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At least 199 records · Page 11

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NASA NTRS1990

Delivery and application of precise timing for a traveling wave powerline fault locator system

The Bonneville Power Administration (BPA) has successfully operated an in-house developed powerline fault locator system since 1986. The BPA fault locator system consists of remotes installed at cardinal power transmission line system nodes and a central master which polls the remotes for traveling wave time-of-arrival data. A power line fault produces a fast rise-time traveling wave which emanates from the fault point and propagates throughout the power grid. The remotes time-tag the traveling wave leading edge as it passes through the power system cardinal substation nodes. A synchronizing pulse transmitted via the BPA analog microwave system on a wideband channel sychronizes the time-tagging counters in the remote units to a different accuracy of better than one microsecond. The remote units correct the raw time tags for synchronizing pulse propagation delay and return these corrected values to the fault locator master. The master then calculates the power system disturbance source using the collected time tags. The system design objective is a fault location accuracy of 300 meters. BPA's fault locator system operation, error producing phenomena, and method of distributing precise timing are described.

Street, Michael A.↗

NASA NTRS1991

Performance and stability of telemanipulators using bilateral impedance control

A new method of control for telemanipulators called bilateral impedance control is investigated. This new method differs from previous approaches in that interaction forces are used as the communication signals between the master and slave robots. The new control architecture has several advantages: (1) It allows the master robot and the slave robot to be stabilized independently without becoming involved in the overall system dynamics; (2) It permits the system designers to arbitrarily specify desired performance characteristics such as the force and position ratios between the master and slave; (3) The impedance at both ends of the telerobotic system can be modulated to suit the requirements of the task. The main goals of the research are to characterize the performance and stability of the new control architecture. The dynamics of the telerobotic system are described by a bond graph model that illustrates how energy is transformed, stored, and dissipated. Performance can be completely described by a set of three independent parameters. These parameters are fundamentally related to the structure of the H matrix that regulates the communication of force signals within the system. Stability is analyzed with two mathematical techniques: the Small Gain Theorem and the Multivariable Nyquist Criterion. The theoretical predictions for performance and stability are experimentally verified by implementing the new control architecture on a multidegree of freedom telemanipulator.

Moore, Christopher Lane↗

NASA NTRS1991

Noninertial coordinate time: A new concept affecting time standards, time transfers, and clock synchronization

Relativity compensations must be made in precise and accurate measurements whenever an observer is accelerated. Although many believe the Earth-centered frame is sufficiently inertial, accelerations of the Earth, as evidenced by the tides, prove that it is technically a noninertial system for even an Earth-based observer. Using the constant speed of light, a set of fixed remote clocks in an inertial frame can be synchronized to a fixed master clock transmitting its time in that frame. The time on the remote clock defines the coordinate time at that coordinate position. However, the synchronization procedure for an accelerated frame is affected, because the distance between the master and remote clocks is altered due to the acceleration of the remote clock toward or away from the master clock during the transmission interval. An exact metric that converts observations from noninertial frames to inertial frames was recently derived. Using this metric with other physical relationships, a new concept of noninertial coordinate time is defined. This noninertial coordinate time includes all relativity compensations. This new issue raises several timekeeping issues, such as proper time standards, time transfer process, and clock synchronization, all in a noninertial frame such as Earth.

Steven D. Deines↗

NASA NTRS1991

Dynamic control modification techniques in teleoperation of a flexible manipulator

The objective of this research is to reduce the end-point vibration of a large, teleoperated manipulator while preserving the usefulness of the system motion. A master arm is designed to measure desired joint angles as the user specifies a desired tip motion. The desired joint angles from the master arm are the inputs to an adaptive PD control algorithm that positions the end-point of the manipulator. As the user moves the tip of the master, the robot will vibrate at its natural frequencies which makes it difficult to position the end-point. To eliminate the tip vibration during teleoperated motions, an input shaping method is presented. The input shaping method transforms each sample of the desired input into a new set of impulses that do not excite the system resonances. The method is explained using the equation of motion for a simple, second-order system. The impulse response of such a system is derived and the constraint equations for vibrationless motion are presented. To evaluate the robustness of the method, a different residual vibration equation from Singer's is derived that more accurately represents the input shaping technique. The input shaping method is shown to actually increase the residual vibration in certain situations when the system parameters are not accurately specified. Finally, the implementation of the input shaping method to a system with varying parameters is shown to induce a vibration into the system. To eliminate this vibration, a modified command shaping technique is developed. The ability of the modified command shaping method to reduce vibration at the system resonances is tested by varying input perturbations to trajectories in a range of possible user inputs. By comparing the frequency responses of the transverse acceleration at the end-point of the manipulator, the modified method is compared to the original PD routine. The control scheme that produces the smaller magnitude of resonant vibration at the first natural frequency is considered the more effective control method.

