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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering more than 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, Blake↗
NASA NTRS1991

A reevaluation of spectral ratios for lunar mare TiO2 mapping

The empirical relation established by Charette et al. (1974) between the 400/560-nm spectral ratio of mature mare soils and weight percent TiO2 has been used extensively to map titanium content in the lunar maria. Relative reflectance spectra of mare regions show that a reference wavelength further into the near-IR, e.g., above 700 nm, could be used in place of the 560-nm band to provide greater contrast (a greater range of ratio values) and hence a more sensitive indicator of titanium content. An analysis of 400/730-nm ratio values derived from both laboratory and telescopic relative reflectance spectra suggests that this ratio provides greater sensitivity to TiO2 content than the 400/560-nm ratio. The increased range of ratio values is manifested in higher contrast 400/730-nm ratio images compared to 400/560-nm ratio images. This potential improvement in sensivity encourages a reevaluation of the original Charette et al. (1974) relation using the 400/730-nm ratio.

Johnson, Jeffrey R.↗
NASA NTRS1992

The ultraviolet spectrum of HH 24A and its relation to optical spectra

The spectrum of the brightest part (HH 24A) of the complex Herbig-Haro object HH 24 is investigated in the short-wavelength (1300-1930 A) UV range. The UV spectrum is detected in three observations with exposure times of 560-680 min. The spectrum shows only a continuum or a quasi-continuum and is neither comparable to that of a typical high-excitation object like HH 1 or HH 2, nor to that of a low-excitation object like HH 43 or HH 47. Two of the three spectra show a surprisingly similar detailed wavelength structure. A study of the spatial distribution of the UV continuum emission shows that this distribution is considerably wider than that of the optical forbidden-line emission, e.g., the forbidden S II 6716/6731 lines.

Boehm, K. H.↗
NASA NTRS1987

Space-qualified submillimeter radiometer

The purpose of this research was to develop a reliable submillimeter wave spectrometer for space-borne high frequency spectral line work. The emphasis was on improving the efficiency of frequency multipliers to limit the system components to rugged, low power consumption solid-state devices. This research has allowed Millitech to develop increased efficiency and performance in Millitech's existing line of submillimeter components and systems. Millitech has fabricated and tested a complete solid-state spectrometer front end for use at 560 GHz (the 1(sub 10) to 1(sub 01) transition of water vapor). The spectrometer was designed with the rigors of flight conditions in mind. The spectrometer uses a phase-locked, solid-state Gunn diode oscillator as the local oscillator, employing a tripler to produce about 3 mW of power at 285 GHz, and a low noise second harmonic waveguide mixer which requires less than 2 mW of LO power. The LO (and the signal) is injected into the mixer by means of a quasioptical diplexer. The measured system noise temperature is 2800 K (DSB) over 400 MHz. The whole spectrometer front end is compact (21 cm by 21 cm by 24 cm), light (7.4 kg), and has a power consumption of less than 8 W. Other topics explored in this work include compact frequency agile phase lock loops, optical filters, and InP Gunn oscillators for low noise applications. As a result of this research, the improvement in the design of multipliers and harmonic mixers will allow their use as the LO power for a variety of satellite-borne receivers operating in the 200 to 600 GHz frequency range.

Huguenin, G. R.↗
NASA NTRS1991

Recognition of fiducial marks applied to robotic systems

The objective was to devise a method to determine the position and orientation of the links of a PUMA 560 using fiducial marks. As a result, it is necessary to design fiducial marks and a corresponding feature extraction algorithm. The marks used are composites of three basic shapes, a circle, an equilateral triangle and a square. Once a mark is imaged, it is thresholded and the borders of each shape are extracted. These borders are subsequently used in a feature extraction algorithm. Two feature extraction algorithms are used to determine which one produces the most reliable results. The first algorithm is based on moment invariants and the second is based on the discrete version of the psi-s curve of the boundary. The latter algorithm is clearly superior for this application.

Georges, Wayne D.↗
NASA NTRS1992

Implementation of robotic force control with position accommodation

As the need for robotic manipulation in fields such as manufacturing and telerobotics increases, so does the need for effective methods of controlling the interaction forces between the manipulators and their environment. Position Accommodation (PA) is a form of robotic force control where the nominal path of the manipulator is modified in response to forces and torques sensed at the tool-tip of the manipulator. The response is tailored such that the manipulator emulates a mechanical impedance to its environment. PA falls under the category of position-based robotic force control, and may be viewed as a form of Impedance Control. The practical implementations are explored of PA into an 18 degree-of-freedom robotic testbed consisting of two PUMA 560 arms mounted on two 3 DOF positioning platforms. Single and dual-arm architectures for PA are presented along with some experimental results. Characteristics of position-based force control are discussed, along with some of the limitations of PA.

