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NASA NTRS1991

Resolved rate and torque control schemes for large scale space based kinematically redundant manipulators

Resolved rate control of kinematically redundant ground based manipulators is a challenging problem. The structural, actuator, and control loop frequency characteristics of industrial grade robots generally allow operation with resolved rate control; a rate command is achievable with good accuracy. However, space based manipulators are different, typically have less structural stiffness, more motor and joint friction, and lower control loop cycle frequencies. These undesirable characteristics present a considerable Point of Resolution (POR) control problem for space based, kinematically redundant manipulators for the following reason: a kinematically redundant manipulator requires an arbitrary constraint to solve for the joint rate commands. A space manipulator will not respond to joint rate commands because of these characteristics. A space based manipulator simulation, including free end rigid body dynamics, motor dynamics, motor striction/friction, gearbox backlash, joint striction/friction, and Space Station Remote Manipulator System type configuration parameters, is used to evaluate the performance of a documented resolved rate control law. Alternate schemes which include torque control are also evaluated.

Robert W Bailey↗

NASA NTRS1992

RTJ-303: Variable geometry, oblique wing supersonic aircraft

This document is a preliminary design of a High Speed Civil Transport (HSCT) named the RTJ-303. It is a 300 passenger, Mach 1.6 transport with a range of 5000 nautical miles. It features four mixed-flow turbofan engines, variable geometry oblique wing, with conventional tail-aft control surfaces. The preliminary cost analysis for a production of 300 aircraft shows that flyaway cost would be 183 million dollars (1992) per aircraft. The aircraft uses standard jet fuel and requires no special materials to handle aerodynamic heating in flight because the stagnation temperatures are approximately 130 degrees Fahrenheit in the supersonic cruise condition. It should be stressed that this aircraft could be built with today's technology and does not rely on vague and uncertain assumptions of technology advances. Included in this report are sections discussing the details of the preliminary design sequence including the mission to be performed, operational and performance constraints, the aircraft configuration and the tradeoffs of the final choice, wing design, a detailed fuselage design, empennage design, sizing of tail geometry, and selection of control surfaces, a discussion on propulsion system/inlet choice and their position on the aircraft, landing gear design including a look at tire selection, tip-over criterion, pavement loading, and retraction kinematics, structures design including load determination, and materials selection, aircraft performance, a look at stability and handling qualities, systems layout including location of key components, operations requirements maintenance characteristics, a preliminary cost analysis, and conclusions made regarding the design, and recommendations for further study.

Antaran, Albert↗

NASA NTRS2016

Crew Exploration Vehicle (CEV) (Orion) Occupant Protection

The purpose of this study was to determine the similarity between the response of the THUMS model and the Hybrid III Anthropometric Test Device (ATD) given existing Wright-Patterson (WP) sled tests. There were four tests selected for this comparison with frontal, spinal, rear, and lateral loading. The THUMS was placed in a sled configuration that replicated the WP configuration and the recorded seat acceleration for each test was applied to model seat. Once the modeling simulations were complete, they were compared to the WP results using two methods. The first was a visual inspection of the sled test videos compared to the THUMS d3plot files. This comparison resulted in an assessment of the overall kinematics of the two results. The other comparison was a comparison of the plotted data recorded for both tests. The metrics selected for comparison were seat acceleration, belt forces, head acceleration and chest acceleration. These metrics were recorded in all WP tests and were outputs of the THUMS model. Once the comparison of the THUMS to the WP tests was complete, the THUMS model output was also examined for possible injuries in these scenarios. These outputs included metrics for injury risk to the head, neck, thorax, lumbar spine and lower extremities. The metrics to evaluate head response were peak head acceleration, HIC15, and HIC36. For the neck, N (sub ij) was calculated. The thorax response was evaluated with peak chest acceleration, the Combined Thoracic Index (CTI), sternal deflection, chest deflection, and chest acceleration- 3 ms clip. The lumbar spine response was evaluated with lumbar spine force. Finally the lower extremity response was evaluated by femur and tibia force. The results of the simulation comparisons indicate the THUMS model had a similar response to the Hybrid III dummy given the same input. The primary difference seen between the two was a more flexible response of the THUMS compared to the Hybrid III. This flexibility was most pronounced in the neck flexion, shoulder deflection and chest deflection. Due to the flexibility of the THUMS, the resulting head and chest accelerations tended to lag the Hybrid III acceleration trace and have a lower peak value. The results of the injury metric comparison identified possible injury trends between simulations. Risk of head injury was highest for the lateral simulations. The risk of chest injury was highest for the rear impact. However, neck injury risk was approximately the same for all simulations. The injury metric value for lumbar spine force was highest for the spinal impact. The leg forces were highest for the rear and lateral impacts. The results of this comparison indicate the THUMS model performs in a similar manner as the Hybrid III ATD. The differences in the responses of model and the ATD are primarily due to the flexibility of the THUMS. This flexibility of the THUMS would be a more human like response. Based on the similarity between the two models, the THUMS should be used in further testing to assess risk of injury to the occupant.

