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Drawings are presented for equipment designed and fabricated to affect the integration of controllers, displays and manipulators with a remote maneuvering unit. Schematic diagrams of the master and level controllers are also included for reference.
A universal computer control system (UCCS) is under development for all motor elements of a space telerobot. The basic hardware architecture and software design of UCCS are described, together with the rich motor sensing, control, and self-test capabilities of this all-computerized motor control system. UCCS is integrated into a multibus computer environment with direct interface to higher level control processors, uses pulsewidth multiplier power amplifiers, and one unit can control up to sixteen different motors simultaneously at a high I/O rate. UCCS performance capabilities are illustrated by a few data.
The purpose of this study was to determine whether prostaglandin E2 (PGE2) can restore cancellous bone mass and architecture to osteopenic, continuously immobilized (IM), proximal tibial metaphysis (PTM) in female rats. The right hindlimb of three and one-half-month-old Sprague-Dawley female rats were immobilized by right hindlimb immobilization (RHLI) in which the right hindlimb was underloaded and the contralateral left limb was overloaded during ambulation. After 4 or 12 weeks of RHLI, the rats were treated with 3 or 6 mg PGE2/kg/day and RHLI for 8 or 16 weeks. Bone histomorphometry was performed on microradiographs of PTM. Immobilization (IM) induced a transient cancellous bone loss and decreased trabecular thickness, number and node density, and increased free end density that established a new steady state after 4 weeks of IM. Three or 6 mg PGE2/kg/d for 8 weeks beginning at 4 or 12 weeks of IM completely restored cancellous bone mass (+127 to +188 percent) and structure to the age-related control levels in spite of continuous IM. Another 8 weeks of treatment maintained bone mass and architecture at these levels. No differences in cancellous bone mass and architecture were found between the overloaded PTM or RHLI rats and the age-related controls. However, 3 and 6 mg/kg/d of PGE2 treatment started at 4 or 12 weeks for 8 weeks significantly increased cancellous bone mass in the overloaded PTM (+45 to +74% of untreated controls), and another 8 weeks of treatment maintained bone mass at these levels. Our findings indicate that daily 3 or 6 mg PGE2/kg/d treatment restores and maintains PTM cancellous bone mass in continuously immobilized (right) tibiae, and adds and maintains extra bone to slightly overloaded PTM cancellous bone in female rats.
Radiotelemetry was used to measure arterial pressure and mesenteric and renal blood flows from nine unrestrained, conscious baboons during periods of rest, moderate exercise, and extreme excitement. A description of the experiments hardware is presented, including artificial depressants phenylcyclidine hydrochloride, 0.5-1.0 mg/kg, and pentobarbital sodium, 15 mg/kg, and an ultrasonic telemetry flow meter. Results showed rising heart rate and arterial pressure coupled with a reduction of mesenteric and renal flows as the level of exercise was increased. These findings are compared with mesenteric and renal flows somewhat above control level, but relatively stable heart rate and arterial pressure, postprandially. Attention is given to a quantitative analysis of the experimental results.
Integrated-circuit microcomputers process signals among sensors, external controls, and end-effector motor. Multiple-microprocessor system within end effector of remote manipulator accepts data from sensors in end effector, commumnicates with external control system, and controls end-effector motor. External system includes central control computer (which interacts with operator) and display. Local dataprocessing system in end effector relieves external control system of some of its computational load and minimizes data communication load with external higher level controller.
To elucidate the physiological mechanisms involved in the cardiovascular and renal responses to spaceflight, a ground-based primate model has been developed which uses lower body positive pressure (LBPP) to simulate the chronic central vascular expansion associated with weightlessnes. Four male squirrel monkeys with chronically implanted arterial and venous catheters and the capacity for continuous urine collection were subjected to LBPP for 4 days. Onset of LBPP resulted in an immediate diuresis, natriuresis and kaliuresis and a significant fall in plasma aldosterone and potassium levels. By day 2 the level of natriuresis had decreased by half, while potassium excretion and plasma aldosterone values had returned to control levels despite the persistence of a significantly reduced plasma potassium concentration. It is concluded that the low plasma potassium level appears not to stimulate a compensatory fall in plasma aldosterone because of the simultaneous presence of body volume contraction acting to raise aldosterone levels.
