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At least 1,693 records · Page 94

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NASA NTRS1988

IMP 7 (Explorer 47) trajectory, September 26, 1972 to September 25, 1978

The trajectory plots for IMP 7 (Explorer 47) are contained. For each orbit the trajectory is shown in five panels on two pages; each panel is a different representation or projection. The trajectory parameters were obtained from the multi-coordinate ephemeris (MCE) tapes supplied to IMP experimenters by the IMP project. The plots on the right hand pages use a geocentric, solar-ecliptic coordinate system. Distances are in units of earth radii. The plots on the left hand pages use geocentric, solar magnetospheric coordinates with distances in earth radii.

Milligan, Pamela A.↗

NASA NTRS1988

Design, development and evaluation of Stanford/Ames EVA prehensors

Space Station operations and maintenance are expected to make unprecedented demands on astronaut EVA. With Space Station expected to operate with an 8 to 10 psi atmosphere (4 psi for Shuttle operations), the effectivness of pressurized gloves is called into doubt at the same time that EVA activity levels are to be increased. To address the need for more frequent and complex EVA missions and also to extend the dexterity, duration, and safety of EVA astronauts, NASA Ames and Stanford University have an ongoing cooperative agreement to explore and compare alternatives. This is the final Stanford/Ames report on manually powered Prehensors, each of which consists of a shroud forming a pressure enclosure around the astronaut's hand, and a linkage system to transfer the motions and forces of the hand to mechanical digits attached to the shroud. All prehensors are intended for attachment to a standard wrist coupling, as found on the AX-5 hard suit prototype, so that realistic tests can be performed under normal and reduced gravity as simulated by water flotation.

Leifer, Larry J.↗

NASA NTRS1988

Reconfigurable work station for a video display unit and keyboard

A reconfigurable workstation is described having video, keyboard, and hand operated motion controller capabilities. The workstation includes main side panels between which a primary work panel is pivotally carried in a manner in which the primary work panel may be adjusted and set in a negatively declined or positively inclined position for proper forearm support when operating hand controllers. A keyboard table supports a keyboard in such a manner that the keyboard is set in a positively inclined position with respect to the negatively declined work panel. Various adjustable devices are provided for adjusting the relative declinations and inclinations of the work panels, tables, and visual display panels.

Shields, Nicholas L.↗

NASA NTRS1988

OMV docking simulator

The Boeing Orbital Maneuvering Vehicle (OMV) Docking and Proximity Operation System (DAPOS) was completed. The system constructed involves the use of four separate processors. Appropriate software was developed that drives each of these four processors. The hand controller logic coordinates all the activities in the control station, and communicates with the OMV mathematical model. The state vector generated by the model is in turn transmitted to the control station as well as the POLY 2000 (via the ALCYON host computer) for real time graphics generation. The OMV characteristics are stored in a data file which may be easily updated and modified without disturbing the software, thereby making the system very flexible. The current system supports two types of hand controllers. The system was flown by several volunteers, some of whom are airplane pilots. A user manual is also enclosed.

Teoh, W.↗

NASA NTRS1987

Steepened magnetosonic waves at Comet Giacobini-Zinner

Intense MHD waves at Comet Giacobini-Zinner were examined to investigate the mode and direction of wave propagation and thereby to provide important constraints on potential mechanisms for the wave origin in the vicinity of the comet. From observations of steepened wave forms, it is found that the waves must be propagating toward the sun but are blown back across the ICE spacecraft. The correlation between magnetic field magnitude and electron density enhancements indicates that these waves are fast magnetosonic mode emissions. The sense of rotation of the partial rotations are left-hand circularly polarized in the spacecraft frame, consistent with anomalously Doppler-shifted right-hand waves.

Tsurutani, Bruce T.↗

NASA NTRS1988

Ordinary mode auroral kilometric radiation fine structure observed by DE 1

The fine structure observed with intense right-hand extraordinary (R-X) mode auroral kilometric radiation (AKR) has received major theoretical attention. Data from the Dynamics Explorer 1 plasma wave instrument indicate that left-hand ordinary (L-O) mode AKR possesses similar fine structure. Several theories have been proposed to explain the fine structure of the R-X mode AKR. In order to account for the L-O mode fine structure, these theories will have to be modified to produce the L-O mode directly or will have to rely on mode conversion processes from the R-X to the L-O mode.