Currie-Gregg, Nancy J.↗

NASA NTRS1991

A kinematic analysis of the Space Station remote manipulator system (SSRMS)

An efficient reverse analysis of three 6-degree-of-freedom (dof) subchains of the 7-dof SSRMS is presented. The first subchain is formed by locking the seventh joint. The second subchain is formed by locking the second joint, while the third subchain is formed by locking the first joint (the grounded joint is counted as the first joint in the chain). There are a maximum of eight different arm configurations in each of the three subchains, and these were determined by employing a computer-efficient algorithm, which required the rooting of only at most quadratic polynomials. The algorithms were implemented, and the SSRMS was employed in an animated environment to perform and practice a number of useful tasks for Space Station servicing. The locking of the second joint has the advantage in that an operator can choose the orientation of the plane that contains the two longest links so as to avoid collisions with obstacles. However, it has the disadvantage that when the second joint angle equals 0 deg or 180 deg, the manipulator is in a singularity configuration. This plane can also be oriented by specifying the first joint angle, so that the plane can be oriented arbitrarily and, in this, the singularity is avoided.

Crane, Carl D., III↗

NASA NTRS1977

Large space erectable structures - building block structures study

A modular planar truss structure and a long slender boom concept identified as building block approaches to construction of large spacecraft configurations are described. The concepts are compatible in weight and volume goals with the Space Transportation System, use standard structural units, and represent high on-orbit productivity in terms of structural area or beam length. Results of structural trade studies involving static and dynamic analyses of a single module and rigid body deployment analyses to assess kinetics and kinematics of automatic deployment of the building block modules are presented.

Armstrong, W. H.↗

NASA NTRS1993

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Bayo, Eduardo↗

NASA NTRS1997

Multi-Body Analysis of a Tiltrotor Configuration

The paper describes the aeroelastic analysis of a tiltrotor configuration. The 1/5 scale wind tunnel semispan model of the V-22 tiltrotor aircraft is considered. The analysis is performed by means of a multi-body code, based on an original formulation. The differential equilibrium problem is stated in terms of first order differential equations. The equilibrium equations of every rigid body are written, together with the definitions of the momenta. The bodies are connected by kinematic constraints, applied in form of Lagrangian multipliers. Deformable components are mainly modelled by means of beam elements, based on an original finite volume formulation. Multi-disciplinar problems can be solved by adding user-defined differential equations. In the presented analysis the equations related to the control of the swash-plate of the model are considered. Advantages of a multi-body aeroelastic code over existing comprehensive rotorcraft codes include the exact modelling of the kinematics of the hub, the detailed modelling of the flexibility of critical hub components, and the possibility to simulate steady flight conditions as well as wind-up and maneuvers. The simulations described in the paper include: 1) the analysis of the aeroelastic stability, with particular regard to the proprotor/pylon instability that is peculiar to tiltrotors, 2) the determination of the dynamic behavior of the system and of the loads due to typical maneuvers, with particular regard to the conversion from helicopter to airplane mode, and 3) the stress evaluation in critical components, such as the pitch links and the conversion downstop spring.

