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At least 19 records

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NASA NTRS1990

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Malachowski, M. J.↗

NASA NTRS1989

Catadioptric Optics for laser Doppler velocimeter applications

In the design of a laser velocimeter system, attention must be given to the performance of the optical elements in their two principal tasks: focusing laser radiation into the probe volume, and collecting the scattered light. For large aperture applications, custom lens design and fabrication costs, long optical path requirements, and chromatic aberration (for two color operation) can be problematic. The adaptation of low cost Schmidt-Cassegrain astronomical telescopes to perform these laser beam manipulation and scattered light collection tasks is examined. A generic telescope design is analyzed using ray tracing and Gaussian beam propagation theory, and a simple modification procedure for converting from infinite to near unity conjugate ratio operation with image quality near the diffraction limit was identified. Modification requirements and performance are predicted for a range of geometries. Finally, a 200-mm-aperture telescope was modified for f/10 operation; performance data for this modified optic for both laser beam focusing and scattered light collection tasks agree well with predictions.

Dunagan, Stephen E.↗

NASA NTRS1977

High power gas laser - Applications and future developments

Fast flow can be used to create the population inversion required for lasing action, or can be used to improve laser operation, for example by the removal of waste heat. It is pointed out that at the present time all lasers which are capable of continuous high-average power employ flow as an indispensable aspect of operation. High power laser systems are discussed, taking into account the gasdynamic laser, the HF supersonic diffusion laser, and electric discharge lasers. Aerodynamics and high power lasers are considered, giving attention to flow effects in high-power gas lasers, aerodynamic windows and beam manipulation, and the Venus machine. Applications of high-power laser technology reported are related to laser material working, the employment of the laser in controlled fusion machines, laser isotope separation and photochemistry, and laser power transmission.

Hertzberg, A.↗

NASA NTRS1993

Real-time dynamics and control strategies for space operations of flexible structures

This project (NAG9-574) was meant to be a three-year research project. However, due to NASA's reorganizations during 1992, the project was funded only for one year. Accordingly, every effort was made to make the present final report as if the project was meant to be for one-year duration. Originally, during the first year we were planning to accomplish the following: we were to start with a three dimensional flexible manipulator beam with articulated joints and with a linear control-based controller applied at the joints; using this simple example, we were to design the software systems requirements for real-time processing, introduce the streamlining of various computational algorithms, perform the necessary reorganization of the partitioned simulation procedures, and assess the potential speed-up realization of the solution process by parallel computations. The three reports included as part of the final report address: the streamlining of various computational algorithms; the necessary reorganization of the partitioned simulation procedures, in particular the observer models; and an initial attempt of reconfiguring the flexible space structures.

Park, K. C.↗

NASA NTRS1989

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↗

NASA NTRS1986

The LATDYN user's manual

The LATDYN User's Manual presents the capabilities and instructions for the LATDYN (Large Angle Transient DYNamics) computer program. The LATDYN program is a tool for analyzing the controlled or uncontrolled dynamic transient behavior of interconnected deformable multi-body systems which can undergo large angular motions of each body relative other bodies. The program accommodates large structural deformation as well as large rigid body rotations and is applicable, but not limited to, the following areas: (1) development of large flexible space structures; (2) slewing of large space structure components; (3) mechanisms with rigid or elastic components; and (4) robotic manipulations of beam members. Presently the program is limited to two dimensional problems, but in many cases, three dimensional problems can be exactly or approximately reduced to two dimensions. The program uses convected finite elements to affect the large angular motions involved in the analysis. General geometry is permitted. Detailed user input and output specifications are provided and discussed with example runstreams. To date, LATDYN has been configured for CDC/NOS and DEC VAX/VMS machines. All coding is in ANSII-77 FORTRAN. Detailed instructions regarding interfaces with particular computer operating systems and file structures are provided.

Housner, J. M.↗

NASA NTRS1991

Adaptive optics and interferometry

Adaptive optics and interferometry, two techniques that will improve the limiting resolution of optical and infrared observations by factors of tens or even thousands, are discussed. The real-time adjustment of optical surfaces to compensate for wavefront distortions will improve image quality and increase sensitivity. The phased operation of multiple telescopes separated by large distances will make it possible to achieve very high angular resolution and precise positional measurements. Infrared and optical interferometers that will manipulate light beams and measure interference directly are considered. Angular resolutions of single telescopes will be limited to around 10 milliarcseconds even using the adaptive optics techniques. Interferometry would surpass this limit by a factor of 100 or more. Future telescope arrays with 100-m baselines (resolution of 2.5 milliarcseconds at a 1-micron wavelength) are also discussed.

