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NASA NTRS1993

Concepts and embodiment design of a reentry recumbent seating system for the NASA Space Shuttle

This report deals with the generation of a recumbent seating system which will be used by NASA to shuttle astronauts from the Russian space station Mir. We begin by examining the necessity for designing a special couch for the returning astronauts. Next, we discuss the operating conditions and constraints of the recumbent seating system and provide a detailed function structure. After working through the conceptual design process, we came up with ten alternative designs which are presented in the appendices. These designs were evaluated and weighted to systematically determine the best choice for embodiment design. A detailed discussion of all components of the selected system follows with design calculations for the seat presented in the appendices. The report concludes with an evaluation of the resulting design and recommendations for further development.

Mcmillan, Scott↗

NASA NTRS1993

Parallel methods for dynamic simulation of multiple manipulator systems

In this paper, efficient dynamic simulation algorithms for a system of m manipulators, cooperating to manipulate a large load, are developed; their performance, using two possible forms of parallelism on a general-purpose parallel computer, is investigated. One form, temporal parallelism, is obtained with the use of parallel numerical integration methods. A speedup of 3.78 on four processors of CRAY Y-MP8 was achieved with a parallel four-point block predictor-corrector method for the simulation of a four manipulator system. These multi-point methods suffer from reduced accuracy, and when comparing these runs with a serial integration method, the speedup can be as low as 1.83 for simulations with the same accuracy. To regain the performance lost due to accuracy problems, a second form of parallelism is employed. Spatial parallelism allows most of the dynamics of each manipulator chain to be computed simultaneously. Used exclusively in the four processor case, this form of parallelism in conjunction with a serial integration method results in a speedup of 3.1 on four processors over the best serial method. In cases where there are either more processors available or fewer chains in the system, the multi-point parallel integration methods are still advantageous despite the reduced accuracy because both forms of parallelism can then combine to generate more parallel tasks and achieve greater effective speedups. This paper also includes results for these cases.

Mcmillan, Scott↗