Ghiringhelli, G. L.↗

NASA NTRS1989

A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

Podhorodeski, R. P.↗

NASA NTRS1992

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗

NASA NTRS1994

Aeroelastic Stability of Modern Bearingless Rotors: A Parametric Investigation

The University of Maryland Advanced Rotorcraft Code (UMARC) is utilized to study the effects of blade design parameters on the aeroelastic stability of an isolated modern bearingless rotor blade in hover. The McDonnell Douglas Advanced Rotor Technology (MDART) Rotor is the baseline rotor investigated. Results indicate that kinematic pitch-lag coupling introduced through the control system geometry and the damping levels of the shear lag dampers strongly affect the hover inplane damping of the baseline rotor blade. Hub precone, pitchcase chordwise stiffness, and blade fundamental torsion frequency have small to moderate influence on the inplane damping, while blade pre-twist and placements of blade fundamental flapwise and chord-wise frequencies have negligible effects. A damperless configuration with a leading edge pitch-link, 15 deg of pitch-link cant angle, and reduced pitch-link stiffness is shown to be stable with an inplane damping level in excess of 2.7 percent critical at the full hover tip speed.

Nguyen, Khanh Q.↗

NASA NTRS1997

Landing Gear Integration in Aircraft Conceptual Design

The design of the landing gear is one of the more fundamental aspects of aircraft design. The design and integration process encompasses numerous engineering disciplines, e.g., structure, weights, runway design, and economics, and has become extremely sophisticated in the last few decades. Although the design process is well-documented, no attempt has been made until now in the development of a design methodology that can be used within an automated environment. As a result, the process remains to be a key responsibility for the configuration designer and is largely experience-based and graphically-oriented. However, as industry and government try to incorporate multidisciplinary design optimization (MDO) methods in the conceptual design phase, the need for a more systematic procedure has become apparent. The development of an MDO-capable design methodology as described in this work is focused on providing the conceptual designer with tools to help automate the disciplinary analyses, i.e., geometry, kinematics, flotation, and weight. Documented design procedures and analyses were examined to determine their applicability, and to ensure compliance with current practices and regulations. Using the latest information as obtained from industry during initial industry survey, the analyses were in terms modified and expanded to accommodate the design criteria associated with the advanced large subsonic transports. Algorithms were then developed based on the updated analysis procedures to be incorporated into existing MDO codes.

Chai, Sonny T.↗

NASA NTRS1997

Wrist Camera Orientation for Effective Telerobotic Orbital Replaceable Unit (ORU) Changeout

The Hydraulic Manipulator Testbed (HMTB) is the kinematic replica of the Flight Telerobotic Servicer (FTS). One use of the HMTB is to evaluate advanced control techniques for accomplishing robotic maintenance tasks on board the Space Station. Most maintenance tasks involve the direct manipulation of the robot by a human operator when high-quality visual feedback is important for precise control. An experiment was conducted in the Systems Integration Branch at the Langley Research Center to compare several configurations of the manipulator wrist camera for providing visual feedback during an Orbital Replaceable Unit changeout task. Several variables were considered such as wrist camera angle, camera focal length, target location, lighting. Each study participant performed the maintenance task by using eight combinations of the variables based on a Latin square design. The results of this experiment and conclusions based on data collected are presented.