Benson, Robert F.↗

NASA NTRS1988

Comparison of flux-vector and flux-difference splitting techniques for hypersonic flow

Some numerical aspects of flux-vector splitting (FVS) and flux-difference splitting (FDS) schemes are investigated to determine the accuracy for the shock and expansion waves in hypersonic blunt body flow fields. The analysis includes the implementation of Steger-Warming's three-component FVS (Reklis and Thomas, 1981), van Leer's (1986) FVS, and Yang's (1985) FDS to the right-hand side of a time marching scheme where the left-hand side is a variant of the incremental line Gauss-Seidel scheme. Numerous computations are performed by blending two simple flux limiters to test the various schemes on a generic aerobrake at M(infinity) = 10 and zero angle of attack. It is found that the flux limiter plays a very important role in the accuracy of shock capturing. The steady state results are compared to those of a shock-fitting scheme and advantages and disadvantages of each scheme are discussed briefly.

Wey, T. C.↗

NASA NTRS1988

Computer simulations of two-pickup-ion instabilities in a cometary environment

This paper presents a one-dimensional electromagnetic hybrid computer simulation of distant cometary environments, in which protons and oxygen ions are injected continuously at the same time. It is demonstrated that, when, instead of a single component, both protons and oxygen ions are injected, the faster growing shorter-wavelength proton-proton right-hand resonant instability dominates the early time physics, leading to linear temporal growth of the fluctuating magnetic field energy density and pitch angle scattering of the protons (but causing no significant response by the nonresonant oxygen ions). At later times, as the injected oxygen ions accumulate sufficient density, the oxygen-proton right-hand resonant instability emerges, exhibiting exponential temporal growth to a relatively large peak amplitude, phase bunching, and magnetically trapping the oxygen ions. At times after peak amplitude, the oxygen-proton fluctuations stochastically accelerate some of the injected protons.

Gary, S. Peter↗

NASA NTRS1988

Filamentation instability of large-amplitude Alfven waves

An instability that leads to the filamentation of large-amplitude Alfven waves and gives rise to purely growing density and magnetic field fluctuations is studied. The dispersion relation of the instability is derived, from which the threshold conditions and the growth rates of the instability are analyzed quantitatively for applications to the solar wind plasma. Their dependence on the filamentation spectrum, the plasma beta, and the pump frequency and intensity was examined for both right-hand and left-hand circularly polarized Alfven waves. The excitation of filamentation instability for certain cases of interest is discussed and compared with that of the parametric decay and modulation instability. The relevance of the proposed instability to some observations is discussed.

Kuo, S. P.↗

NASA NTRS1989

Pilot Delays For Three Cockpit Controllers

Pilot effective delay increases with system delay. Report compares pilot effective time delays measured in simulations of aircraft-control systems equipped with Space Shuttle rotational hand controller and with two versions of conventional stick-type hand controller. Report of interest to those concerned with design of multiple-axis controllers in aircraft, armored vehicles, industrial machinery, and remote manipulators: operator response or delay critical to stable and accurate operation of such systems.

Privoznik, Cynthia M.↗

NASA NTRS1989

Force-Feedback Cursor Control

Robot controller moves cursor and manipulates images. Use of force-feedback hand-held controller proposed to help computer operators position cursors on computer video displays. To control cursor, hand controller replaces joystick or electronic mouse. Operator presses button on handle to obtain action when cursor reaches desired position indicated by icon or image. Controller has additional degrees of freedom.

Hannaford, Blake↗

NASA NTRS1988

Don/doff support stand for use with rear entry space suits

A don/doff support stand for use with rear entry space suits is disclosed. The support stand is designed for use in one-g environments; however, certain features of the stand can be used on future spacecraft, lunar, or planetary bases. The present invention has a retainer which receives a protrucing lug fixed on the torso section of the space suit. When the lug is locked in the retainer, the space suit is held in a generally upright position. In a one-g environment a portable ladder is positioned adjacent to the rear entry of the space suit supported by the stand. The astronaut climbs up the ladder and grasps a hand bar assembly positioned above the rear entry. The astronaut then slips his legs through the open rear entry and down into the abdominal portion of the suite. The astronaut then lowers himself fully into the suit. The portable ladder is then removed and the astronaut can close the rear entry door. The lug is then disengaged from the retainer and the astronaut is free to engage in training exercises in the suit. When suit use is over, the astronaut returns to the stand and inserts the lug into the retainer. A technician repositions the ladder. The astronaut opens the rear entry door, grasps the hand bar assembly and does a chin-up to extricate himself from the suit. The astronaut climbs down the movable ladder while the suit is supported by the stand.

