a cart-pole system in the presence of noise. The neural computation provides the neurocontroller with good noise-filtering properties. In the presence of plant noise, the neurocontroller is found to be more stable than the teacher. A novel perspective on the application of neural network technology to control engineering is presented.

Troudet, T.↗

Dolly For Heavy Towbar

Proposed lightweight dolly enables operator to cart heavy towbar to remote site over unpaved roads or rough terrain. Acts as simple, lightweight towed vehicle to support rear of towbar. Removed quickly at point of use. Saves labor, and eliminates need for truck and forklift.

Soper, Terry A.↗

Learning classification trees

Algorithms for learning classification trees have had successes in artificial intelligence and statistics over many years. How a tree learning algorithm can be derived from Bayesian decision theory is outlined. This introduces Bayesian techniques for splitting, smoothing, and tree averaging. The splitting rule turns out to be similar to Quinlan's information gain splitting rule, while smoothing and averaging replace pruning. Comparative experiments with reimplementations of a minimum encoding approach, Quinlan's C4 and Breiman et al. Cart show the full Bayesian algorithm is consistently as good, or more accurate than these other approaches though at a computational price.

Buntine, Wray↗

Introduction in IND and recursive partitioning

This manual describes the IND package for learning tree classifiers from data. The package is an integrated C and C shell re-implementation of tree learning routines such as CART, C4, and various MDL and Bayesian variations. The package includes routines for experiment control, interactive operation, and analysis of tree building. The manual introduces the system and its many options, gives a basic review of tree learning, contains a guide to the literature and a glossary, and lists the manual pages for the routines and instructions on installation.

Buntine, Wray↗

Lidar Development for the Atmospheric Radiation Measurement (ARM) Program

The Atmospheric Radiation Measurement (ARM) Program was initiated by the Department of Energy's Atmospheric and Climate Research Division (DOE/ACRD) to improve parameterizations of cloud radiative effects in general circulation models of the Earth's climate. The Instrument Development Program (IDP), a major component of ARM, is directed toward the improvement of radiometric and remote sensing instrumentation pertinent to near real-time characterizations of atmospheric parameters. The ultimate goal of this program is to provide state-of-the-art instruments suitable for installation and extended use in ARM's field measurement component, the Cloud and Radiation Testbed (CART).

Griffin, J.↗

Progress on control experiments of flexible structures

Progress at the NASA Langley Research Center in the area of control experiments for flexible structures is described. First the author presents the experimental results for a linear model which represents slewing maneuvers of a generic space station solar panel carried out to evaluate experimentally some control technologies. Then the status of the rotational/translational maneuvering experiment of a flexible steel panel carried by a translation cart is presented. Finally, experimental results of the NASA minimast testbed using velocity command stepper motors as reaction mass reactors are shown. All the test configurations are briefly described, including actuator and sensor, test setup, and test software. The status of some research activities oriented primarily to the experimental methods for control of flexible structures is presented.

Juang, Jer-Nan↗

Using new aggregation operators in rule-based intelligent control

A new aggregation operator is applied in the design of an approximate reasoning-based controller. The ordered weighted averaging (OWA) operator has the property of lying between the And function and the Or function used in previous fuzzy set reasoning systems. It is shown here that, by applying OWA operators, more generalized types of control rules, which may include linguistic quantifiers such as Many and Most, can be developed. The new aggregation operators, as tested in a cart-pole balancing control problem, illustrate improved performance when compared with existing fuzzy control aggregation schemes.

Berenji, Hamid R.↗