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Single operator on ground controls trolley-locking mechanism on portable gantry. Mechanism prevents trolley and load from moving along track when gantry is wheeled from one location to another. A downward pull on chain withdraws brakeshoes from trolley wheels. When operator releases chain, brakeshoes reengage to wheels.
This research has investigated the use of fuzzy logic, via the Matlab Fuzzy Logic Tool Box, to design optimized controller systems. The engineering system for which the controller was designed and simulate was the container crane. The fuzzy logic algorithm that was investigated was the 'predictive control' algorithm. The plant dynamics of the container crane is representative of many important systems including robotic arm movements. The container crane that was investigated had a trolley motor and hoist motor. Total distance to be traveled by the trolley was 15 meters. The obstruction height was 5 meters. Crane height was 17.8 meters. Trolley mass was 7500 kilograms. Load mass was 6450 kilograms. Maximum trolley and rope velocities were 1.25 meters per sec. and 0.3 meters per sec., respectively. The fuzzy logic approach allowed the inclusion, in the controller model, of performance indices that are more effectively defined in linguistic terms. These include 'safety' and 'cargo swaying'. Two fuzzy inference systems were implemented using the Matlab simulation package, namely the Mamdani system (which relates fuzzy input variables to fuzzy output variables), and the Sugeno system (which relates fuzzy input variables to crisp output variable). It is found that the Sugeno FIS is better suited to including aspects of those plant dynamics whose mathematical relationships can be determined.
Turret, roll arm, and trolley enhance manipulator dexterity. Remote manipulator moves on trolley base along structure. Roll-axis arm positions manipulator arm so it can extend end effector under structure. Yaw-axis rotation gives added reach to arm above structure. Designed for handling, inspecting, and maintaining modules of space station. Manipulators having such capabilities useful on Earth; robots in manufacturing, erection of large structures, or performing complicated tasks in hazardous locations.
Three concepts were considered for the boom design: a one-piece boom with a trolley, a folding boom, and a telescoping boom. The telescoping boom was selected over the other two concepts because of its easy manual operation. The boom is designed to mount on the bed of a pick-up truck and elevate the radiometer system 8 meters above the ground and 4 meters away from the truck. The selection of the boom components is discussed with justification of the final choice. Results of performance tests and one season's operation of the completed boom are reported.
Vacuum holddown fixtures hold photovoltaic solar cells during assembly into array. Tab attachment fixture holds single cell and interconnecting tabs during heat-lamp soldering. Array-layout fixture has computer-scribed layout template and holds cells (with attached tabs) while being placed in position and transferred to array-interconnection fixture, which holds cells during final soldering step. Group of heat lamps on trolley passes slowly over interconnection fixture to heat cells to soldering temperature.
Several experiments measure the orientation error of the ARID end-frame as well as linear displacements in the Orbiter's y- and z-axes. In each experiment the position of the ARID on the trolley is fixed and the manipulator extends and retracts along the Orbiter's y-axis. A sensor platform consisting of four sonars arranged in a '+' pattern measures the platform pitch about the Orbiter's y-axis (angle b) and yaw about the Orbiter's x-axis (angle alpha). Corroborating measurements of the yaw error were performed using a carpenter's level to keep the platform perpendicular to the gravity vector at each ARID pose being measured.
Truss structure and ancillary equipment constitute test bed for experiments in methods of controlling lengths of optical paths under conditions of structural vibration and deformation. Accommodates both passive and active methods of control. Experimental control system reduces millimeter-level disturbances in optical path length to nanometers. Developed for control, alignment, and aiming of distributed optical systems on large flexible structures. Test bed includes tower 2.5 meters high with two horizontal arms extending at right angles from its top. Rigidly mounted on massive steel block providing measure of isolation from ground vibrations. Optical motion-compensation system similar to one described previously in NASA Tech Briefs enclosed in flexure-mounted frame, called "trolley," at end of longer horizontal arm.
Systems Technology, Inc., Hawthorne, CA, developed an electronic Critical Tracking Task (CTT) system that analyzes and rates a subject's visual/motor responses for Ames Research Center. Originally applied to measuring the effects of long term confinement in the mid 1960's, the CTT system is now marketed as FACTOR 1000 by Performance Factors, Inc. Alameda, CA, under a licensing agreement with Systems Technology. The system is a non-invasive, self-administered test that takes less than a minute and detects impairment from a broad range of causes, including stress, fatigue, illness, drugs, or alcohol. It is used daily by Old Town Trolley Tours, San Diego, CA, to assess each driver's physical coordination skills prior to the start of each shift. FACTOR 1000 reduces liabilities and costs related to accidents, and costs less than one dollar per day per employee. Performance Factors is now BioFactors, Inc.
A test apparatus provides an applied load to a monoball through a trolley which moves along a loading axis. While applying the load to the monoball, the torque meter is in communication with the spherical monoball, and a load cell senses the application of applied force to the monoball. Meanwhile, a rotary actuary imports rotary oscillating motion to the monoball which is sensed by a position sensor and a torque meter. Accordingly, a processor can determine the coefficient of friction in substantially real time along with a cycles per second rate.
A test apparatus provides an applied load to a monoball through a trolley which moves along a loading axis. While applying the load to the monoball, the torque meter is in communication with the spherical monoball, and a load cell senses the application of applied force to the monoball. Meanwhile, a rotary actuary imports rotary oscillating motion to the monoball which is sensed by a position sensor and a torque meter. Accordingly, a processor can determine the coefficient of friction in substantially real time along with a cycles per second rate.
The Active Response Gravity Offload System (ARGOS) provides the ability to simulate with one system the gravity effect of planets, moons, comets, asteroids, and microgravity, where the gravity is less than Earth fs gravity. The system works by providing a constant force offload through an overhead hoist system and horizontal motion through a rail and trolley system. The facility covers a 20 by 40-ft (approximately equals 6.1 by 12.2m) horizontal area with 15 ft (approximately equals4.6 m) of lifting vertical range.
Active disturbance rejection to minimize optical path length error is illustrated by experimental results from the JPL Phase B Test Bed, which incorporates an interferometric sensor and a controllable trolley mounted on a flexible truss structure. The controller actively isolates the optical instruments from structural vibrations induced by external disturbances consisting of linear combinations of sinusoidal signals.