Magee, David Patrick↗

NASA NTRS1993

Viscoelastic characterization of thin-film polymers exposed to low Earth orbit

The materials made available through the Long Duration Exposure Facility (LDEF) satellite provide a set of specimens that can be well characterized and have a known exposure history with reference to atomic oxygen and ultraviolet radiation exposure. Mechanical characteristics measured from control samples and exposed samples provide a data base for predicting the behavior of polymers in low earth orbit. Samples of 1.0 mil thick low density polyethylene were exposed to the low earth orbit environment for a period of six years. These materials were not directly exposed to ram atomic oxygen and offer a unique opportunity for measuring the effect of atomic oxygen and UV radiation on mechanical properties with little concern to the effect of erosion. The viscoelastic characteristics of these materials were measured and compared to the viscoelastic characteristics of control samples. To aid in differentiating the effects of changes in crystallinity resulting from thermal cycling, from the effects of changes in chemical structure resulting from atomic oxygen/UV attack to the polymer, a second set of control specimens, annealed to increase crystallinity, were measured as well. The resulting characterization of these materials will offer insight into the impact of atomic oxygen/UV on the mechanical properties of polymeric materials. The viscoelastic properties measured for the control, annealed, and exposed specimens were the storage and loss modulus as a function of frequency and temperature. From these datum is calculated the viscoelastic master curve derived using the principle of time/temperature superposition. Using the master curve, the relaxation modulus is calculated using the method of Ninomiya and Ferry. The viscoelastic master curve and the stress relaxation modulus provide a direct measure of the changes in the chemical or morphological structure. In addition, the effect of these changes on long-term and short-term mechanical properties is known directly. It should be noted that the dependence on directionality for the polymer films was considered since these films were manufactured by a blown-film process.

Letton, Alan↗

NASA NTRS1993

Vibration-dissociation coupling in CO, N2 and O2 - An evaluation of analytic transition rate expressions

Closed form expressions for inelastic state-to-state and state-specific dissociative rate coefficients for utilization in vibrational master equation studies of shock heated CO, N2, and O2 highly dilute in Ar are considered. The master equation is linearized by neglecting diatom-diatom collisions and recombination. Master equation results indicate that the most significant contribution to dissociation comes from low and mid lying vibrational levels.

Gonzales, David A.↗

NASA NTRS1992

The Servicing Aid Tool

The Servicing Aid Tool (SAT) is a teleoperated manipulation system designed for use on the NSTS Orbiter. The system will assist EVA servicing of spacecraft such as the Hubble Space Telescope and Explorer platform. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research and Schilling Development. Fairchild Space is providing the control electronics, safety system, and flight integration. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the Payload Bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm. Each slave arm joint receives position commands from the corresponding master arm joint; torque commands are reflected to each master joint based on the current state of the slave joint and the master/slave relationship. Scaled and indexed control will be accommodated, as will various features to ensure safe operation. The paper will focus on the development of the safety system, and operations for the demonstration and servicing missions.