The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.
A series of tests was conducted on two 12 ampere hour nickel cadmium batteries under a simulated cycle regime using the multiple voltage versus temperature levels designed into the modular power system (MPS). These tests included: battery recharge as a function of voltage control level; temperature imbalance between two parallel batteries; a shorted or partially shorted cell in one of the two parallel batteries; impedance imbalance of one of the parallel battery circuits; and disabling and enabling one of the batteries from the bus at various charge and discharge states. The results demonstrate that the eight commandable voltage versus temperature levels designed into the MPS provide a very flexible system that not only can accommodate a wide range of normal power system operation, but also provides a high degree of flexibility in responding to abnormal operating conditions.
Longitudinal performance and control utilization data are compared for several different automatic approach autopilot implementations in a powered lift STOL aircraft. As few as two, to as many as four laws reflecting both backside and frontside control techniques. The data are developed from analysis and simulation, but represent configurations which were demonstrated in flight. Transient response characteristics from initial glidepath offsets are presented, along with system operation in turbulence. In furnishing quantitative data in controlled levels of simulated turbulence, these results provide a useful supplement to various flight investigations (including those employing manual control) that involved a comparison of control techniques in this type of aircraft.
The STOVL Integrated Flight Propulsion Controls (IFPC) Program, initiated by NASA Lewis and NASA Ames to develop the necessary technologies for integrating the flight and propulsion controls of a future STOVL aircraft, is described. A major element of the STOVL IFPC Program is the STOVL Controls Integration Program (SCIP), which focuses on the development of an integrated flight propulsion control for the advanced vectored thrust STOVL concept. The SCIP has progressed to the point of generating top level control requirements.
Fossil melanosomes, micron-sized granules rich in melanin in vivo, provide key information for investigations of the original coloration, taxonomy and internal anatomy of fossil vertebrates. Such studies rely, in part, on analysis of the inorganic chemistry of preserved melanosomes and an understanding of melanosome chemical taphonomy. The extent to which the preserved chemistry of fossil melanosomes is biased by biotic and abiotic factors is, however, unknown. Here we report the discovery of hierarchical controls on the inorganic chemistry of melanosomes from fossil vertebrates from nine biotas. The chemical data are dominated by a strong biota-level signal, indicating that the primary taphonomic control is the diagenetic history of the host sediment. This extrinsic control is superimposed by a biological, tissue-level control; tissue-specific chemical variation is most likely to survive in fossils where the inorganic chemistry of preserved melanosomes is distinct from that of the host sediment. Comparative analysis of our data for fossil and modern amphibians reveals that most fossil specimens show tissue-specific melanosome chemistries that differ from those of extant analogues, strongly suggesting alteration of original melanosome chemistry. Collectively, these findings form a predictive tool for the identification of fossil deposits with well-preserved melanosomes amenable to studies of fossil colour and anatomy.
Measurement of the reduction in centrifugation tolerance after two weeks of bedrest with moderate daily exercise, with an attempt to determine if rehydration improves +Gz tolerance. There were significant reductions in +Gz tolerance during bedrest periods at three acceleration levels. Rehydration resulted in a significant increase in tolerance at 2.1G but it did not restore tolerance to control levels. Rehydration did not affect tolerance at 3.2G and 3.8G.
Study of the effects of hypoxia, activity, and G forces on human hematopoiesis in an attempt to elucidate these phenomena more precisely. Eight subjects were exposed to an atmosphere of 100% O2 at 258 mm Hg for 30 days, and thereafter immediately exposed to transverse G forces, simulating the Gemini flights' reentry profile. All subjects displayed a significant continuous decline in red cell mass during the exposure period, as measured by the carbon monoxide-dilution method. The Cr51 method also indicated a decline in red blood corpuscle mass. The decrease in red cell mass was due to suppression of erythropoiesis and to hemolysis. After exposure to hyperoxia, all subjects exhibited elevated plasma hemoglobin levels, decreased reticulocyte counts, and decreased red cell survivals. CO production rates and urine erythropoietin levels were unchanged. Two hours after termination of exposure to hyperoxia, all subjects exhibited increased reticulocyte counts which were sustained for longer than two weeks. The progressive decrease in red cell mass was promptly arrested on return to ground level atmospheres. Within 116 days after exposure to hyperoxia, the hematologic parameters of all eight subjects had returned to control levels.