Kosmo, Joseph J.↗

NASA NTRS1988

The WCSAR telerobotics test bed

Component technologies for use in telerobotic systems for space are being developed. As part of this effort, a test bed was established in which these technologies can be verified and integrated into telerobotic systems. The facility consists of two slave industrial robots, an articulated master arm controller, a cartesian coordinate master arm controller, and a variety of sensors, displays and stimulators for feedback to human operators. The controller of one of the slave robots remains in its commercial state, while the controller of the other robot has been replaced with a new controller that achieves high-performance in telerobotic operating modes. A dexterous slave hand which consists of two fingers and a thumb is being developed, along with a number of force-reflecting and non-force reflecting master hands, wrists and arms. A tactile sensing finger tip based on piezo-film technology has been developed, along with tactile stimulators and CAD-based displays for sensory feedback and sensory substitution. The telerobotics test bed and its component technologies are described, as well as the integration of these component technologies into telerobotic systems, and their performance in conjunction with human operators.

Duffie, N.↗

NASA NTRS1988

Distributed proximity sensor system

The invention relates to sensors embedded on the surface of a robot hand, or other moving member. By distributing proximity sensors capable of detecting distances and angles to points on the surface of an object, information is obtained for achieving noncontacting shape and distance perception, i.e., for automatic determination of the object's shape, direction, and distance, as well as the orientation of the object relative to the robot hand or other moving member.

Lee, Sukhan↗

NASA NTRS1988

Experimental and simulation studies of hard contact in force reflecting teleoperation

Experiments and simulations of a single-axis force-reflecting teleoperation system have been conducted to investigate the problem of contacting a hard environment and maintaining a controlled force in teleoperation in which position is fed forward from the hand controller (master) to the manipulator (slave), and force is fed back to the human operator through motors in the master. The simulations, using an electrical circuit model, reproduce the behavior of the real system, including effects of human operator biomechanics. It is shown that human operator properties, which vary as a result of different types of grasp of the handle, affect the stability of the system in the hard-contact task. The effect of a heavier grasp on the handle is equivalent to increased hand-controller velocity damping in terms of the systems stability in the contact task, but control system damping sufficient to guarantee stable contact results in perceptible sluggishness of the control handle's response in free motion. These results suggest that human operator biomechanics must be taken into account to guarantee stable and ergonomic performance of advanced teleoperators.

Hannaford, Blake↗

NASA NTRS1988

The polarization of escaping terrestrial continuum radiation

The polarization of an escaping terrestrial continuum radiation event that occurred on March 2, 1982, was determined using plasma wave measurements from the DE-1 spacecraft. The source of the radiation was determined to be located near the magnetic equator on the nightside of the earth at a radial distance of about 2.8-3.5 earth radii. Two meridional beams were detected, one directed north at an angle of about 20-30 deg with respect to the magnetic equator, and the other directed south at a comparable angle. Polarization measurements indicated that the radiation is right-hand polarized with respect to an outward directed E plane normal in the Northern Hemisphere and left-hand polarized in the Southern Hemisphere.

Gurnett, D. A.↗

NASA NTRS1989

Control experiments in planar manipulation and grasping

Many algorithms have been proposed in the literature for control of multifingered robot hands. Here, the performance of several of these algorithms is compared, along with that of some extensions of more conventional manipulator control laws, in the case of planar grasping. Based on experiments performed on Styx, the most effective control laws are the simple joint control law and the generalized computed torque law. The computed torque control law is shown to be an attractive alternative for position control of multifingered hands.

Murray, Richard M.↗

NASA NTRS1989

Cooperative control of visual displays for telemanipulation

Two cooperative control schemes for telerobot visual displays are addressed. In the first scheme, on-the-screen visual enhancements such as reference lines indicating the vertical height of the robot hand, a stick figure model of the robot hand, and its projection on the horizontal grid plane are constructed by the interactive cooperation between the human operator and the telerobotic system, and then superimposed on the video screen. Experimental results with a five-degree-of-freedom robot and a frame grabber indicate that superimposition of visual enhancements on the video screen greatly improves telemanipulation task performance. In the second scheme, the position and orientation of an object on video screens are determined interactively; these then assist the telerobotic system in executing the human operator's task-level commands autonomously.

Kim, Won S.↗