Pullen, John L.↗

NASA NTRS1994

Loran-C time management

As of 1 Oct. 1993, the US Coast Guard (USCG) supports and operates fifteen Loran-C chains. With the introduction of the Global Positioning Systems (GPS) and the termination of the Department of Defense (DOD) overseas need for Loran-C, the USCG will cease operating the three remaining overseas chains by 31 Dec. 1994. Following this date, the USCG Loran-C system will consist of twelve chains. Since 1971, management of time synchronization of the Loran-C system has been conducted under a Memorandum of Agreement between the US Naval Observatory (USNO) and the USCG. The requirement to maintain synchronization with Coordinated Universal Time (UTC) was initially specified as +/- 25 microseconds. This tolerance was rapidly lowered to +/- 2.5 microseconds in 1974. To manage this synchronization requirement, the USCG incorporated administrative practices which kept the USNO appraised of all aspects of the master timing path. This included procedures for responding to timing path failures, timing adjustments, and time steps. Conducting these aspects of time synchronization depended on message traffic between the various master stations and the USNO. To determine clock adjustment the USCG relied upon the USNO's Series 4 and 100 updates so that the characteristics of the master clock could be plotted and controls appropriately applied. In 1987, Public Law 100-223, under the Airport and Airway Improvement Act Amendment, reduced the synchronization tolerance to approximately 100 nanoseconds for chains serving the National Airspace System (NAS). This action caused changes in the previous administrative procedures and techniques. The actions taken by the USCG to meet the requirements of this law are presented.

Justice, Charles↗

NASA NTRS2002

A "Sweet 16" of Rules About Teamwork

The following "Sweet 16" rules included in this paper derive from a longer paper by APPL Director Dr. Edward Hoffman and myself entitled " 99 Rules for Managing Faster, Better, Cheaper Projects." Our sources consisted mainly of "war stories" told by master project managers in my book Simultaneous Management: Managing Projects in a Dynamic Environment (AMACOM, The American Management Association, 1996). The Simultaneous Management model was a result of 10 years of intensive research and testing conducted with the active participation of master project managers from leading private organizations such as AT&T, DuPont, Exxon, General Motors, IBM, Motorola and Procter & Gamble. In a more recent study, led by Dr. Hoffman, we learned that master project managers in leading public organizations employ most of these rules as well. Both studies, in private and public organizations, found that a dynamic environment calls for dynamic management, and that is especially clear in how successful project managers think about their teams.

Laufer, Alexander↗

NASA NTRS2003

Research Center for Optical Physics: Education and Technology for the 21st Century

During the past eleven years since its inception, RCOP has excelled in its two primary goals: 1) training of the scientists and engineers needed for the twenty-first century with special emphasis on underrepresented citizens and 2) research and technological development in areas of relevance to NASA. In the category of research training, as of May 2003, RCOP produced 36 Bachelors degrees, 25 Masters degrees, and 13 Doctoral degrees. Of these, all 36 Bachelors degrees, 16 of the Masters degrees and 9 of the Doctoral degrees were awarded to African Americans. Four of the Doctoral graduates and one of the Masters graduates are working at NASA Field Centers. RCOP has also provided research experiences to 130 undergraduate students and 22 high school students through a number of outreach programs held during the summer and the academic year. RCOP has also been crucial to the development of the Ph.D. program in physics at Hampton University by providing high quality research training and technical electives required for a Doctoral degree in physics. RCOP has also excelled in research and technological development. Since 1992, RCOP researchers have leveraged over 8 million dollars in additional research funding, published 152 papers in refereed journals and proceedings, and given 125 presentations at refereed international conferences in the United States and eight other countries. RCOP also developed numerous collaborations with other research centers, universities and industries. In recognition of this outstanding work, RCOP is the first research center in the United States invited to join the Joint Open Laboratory for Laser Crystals and Precise Laser Systems headed by Dr. Alexander Kaminiskii of the Russian Academy of Sciences.