Ryan, Michael J.↗
NASA NTRS1993

Positron lifetime spectroscopy for investigation of thin polymer coatings

In the aerospace industry, applications for polymer coatings are increasing. They are now used for thermal control on aerospace structures and for protective insulating layers on optical and microelectronic components. However, the effectiveness of polymer coatings depends strongly on their microstructure and adhesion to the substrates. Currently, no technique exists to adequately monitor the quality of these coatings. We have adapted positron lifetime spectroscopy to investigate the quality of thin coatings. Results of measurements on thin (25-micron) polyurethane coatings on aluminum and steel substrates have been compared with measurements on thicker (0.2-cm) self-standing polyurethane discs. In all cases, we find positron lifetime groups centered around 560 psec, which corresponds to the presence of 0.9-A(exp 3) free-volume cells. However, the number of these free-volume cells in thin coatings is larger than in thick discs. This suggests that some of these cells may be located in the interfacial regions between the coatings and the substrates. These results and their structural implications are discussed in this report.

Singh, Jag J.↗
NASA NTRS1991

Model reference adaptive control of robots

This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load.

Steinvorth, Rodrigo↗
NASA NTRS1991

Reliable fusion of control and sensing in intelligent machines

Although robotics research has produced a wealth of sophisticated control and sensing algorithms, very little research has been aimed at reliably combining these control and sensing strategies so that a specific task can be executed. To improve the reliability of robotic systems, analytic techniques are developed for calculating the probability that a particular combination of control and sensing algorithms will satisfy the required specifications. The probability can then be used to assess the reliability of the design. An entropy formulation is first used to quickly eliminate designs not capable of meeting the specifications. Next, a framework for analyzing reliability based on the first order second moment methods of structural engineering is proposed. To ensure performance over an interval of time, lower bounds on the reliability of meeting a set of quadratic specifications with a Gaussian discrete time invariant control system are derived. A case study analyzing visual positioning in robotic system is considered. The reliability of meeting timing and positioning specifications in the presence of camera pixel truncation, forward and inverse kinematic errors, and Gaussian joint measurement noise is determined. This information is used to select a visual sensing strategy, a kinematic algorithm, and a discrete compensator capable of accomplishing the desired task. Simulation results using PUMA 560 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗
NASA NTRS1990

Underrepresented groups

The problem with the shortage of under represented groups in science and engineering is absolutely crucial, especially considering that U.S. will experience a shortage of 560,000 science and engineering personnel by the year 2010. Most studies by the National Science Foundation also concluded that projected shortages cannot be alleviated without significant increases in the involvement of Blacks, Hispanics, Native Americans, handicapped persons, and women.

Peters, David A.↗
NASA NTRS1992

Evaluation of integrated tuning elements with SIS devices

The resonance of integrated tuning stubs in combination with SIS detectors is measured and modeled. The predicted resonances are compared with measurements of stubs integrated with Nb/Al2O3/Nb junctions in a log-periodic antenna using a Michelson interferometer. Different stub lengths were made on different substrates (on 200 micron thick quartz and on a 7 micron thick silicon membrane) and the results show a fairly good agreement with the model calculations. Quartz substrates showed resonances up to 580 GHz, silicon membrane stub resonances reach as high as 480 GHz. An observed resonance at 560 GHz is probably a substrate effect from the membrane. The gap frequency for all the samples is 650 GHz and no resonances are detected above this frequency. Up to the maximum detected frequency dispersion is found to be negligible.

Dierichs, M. M. T. M.↗
NASA NTRS1992

Dependence of the cathodoluminescence of diamond films on deposition temperature

The deposition temperature dependence of the cathodoluminescence (CL) of diamond thin films grown by microwave-plasma-assisted chemical vapor deposition has been investigated. Depositions were made in the temperature range of 400 to 750 C at a pressure of 10 Torr, with a gas mixture of 5 percent CH4 and 5 percent O2 in hydrogen. The intensity of the luminescent peak at 430 nm was used as a measure of diamond quality for the film. This peak was found to be a maximum above 600 C. Examination of the intensities of CL emissions associated with nitrogen and silicon impurities at 530, 560, and 740 nm indicate incorporation of these impurities is more efficient at temperatures above 600 C. Film quality was thus found to be an optimization of competing mechanisms, i.e., improvement of diamond quality as evidenced by the intensity of the 430 nm peak, with the apparent activation of impurities and vacancy defects at elevated temperatures.

