Engineering topics

Hankins, Walter W., III

Publications and source records attributed to Hankins, Walter W., III.

7 records

NASA NTRS2001

Rollout and Turnoff (ROTO) Guidance and Information Displays: Effect on Runway Occupancy Time in Simulated Low-Visibility Landings

This report examines a rollout and turnoff (ROTO) system for reducing the runway occupancy time for transport aircraft in low-visibility weather. Simulator runs were made to evaluate the system that includes a head-up display (HUD) to show the pilot a graphical overlay of the runway along with guidance and steering information to a chosen exit. Fourteen pilots (airline, corporate jet, and research pilots) collectively flew a total of 560 rollout and turnoff runs using all eight runways at Hartsfield Atlanta International Airport. The runs consisted of 280 runs for each of two runway visual ranges (RVRs) (300 and 1200 ft). For each visual range, half the runs were conducted with the HUD information and half without. For the runs conducted with the HUD information, the runway occupancy times were lower and more consistent. The effect was more pronounced as visibility decreased. For the 1200-ft visibility, the runway occupancy times were 13% lower with HUD information (46.1 versus 52.8 sec). Similarly, for the 300-ft visibility, the times were 28% lower (45.4 versus 63.0 sec). Also, for the runs with HUD information, 78% (RVR 1200) and 75% (RVR 300) had runway occupancy times less than 50 sec, versus 41 and 20%, respectively, without HUD information.

Hueschen, Richard M.↗

NASA NTRS1999

Speed Profiles for Deceleration Guidance During Rollout and Turnoff (ROTO)

Two NASA goals are to enhance airport safety and to improve capacity in all weather conditions. This paper contributes to these goals by examining speed guidance profiles to aid a pilot in decelerating along the runway to an exit. A speed profile essentially tells the pilot what the airplane's speed should be as a function of where the airplane is on the runway. While it is important to get off the runway as soon as possible (when striving to minimize runway occupancy time), the deceleration along a speed profile should be constrained by passenger comfort. Several speed profiles are examined with respect to their maximum decelerations and times to reach exit speed. One profile varies speed linearly with distance; another has constant deceleration; and two related nonlinear profiles delay maximum deceleration (braking) to reduce time spent on the runway.

Barker, L. Keith↗

NASA NTRS1991

Dynamic evaluation of the NASA-ORNL traction-drive joint

Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stabiliby, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented.

De Silva, Clarence W.↗

NASA NTRS1989

Manual control of the Langley Laboratory telerobotic manipulator

Langley's new Laboratory Teleoperator Manipulator (LTM) provides manual control of seven-degree-of-freedom, replica, force-reflecting, master/slave manipulator arms in two arms simultaneously. This paper describes the LTM, its installation, and plans for a comparable evaluation study of various control input devices to the system. The comparison includes control using the system's master arms, six-degree-of-freedom hand controllers, minimasters, and a force-reflecting hand controller.

Hankins, Walter W., III↗

NASA NTRS1988

Dynamic evaluation of a traction-drive joint for space telerobots

Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stability, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented.

Desilva, Clarence W.↗

NASA NTRS1988

Robotic space construction

Research at Langley AFB concerning automated space assembly is reviewed, including a Space Shuttle experiment to test astronaut ability to assemble a repetitive truss structure, testing the use of teleoperated manipulators to construct the Assembly Concept for Construction of Erectable Space Structures I truss, and assessment of the basic characteristics of manipulator assembly operations. Other research topics include the simultaneous coordinated control of dual-arm manipulators and the automated assembly of candidate Space Station trusses. Consideration is given to the construction of an Automated Space Assembly Laboratory to study and develop the algorithms, procedures, special purpose hardware, and processes needed for automated truss assembly.

Mixon, Randolph W.↗

NASA NTRS1987

Space truss assembly using teleoperated manipulators

Teleoperator experiments were conducted which have demonstrated that a realistic, complex task, typical of those accomplished on-orbit by EVA astronauts, can be done in a smooth, timely manner with manipulators remotely controlled by humans. The real concerns were: (1) do manipulators have sufficient dexterity for these tasks, (2) can sufficient information from the remote site be provided to permit adequate teleoperator control, (3) can reasonable times relative to EVA times be achieved, (4) can the task be completed without frequent and/or damaging impacts among the task components and the manipulators? Positive answers were found to all of these concerns. Tasks times, operator fatigue, and smoothness of operation could be improved by designing the task components and the manipulators for greater compatibility. The data recorded supplements a data base of performance metrics for the same task done in the water immersion training facility as well as space flight and provides management with an objective basis for deciding how and where to apply manipulators in space.

Hankins, Walter W., III↗