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NASA NTRS2005

Managed Development Environment Successes for MSFC's VIPA Team

This paper outlines the best practices of the Vehicle Design Team for VIPA. VIPA is the Vehicle Integrated Performance Analysis Team at MSFC. This team was created to reconnect the individual engineering disciplines to be able to perform system level technical assessments in support of program decisions. The functions of the VIPA Vehicle Design (VVD) discipline team are to maintain the controlled reference geometry and provide linked, simplified geometry for each of the other discipline analyses. The core of the VVD work, and the approach for VVD s first task of controlling the reference geometry, involves systems engineering, top-down, layout-based CAD modeling within a Product Data Manager (PDM) development environment. The topdown approach allcws for simple contrnl of very large, integrated assemblies and greatly enhances the ability to generate trade configurations and reuse data. The second W D task, model simplification for analysis, is handled within the managed environment through application of the master model concept. In this approach, there is a single controlling, or master, product definition dataset. Connected to this master model are reference datasets with live geometric and expression links. The referenced models can be for drawings, manufacturing, visualization, embedded analysis, or analysis simplification. A discussion of web based interaction, including visualization, between the design and other disciplines is included. Demonstrated examples are cited, including the Space Launch Initiative development cycle, the Saturn V systems integration and verification cycle, an Orbital Space Plane study, and NASA Exploration Office studies of Shuttle derived and clean sheet launch vehicles. The VIPA Team has brought an immense amount of detailed data to bear on program issues. A central piece of that success has been the Managed Development Environment and the VVD Team approach to modeling.

Finckenor, Jeff↗

NASA NTRS2005

Managed Development Environment Successes for MSFC's VIPA Team

This paper outlines the best practices of the Vehicle Design Team for VIPA. The functions of the VIPA Vehicle Design (VVD) discipline team are to maintain the controlled reference geometry and provide linked, simplified geometry for each of the other discipline analyses. The core of the VVD work, and the approach for VVD s first task of controlling the reference geometry, involves systems engineering, top-down, layout-based CAD modeling within a Product Data Manager (PDM) development environment. The top- down approach allows for simple control of very large, integrated assemblies and greatly enhances the ability to generate trade configurations and reuse data. The second VVD task, model simplification for analysis, is handled within the managed environment through application of the master model concept. In this approach, there is a single controlling, or master, product definition dataset. Connected to this master model are reference datasets with live geometric and expression links. The referenced models can be for drawings, manufacturing, visualization, embedded analysis, or analysis simplification. A discussion of web based interaction, including visualization, between the design and other disciplines is included. Demonstrated examples are cited, including the Space Launch Initiative development cycle, the Saturn V systems integration and verification cycle, an Orbital Space Plane study, and NASA Exploration Office studies of Shuttle derived and clean sheet launch vehicles. The VIPA Team has brought an immense amount of detailed data to bear on program issues. A central piece of that success has been the Managed Development Environment and the VVD Team approach to modeling.

Finckenor, Jeff↗

NASA NTRS1998

Modeling Code Is Helping Cleveland Develop New Products

Master Builders, Inc., is a 350-person company in Cleveland, Ohio, that develops and markets specialty chemicals for the construction industry. Developing new products involves creating many potential samples and running numerous tests to characterize the samples' performance. Company engineers enlisted NASA's help to replace cumbersome physical testing with computer modeling of the samples' behavior. Since the NASA Lewis Research Center's Structures Division develops mathematical models and associated computation tools to analyze the deformation and failure of composite materials, its researchers began a two-phase effort to modify Lewis' Integrated Composite Analyzer (ICAN) software for Master Builders' use. Phase I has been completed, and Master Builders is pleased with the results. The company is now working to begin implementation of Phase II.

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NASA NTRS2005

STS-114: Multi-Cut Profiles and Mission Overviews

Profiles of the seven crewmembers of the STS-114 Discovery are shown. Eileen Collins, Commander, talks about her fascination with flying as a young child and her eagerness to have someone teach her to fly at age 19. Her eagerness and hard work earned her a master's in operations research from Stanford University in 1986 and a master's in space systems management from Webster University in 1989. Jim Kelly, Pilot, talks about his desire to become an astronaut at a very young age. Charles Camarda, Mission Specialist, always wanted to become an astronaut and earned a Bachelor's degree in aerospace engineering from Polytechnic Institute of Brooklyn in 1974, a Master's in engineering Science from George Washington University in 1980 and a doctorate in aerospace engineering from Virginia Polytechnic Institute and State University in 1990. Wendy Lawrence, Mission Specialist decided that she wanted to become an astronaut when she saw the first man to walk on the moon. Soichi Noguchi, Mission Specialist from JAXA expresses that people like scientists, doctors and engineers could fly and he also wanted to venture into spaceflight. Steve Robinson, Mission Specialist says that he was fascinated with things that flew as a child and wanted to make things fly. Australian born Andrew Thomas, Mission Specialist wanted to become an astronaut as a young boy but never realized that he would fulfill his dream. The crewmember profiles end with an overview of the STS-114 Discovery mission. Paul Hill, Lead Flight Director talks about the main goal of the STS-114 mission which is to demonstrate that changes to the Orbiter and flight procedures are good and the second goal is to finish construction of the International Space Station. Sergei Krikalev, Commander talks about increasing the capability of the International Space Station, Jim Kelly discusses the work that is being performed in the external tank, Andy Thomas talks about procedures done to stop foam release and Soichi Noguchi discusses his duty to film the external tank after separation.