Beichman, Charles A.↗

NASA NTRS1995

Assembly Platform For Use In Outer Space

Report describes conceptual platform or framework for use in assembling other structures and spacecraft in outer space. Consists of three fixed structural beams comprising central beam and two cross beams. Robotic manipulators spaced apart on platform to provide telerobotic operation of platform by either space-station or ground crews. Platform and attached vehicles function synergistically to achieve maximum performance for intended purposes.

Rao, Niranjan S.↗

NASA NTRS2006

Ion Milling On Steps for Fabrication of Nanowires

Arrays of nanowires having controlled dimensions can now be fabricated on substrates, optionally as integral parts of multilayer structures, by means of a cost-effective, high-yield process based on ion milling on steps. Nanowires made, variously, of semiconductors or metals are needed as components of sensors and high-density electronic circuits. Unlike prior processes used to fabricate nanowires, the present process does not involve electron-beam lithography, manipulation of nanoscopic objects by use of an atomic-force microscope, or any other technique that is inherently unsuitable for scaling up to mass production. In comparison with the prior processes, this process is rapid and simple. Wires having widths as small as a few tens of nanometers and lengths as long as millimeters have been fabricated by use of this process. The figure depicts a workpiece at different stages of the process. A silicon dioxide substrate is coated with a photoresist or poly(methyl methacrylate) [PMMA] to a thickness of as much as 500 nm. The photoresist or PMMA is patterned to form edges where wires are to be formed. A metal - either Pt or Ti - is deposited, by sputtering, to a thickness of as much as 200 nm. By ion milling at normal incidence, the thickness of the metal deposit is reduced until the only metal that remains is in the form of wall-like nanowires along the edges of the photoresist or PMMA. Finally, an oxygen plasma is used to remove the photoresist or PMMA, leaving only the nanowires on the substrate.

Yun, Minhee↗

NASA NTRS1985

Sequentially-Deployable Tetrahedral Beam

Beam geometry varied three-dimensionally after beam is deployed. When tetrahedral beam completely retracted, each longeron shortened indefinitely so frames at each end of longeron folded together to lie one against other. Each tetrahedral of beam so retracted to achieve compact packaging of entire beam. Each longeron shortened by folding at midlength and ends, by telescoping, or by other means. Beam becomes crane, manipulator arm, antenna feed support, or other type of lineal structural member. Beam completely packageable, automatically deployable, and capable of having geometry varied during use.

Mikulas, Martin M., Jr.↗

NASA NTRS1992

Vibration control of a manipulator tip on a flexible body

Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

Xu, J.↗

NASA NTRS2002

Manipulation of Micro Scale Particles in an Optical Trap Using Interferometry

This research shows that micro particles can be manipulated via interferometric patterns superimposed on an optical tweezers beam. Interferometry allows the manipulation of intensity distributions, and thus, force distributions on a trapped particle. To demonstrate the feasibility of such manipulation, 458 nm light, from an argon-ion laser, was injected into a Mach Zender interferometer. One mirror in the interferometer was oscillated with a piezoelectric phase modulator. The light from the interferometer was then injected into a microscope to trap a 9.75 micron polystyrene sphere. By varying the phase modulation, the sphere was made to oscillate in a controlled fashion.

Seibel, Robin↗

NASA NTRS1990

Real-time dynamic holographic image storage device

A real-time dynamic holographic image storage device uses four-wave mixing in a pair of photorefractive crystals. An oscillation is produced between the crystals which can be maintained indefinitely after the initial object beam is discontinued. The object beam produces an interference pattern in a first crystal to produce phase-conjugated object beam which is directed towards the second crystal. In the second crystal another interference pattern is created which produces a reconstructed object beam. The reconstructed object beam is directed back towards the first crystal. The interference patterns are produced by interaction of the object and phase-conjugated object beam with a read and write beam in each of the crystals. By manipulation of the ratio of the read and write beam intensities in at least one of the crystals, the phase-conjugate or reconstructed object beam output therefrom can be amplified to maintain stable oscillation between the two crystals.