Grid Forming Inverters (GFMIs) are a critical component of the future Grid. One major challenge with GFMIs is synchronization. Currently, most research in GFMI synchronization is focused around specific transition types but this is only a subcategory of the possible events facing GFMIs. In this paper, we propose categorizing all possible synchronization events into four categories: (1) Initial Grid Synchronization, (2) Ride-Through, (3) Blackstart Coordination, (4) Grid Reconnection Coordination. By categorizing events, we can better compare and integrate different control strategies under specific test conditions as demonstrated in simulation. This paper’s framework helps guide GFMI primary-level control design to further research towards the 100% inverter-dominant Grid.
Grid forming inverters (GFMIs) are a critical component of the future grid. One major challenge with GFMIs is synchronization. Currently, most research in GFMI synchronization is focused around specific transition types but this is only a subcategory of the possible events facing GFMIs. In this paper, we propose categorizing all possible synchronization events into four categories: (1) initial grid synchronization, (2) ride-through, (3) blackstart coordination, (4) grid reconnection coordination. By categorizing events, we can better compare and integrate different control strategies under specific test conditions as demonstrated in simulation. This paper's framework helps guide GFMI primary-level control design to further research towards the 100% inverter-dominant grid.
The requirements are presented for an Advanced Subsonic Civil Transport (ASCT) flight control system generated using structured techniques. The requirements definition starts from initially performing a mission analysis to identify the high level control system requirements and functions necessary to satisfy the mission flight. The result of the study is an example set of control system requirements partially represented using a derivative of Yourdon's structured techniques. Also provided is a research focus for studying structured design methodologies and in particular design-for-validation philosophies.
Voluntary wheel running (WR) by juvenile female rats was used as a noninterventional model of soleus muscle functional overload to study the regulation of insulin-stimulated glucose transport activity by the glucose transporter (GLUT-4 isoform) protein level and glycogen concentration. Soleus total protein content was significantly greater (+18%;P greater than 0.05) than in age-matched controls after 1 wk of WR, and this hypertrophic response continued in weeks 2-4 (+24-32%). GLUT-4 protein was 39% greater than in controls in 1-wk WR soleus, and this adaptation was accompanied by a similar increase in in vitro insulin-stimulated glucose transport activity(+29%). After 2 and 4 wk of WR, however, insulin-stimulated glucose transport activity had returned to control levels, despite a continued elevation (+25-28%) of GLUT-4 protein. At these two time points, glycogen concentration was significantly enhanced in WR soleus (+21-42%), which coincided with significant reductions in glycogen synthase activity ratios (-23 to-41%). These results indicate that, in this model of soleus muscle functional overload, the GLUT-4 protein level may initially regulate insulin-stimulated glucose transport activity in the absence of changes in other modifying factors. However,this regulation of glucose transport activity by GLUT-4 protein may be subsequently overridden by elevated glycogen concentration.
This paper describes aerodynamic design work aimed at developing a passive porosity control effector system for a generic tailless fighter aircraft. As part of this work, a computational design tool was developed and used to layout passive porosity effector systems for longitudinal and lateral-directional control at a low-speed, high angle of attack condition. Aerodynamic analysis was conducted using the NASA Langley computational fluid dynamics code USM3D, in conjunction with a newly formulated surface boundary condition for passive porosity. Results indicate that passive porosity effectors can provide maneuver control increments that equal and exceed those of conventional aerodynamic effectors for low-speed, high-alpha flight, with control levels that are a linear function of porous area. This work demonstrates the tremendous potential of passive porosity to yield simple control effector systems that have no external moving parts and will preserve an aircraft's fixed outer mold line.