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NASA NTRS1998

Six axis force feedback input device

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Ohm, Timothy↗

NASA NTRS1995

Protocol for multiple node network

The invention is a multiple interconnected network of intelligent message-repeating remote nodes which employs an antibody recognition message termination process performed by all remote nodes and a remote node polling process performed by other nodes which are master units controlling remote nodes in respective zones of the network assigned to respective master nodes. Each remote node repeats only those messages originated in the local zone, to provide isolation among the master nodes.

Kirkham, Harold↗

NASA NTRS1994

Protocol for multiple node network

Kirkham, Harold↗

NASA NTRS2009

2-Micron Laser Transmitter for Coherent CO2 DIAL Measurement

Carbon dioxide (CO2) has been recognized as one of the most important greenhouse gases. It is essential for the study of global warming to accurately measure the CO2 concentration in the atmosphere and continuously record its variation. A high repetition rate, highly efficient, Q-switched 2-micron laser system as the transmitter of a coherent differential absorption lidar for CO2 measurement has been developed in NASA Langley Research Center. This laser system is capable of making a vertical profiling of CO2 from ground and column measurement of CO2 from air and space-borne platform. The transmitter is a master-slave laser system. The master laser operates in a single frequency, either on-line or off-line of a selected CO2 absorption line. The slave laser is a Q-switched ring-cavity Ho:YLF laser which is pumped by a Tm:fiber laser. The repetition rate can be adjusted from a few hundred Hz to 10 kHz. The injection seeding success rate is from 99.4% to 99.95%. For 1 kHz operation, the output pulse energy is 5.5mJ with the pulse length of ~50 ns. The optical-to-optical efficiency is 39% when the pump power is 14.5W. A Ho:YLF laser operating in the range of 2.05 micrometers can be tuned over several characteristic lines of CO2 absorption. Experimentally, a diode pumped Ho:Tm:YLF laser has been successfully used as the transmitter of coherent differential absorption lidar for the measurement of CO2 with a repetition rate of 5 Hz and pulse energy of 75 mJ. For coherent detection, high repetition rate is required for speckle averaging to obtain highly precise measurements. However, a diode pumped Ho:Tm:YLF laser can not operate in high repetition rate due to the large heat loading and up-conversion. A Tm:fiber laser pumped Ho:YLF laser with low heat loading can operate in high repetition rate. A theoretical model has been established to simulate the performance of Tm:fiber laser pumped Ho:YLF lasers. For continuous wave (CW) operation, high pump intensity with small beam size is suitable for high efficiency. For Q-switched operation, the optimal energy extraction relies on the pump intensity, pump volume, and pump duration which is inversely proportion to the repetition rate. CW and Q-switched Ho:YLF lasers with different linear cavity configurations have been designed and demonstrated for a 30 W Tm:fiber pump laser. The CW Ho laser slope efficiency and optical-to-optical efficiencies reach 65% and 55%, respectively. The pulsed laser efficiency depends on the repetition rate. For 1 kHz operation, the optical-to-optical efficiency is 39% when the pump power is 14.5W. Currently, the injection seeding success rate is between 99.4% and 99.95%. After a ten thousand pulses, the standard deviation of the laser frequency jitter is about 3 MHz. It meets the requirements of highly precise CO2 concentration measurement. In conclusion, an injection seeded, high repetition rate, Q-switched Ho:YLF laser has been developed for a coherent CO2 differential absorption lidar. This master-slave laser system has high optical-to-optical efficiency and seeding success rate. It can potentially meet the requirements of the coherent detection of CO2 concentration by a differential absorption lidar technique.

Singh, Upendra N.↗