Lafleur, Sharon S.↗

NASA NTRS1981

Phase control during reconstruction of holographically recorded flow fields using real-time holographic interferometry

A technique of phase control during reconstruction of holographic interferograms is demonstrated in which the recorded scene beam with disturbance present is made to interfere with the real-time scene beam after the disturbance is removed. The reference phase is adjusted during reconstruction by manipulating either the scene or reference beams. Comparisons are made between the present technique and the two-reference-beam and two-plate techniques, more commonly used for phase control during reconstruction of holographic interferograms for flow visualization.

Burner, A. W.↗

NASA NTRS1985

Sequentially deployable maneuverable tetrahedral beam

A tetrahedral beam that can be compactly stowed, sequentially deployed, and widely manipulated to provide a structurally sound yet highly maneuverable truss structure is comprised of a number of repeating units of tandem tetralhedral sharing common sides. Fixed length battens are jointed into equilateral triangles called batten frames. Apexes of adjacent triangles are interconnected by longerons having a mid-point folding hinge. Joints, comprised of gussets pivotabley connected by links, permit two independent degrees of rotational freedom between joined adjacent batten frames, and provide a stable structure from packaged configuration to complete deployment. The longerons and joints can be actuated in any sequence, independently of one another. The beam is suited to remote actuation. Longerons may be provided with powered mid-point hinges enabling beam erection and packaging under remote control. Providing one or more longerons with powered telescoping segments permits the shape of the beam central axis to be remotely manipulated so that the beam may function as a remote manipulator arm.

Mikulas, M. M., Jr.↗

NASA NTRS1980

An investigation of dynamic-analysis methods for variable-geometry structures

Selected space structure configurations were reviewed in order to define dynamic analysis problems associated with variable geometry. The dynamics of a beam being constructed from a flexible base and the relocation of the completed beam by rotating the remote manipulator system about the shoulder joint were selected. Equations of motion were formulated in physical coordinates for both of these problems, and FORTRAN programs were developed to generate solutions by numerically integrating the equations. These solutions served as a standard of comparison to gauge the accuracy of approximate solution techniques that were developed and studied. Good control was achieved in both problems. Unstable control system coupling with the system flexibility did not occur. An approximate method was developed for each problem to enable the analyst to investigate variable geometry effects during a short time span using standard fixed geometry programs such as NASTRAN. The average angle and average length techniques are discussed.

Austin, F.↗

NASA NTRS1996

Pulse Shepherding in Nonlinear Fiber Optics

In a wavelength division multiplexed fiber system, where pulses on different wavelength beams may co-propagate in a single mode fiber, the cross-phase-modulation (CPM) effects caused by the nonlinearity of the optical fiber are unavoidable. In other words, pulses on different wavelength beams can interact with and affect each other through the intensity dependence of the refractive index of the fiber. Although CPM will not cause energy to be exchanged among the beams, the pulse shapes and locations on these beams can be altered significantly. This phenomenon makes possible the manipulation and control of pulses co-propagating on different wavelength beams through the introduction of a shepherd pulse at a separate wavelength. How this can be accomplished is demonstrated in this paper.

Yeh, C.↗

NASA NTRS1981

Three-axis electron-beam test facility

An electron beam test facility, which consists of a precision multidimensional manipulator built into an ultra-high-vacuum bell jar, was designed, fabricated, and operated at Lewis Research Center. The position within the bell jar of a Faraday cup which samples current in the electron beam under test, is controlled by the manipulator. Three orthogonal axes of motion are controlled by stepping motors driven by digital indexers, and the positions are displayed on electronic totalizers. In the transverse directions, the limits of travel are approximately + or - 2.5 cm from the center with a precision of 2.54 micron (0.0001 in.); in the axial direction, approximately 15.0 cm of travel are permitted with an accuracy of 12.7 micron (0.0005 in.). In addition, two manually operated motions are provided, the pitch and yaw of the Faraday cup with respect to the electron beam can be adjusted to within a few degrees. The current is sensed by pulse transformers and the data are processed by a dual channel box car averager with a digital output. The beam tester can be operated manually or it can be programmed for automated operation. In the automated mode, the beam tester is controlled by a microcomputer (installed at the test site) which communicates with a minicomputer at the central computing facility. The data are recorded and later processed by computer to obtain the desired graphical presentations.

Dayton, J. A., Jr.↗