Jones, Sharon Monica↗

NASA NTRS2006

Stochastic Evolutionary Algorithms for Planning Robot Paths

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

Fink, Wolfgang↗

NASA NTRS1989

On the dynamic singularities in the control of free-floating space manipulators

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Papadopoulos, E.↗

NASA NTRS1993

Space Station maintenance studies using plaid graphics

The Graphics Analysis Facility (GRAF) has been used frequently to study extravehicular activity (EVA) maintenance scenarios on Space Station Freedom. The ability to use 3-dimensional visualization gives one a more accurate estimate of the Space Station environment. Moreover, human EVA and robotic kinematics can be accurately simulated for columetric reach and collision detection analysis. An animation of this kind was developed for a research group at JSC to study and discover problem areas involved with doing external Space Station maintenance tasks. On the EVA side, it was discovered that items such as handholds and temporary restraint mechanisms should more effectively facilitate EVA movement about the Space Station structure for the suited personnel. Issues concerning CETA cart configuration, PWP storage locations, and locations of EVA storage areas were also identified by use of the animation. In the area of EVA versus robotics, it was found that there is a strong desire to make EVA and robotics interfaces compatible on items such as replacement units and unpressurized logistics carriers. The animation also showed that the use of robotics within an EVA task increases the difficulty and duration of the task setup, leaving less time available for the maintenance task itself. Graphics animation provides a mechanism to simultaneously analyze several mission parameters (i.e., EVA reach, volumetric analysis, and task timelines), and thus, it has proven to be an effective method for mission evaluation.

Helm, Mary E.↗

NASA NTRSDate not supplied

Development of an Inertial Sensor-Based Methodology for Spacesuited Lunar Geology Task Assessments

Inertial sensor-based task assessment while in a suited configuration can provide useful information for geology training programs and actual planetary Extravehicular Activities (EVAs). The purpose of this pilot study was to assess suited Lunar geology tasks from the postural perspective using inertial sensors and to gain a better understanding of the movements required during planetary EVAs and of the possible relationships with injury mechanisms. Professional geologist and non-geologist subjects participated in a suited geology task test, and preliminary analysis showed kinematic differences indicating a potential risk factor for lower back injury during future planetary EVAs.

Kyoung Jae Kim↗

NASA NTRS1985

WRAP-RIB antenna technology development

The wrap-rib deployable antenna concept development is based on a combination of hardware development and testing along with extensive supporting analysis. The proof-of-concept hardware models are large in size so they will address the same basic problems associated with the design fabrication, assembly and test as the full-scale systems which were selected to be 100 meters at the beginning of the program. The hardware evaluation program consists of functional performance tests, design verification tests and analytical model verification tests. Functional testing consists of kinematic deployment, mesh management and verification of mechanical packaging efficiencies. Design verification consists of rib contour precision measurement, rib cross-section variation evaluation, rib materials characterizations and manufacturing imperfections assessment. Analytical model verification and refinement include mesh stiffness measurement, rib static and dynamic testing, mass measurement, and rib cross-section characterization. This concept was considered for a number of potential applications that include mobile communications, VLBI, and aircraft surveillance. In fact, baseline system configurations were developed by JPL, using the appropriate wrap-rib antenna, for all three classes of applications.

Freeland, R. E.↗

NASA NTRS2015

On the Connection Between Flap Side-Edge Noise and Tip Vortex Dynamics

The goal of the present work is to investigate how the dynamics of the vortical flow about the flap side edge of an aircraft determine the acoustic radiation. A validated lattice- Boltzmann CFD solution of the unsteady flow about a detailed business jet configuration in approach conditions is used for the present analysis. Evidence of the connection between the noise generated by several segments of the inboard flap tip and the aerodynamic forces acting on the same segments is given, proving that the noise generation mechanism has a spatially coherent and acoustically compact character on the scale of the flap chord, and that the edge-scattering effects are of secondary importance. Subsequently, evidence of the connection between the kinematics of the tip vortex system and the aerodynamic force is provided. The kinematics of the dual vortex system are investigated via a core detection technique. Emphasis is placed on the mutual induction effects between the two main vortices rolling up from the pressure and suction sides of the flap edge. A simple heuristic formula that relates the far-field noise spectrum and the cross-spectrum of the unsteady vortical positions is developed.

Casalino, D.↗