Shing, Y. H.↗
NASA NTRS1991

Diamond film deposition using microwave plasmas under low pressures

Microwave plasma depositions of diamond films have been investigated under low pressures of 10 mTorr to 10 Torr, at low substrate temperatures of 400 to 750 C, using high methane concentrations of 5 to 15 percent and oxygen concentrations of 5 to 10 percent in hydrogen plasmas. The deposition system consists of a microwave plasma chamber, a downstream deposition chamber, and a RF induction-heated sample stage. The deposition system can be operated in either high-pressure microwave or electron cyclotron resonance (ECR) modes by varying the sample stage position. Cathodoluminescence (CL) studies on diamond films deposited at 10 Torr pressure show that CL emissions at 430, 480, 510, 530, 560, 570 and 740 nm can be employed to characterize the quality of diamond films. High-quality, well-faceted diamond films have been deposited at 10 Torr and 600 C using 5 percent CH4 and 5 percent O2 in H2 plasmas; CL measurements on these films show very low N impurities and no detectable Si impurities. Diamond nucleation on SiC has been demonstrated by depositing well-faceted diamond crystallites on SiC-coated Si substrates.

Shing, Y. H.↗
NASA NTRS1992

Visual specification of robot motion

The authors describe the use of stereo pairs of images to specify robot motion. The experimental setup includes a SUN workstation, a PUMA 560 robot, and an Imaging 151 vision system. An X-window environment displays stereo images of the work scene. Image processing is performed to extract linear edge segments from the images and the results are displayed on screen. Using a pointing device, the user selects a group of edges from the object relevant to the task. The 3D structure of this group of features is found by stereo triangulation and they can be displayed in 3D from any point of view. A viewpoint orthogonal to the plane defined by these 3D edges is used to specify the robot position relative to object position. The actual robot will then be moved to the specified position.

Shiu, Y. C.↗
NASA NTRS1990

Positron lifetime spectroscopy in thin polymer coatings

Polymer coatings are finding increasing applications in aerospace industry. The effectiveness of coatings depends strongly on their microstructure and adhesion to the substrates. Currently, there is no technique for adequately monitoring the quality of the coatings. We adapted positron lifetime spectroscopy for the investigation of thin coatings. Results of measurements on 0.001-in-thick polyurethane coatings on aluminum and steel substrates and thicker (0.080-in.) self-standing polyurethane discs were compared. In all cases, we find positron lifetime groups centered around 560 ps, corresponding to the presence of 0.9 A exp 3 free volume cells. However, the number of free volume cells in thin coatings is larger, suggesting that the morphology of thin coatings is different from that of bulk polyurethane. These results and their structural implications are discussed.

Singh, Jag J.↗
NASA NTRS1951

Preliminary evaluation of the air and fuel specific-impulse characteristics of several potential ram-jet fuels IV : hydrogen, a-methylnaphthalene, and carbon / Benson E. Gammon

A preliminary analytical evaluation of the air and fuel specific-impulse characteristics of hydrogen, a-methylnapthalene, and graphite carbon has been made. Adiabatic constant-pressure combustion flame temperatures for each fuel at several equivalence ratios were calculated for an initial air temperature of 560 degrees R and a pressure of 2 atmospheres.

ENGINES, RAM JET↗
NASA NTRS1990

A high speed CCSDS encoder for space applications

This paper reports a VLSI implementation of the CCSDS standard Reed Solomon encoder circuit for the Space Station. The 1.0 micron double metal CMOS chip is 5.9 mm by 3.6 mm, contains 48,000 transistors, operates at a sustained data rate of 320 Mbits/s, and executes 2,560 Mops. The chip features a pin selectable interleave depth of 1 to 8. Block lengths of up to 255 bytes, as well as shortened codes, are supported. The control circuitry uses register cells which are immune to Single Event Upset. In addition, the CMOS process used is reported to be tolerant of over 1 Mrad total dose radiation.

Whitaker, S.↗
NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