Engineering topics
Publications and source records attributed to Kim, W. S..
In this article, we will present an overview of the Coupled Layered Architecture for Robotic Autonomy. CLARAty develops a framework for generic and reusable robotic components that can be adapted to a number of heterogeneous robot platforms.
The REE project has developed a fault injection suite of tools and a methodology for experimentally determining system behavior statistics in the presence of application level SEU induced transient faults.
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Model-based telerobotic task control and automation is typically limited to motion control of robot arms in free space, and contact events under predictable conditions. A display and control method- ology is described for combining different multidimensional sensor data to guide the performance of telerobotic contact or near-contact tasks successfully in manual or supervised automatic modes of control.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May, 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique isbased on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. Togenerate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available...
Operator interface has recently emerged as an important element for efficient and safe operatorinteractions with the telerobotic system. Recent advances in graphical user interface (GUI) andgraphics/video merging technologies enable development of more efficient, flexible operatorinterfaces. This paper describes an advanced graphical operator interface newly developed for aremote surface inspection system at Jet Propulsion Laboratory. The interface has been designed sothat remote surface inspection can be performed by a single operator with an integrated robot controland image inspection capability. It supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.
This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.
This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom. It describes the space environment and identifies the types of damage that these platforms need to be inspected for. It provides an overview of the Remote Surface Inspection System that has been developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Initial findings for the automated and human visual inspection tests are reported.
Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.
Recent experiments conducted at the JPL comparing alternative manual control modes using the JPL Advanced Teleoperator system are described. Of particular interest were control modes that provide force reflection to the operator. The task selected for the experiment is a portion of the Solar Maximum Satellite Repair procedure we developed to demonstrate the repair of the Solar Maximum Satellite with teleoperators. The seven manual control modes evaluated in the experiment are combinations of manual position or resolved motion rate control with alternative control schemes for force reflection and remote manipulator compliance. Performance measures used were task completion times, average force and torque exerted during the execution of the task, and cumulative force and torque exerted. The results were statistically analyzed and they show that, in general, force reflection significantly improves operator performance and indicate that a specific force-reflecting scheme may yield the best performance among the control modes we tested. Also, our experiment showed that, for the selected task, the position control modes were preferable to the rate control modes and slave manipulator compliance reduced task interaction forces and torques.
The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.
The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.
SSME components such as the turbine blades of the high pressure fuel turbopump are subjected to rapid and extreme thermal transients that contribute to blade cracking and subsequent failure. The objective was to develop thin film sensors for SSME components. The technology established for aircraft gas turbine engines was adopted to the materials and environment encountered in the SSME. Specific goals are to expand the existing thin film sensor technology, to continue developing improved sensor processing techniques, and to test the durability of aircraft gas turbine engine technology in the SSME environment. A thin film sensor laboratory is being installed in a refurbished clean room, and new sputtering and photoresist exposure equipment is being acquired. Existing thin film thermocouple technology in an SSME environment are being tested. Various coatings and their insulating films are being investigated for use in sensor development.
A ball-on-cylinder machine (BOCM) was used to measure the lubricity of fuels. The fuels tested were well-characterized fuels available from other programs at the NASA Lewis Research Center plus some in-house mildly hydroprocessed shale fuels from other programs included Jet-A, ERBS fuel, ERBS blends, and blend stock. The BOCM tests were made before and after clay treatment of some of these fuels with both humidified air and dry nitrogen as the preconditioning and cover gas. As expected, clay treatment always reduced fuel lubricity. Using nitrogen preconditioning and cover gas always resulted in a smaller wear scar diameter than when humidified air was used. Also observed was an indication of lower lubricity with lower boiling range fuels and lower aromatic fuels. Gas chromatographic analysis indicted changes in BOCM-stressed fuels.
The relationship between solid deposit formation and liquid degradation product concentration was studied for the high temperature (400 C) stressing of three hydrocarbon model fuels. A Jet Fuel Thermal Oxidation Tester was used to simulate actual engine fuel system conditions. The effects of fuel type, dissolved oxygen concentration, and hot surface contact time (reaction time) were studied. Effects of reaction time and removal of dissolved oxygen on deposit formation were found to be different for n-dodecane and for 2-ethylnaphthalene. When ten percent tetralin is added to n-dodecane to give a simpler model of an actual jet fuel, the tetralin inhibits both the deposit formation and the degradation of n-dodecane. For 2-ethylnaphthalene primary product analyses indicate a possible self-inhibition at long reaction times of the secondary reactions which form the deposit precursors. The mechanism of the primary breakdown of these fuels is suggested and the primary products which participate in these precursor-forming reactions are identified. Some implications of the results to the thermal degradation of real jet fuels are given.
Experimentally obtained dynamics of time-optimal, horizontal head rotations have previously been simulated by a sixth order, nonlinear model driven by rectangular control signals. Electromyography (EMG) recordings have spects which differ in detail from the theoretical rectangular pulsed control signal. Control signals for time-optimal as well as sub-optimal horizontal head rotations were obtained by means of an inverse modelling procedures. With experimentally measured dynamical data serving as the input, this procedure inverts the model to produce the neurological control signals driving muscles and plant. The relationships between these controller signals, and EMG records should contribute to the understanding of the neurological control of movements.
A laboratory experiment was conducted to determine if polychlorinated biphenyls (PCB's) found in an industrial sewer sludge can be effectively degraded by mutant bacteria. The aerated sludge was inoculated daily with mutant bacteria in order to augment the existing bacteria with bacteria that were considered to be capable of degrading PCB's. The pH, nitrogen, and phosphorus levels were monitored daily to maintain an optimum growing medium for the bacteria. A gas chromatographic method was used to determine the PCB concentrations of the sludge initially and also throughout the experiment. Results and discussion of the bacterial treatment of polychlorinated biphenyls are presented.
A rapid ultraviolet spectrophotometric method for the simultaneous determination of aromatics in middistillate fuels was developed and evaluated. In this method, alkylbenzenes, alkylnaphthalenes, alkylanthracenes/phenanthracenes and total aromatics were determined from ultraviolet spectra of the fuels. The accuracy and precision were determined using simulated standard fuels with known compositions. The total aromatics fraction accuracy was 5% for a Jet A type fuel and 0.6% for a broadened properties jet turbine type fuel. Precision, expressed as relative standard deviations, ranged from 2.9% for the alkylanthracenes/phenanthrenes to 15.3% for the alkylbenzenes. The accuracy, however, was less for actual fuel samples when compared to the results obtained by a mass spectrometric method. In addition, the ASTM D-1840 method for naphthalenes by ultraviolet spectroscopy was evaluated.