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Practical tools which can extend the state of the art of moving base flight simulation for research and training are developed. Main approaches to this research effort include: (1) application of the vestibular model for perception of orientation based on motion cues: optimum simulator motion controls; and (2) visual cues in landing.
The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).
Hydraulic actuators make a new motion control system more compact and more efficient than previous designs that use gimbals. System moves a platform in four degrees of freedom--simultaneous pitch, roll, yaw, and displacement. Developed for flight simulators, kinematic concept may also be useful in stabilizing platforms for shipboard equipment, material-handling machinery, and construction equipment.
An optimal control model for generating time histories of human tracking errors in antitank systems is outlined. Monte Carlo simulations of human operator responses for three Army antitank systems are compared. System/manipulator dependent data comparisons reflecting human operator limitations in perceiving displayed quantities and executing intended control motions are presented. Motor noise parameters are also discussed.
Unsteady interactions of concentrated vortices and distributed free-stream gusts with a stationary airfoil have been analyzed in two-dimensional transonic flow. A simple method of introducing such disturbances has been implemented numerically in the well-known transonic small-disturbance code LTRAN2, and calculations have been performed for two important classes of current aerodynamic problems. The first, which demonstrates many of the essential features of the interactions between helicopter rotor blades and their trailing-vortex wakes, is that of a discrete potential vortex convecting past an airfoil. The second is the response of a transonic airfoil to a transverse periodic gust, with and without the alleviation that can be achieved by the proper active control motion of a trailing-edge flap. In both cases, unsteady effects are found to play important roles in the shock-wave motion, in the overall flow-field development, and consequently, in the air loads on the airfoil.
The feasibility to incorporate an active higher harmonic control (HHC) system on an OH-6A rotorcraft was demonstrated. The introduction of continuously modulated low amplitude 4P feathering showed potential for reducing rotor transmitted oscillatory loads. The design implementation of this system on a baseline OH-6A required generation of a hydraulic power system, control actuator placement and design integration of an electronic subsystem comprised of an electronic control unit (ECU) and digital microcomputer. Various placements of the HHC actuators in the primary control system are evaluated. Assembly drawings of the actuator concepts and control rigging are presented. The advantages of generating both hydraulic power and 4F control motions in the nonrotating system is confirmed.
Vibrating device containing two piezoelectric ceramic slabs acts as mechanical driver. Eventually substitutes for small continuous or stepping electric motors of slow to moderate speeds. Piezoelectric driver simple in construction, requires no precise dimensions, inexpensive to make, and needs no lubrication. Not damaged by stalling or overloads and safe for use in explosive atmospheres; Motion controllable in micron-size increments, and holds position when power turned off. Potential applications as positioner or mover. Used to position instrument pointers, antennas, or solar panels; to focus lenses; or operate tuners, recording instruments, or valves.
The off-line-programming software and hardware being developed for robotic welding of the Space Shuttle main engine are described and illustrated with diagrams, drawings, graphs, and photographs. The menu-driven workstation-based interactive programming system is designed to permit generation of both motion and process commands for the robotic workcell by weld engineers (with only limited knowledge of programming or CAD systems) on the production floor. Consideration is given to the user interface, geometric-sources interfaces, overall menu structure, weld-parameter data base, and displays of run time and archived data. Ongoing efforts to address limitations related to automatic-downhand-configuration coordinated motion, a lack of source codes for the motion-control software, CAD data incompatibility, interfacing with the robotic workcell, and definition of the welding data base are discussed.
Simulation of two short distance crawling maneuvers of the elevator both with and without environmental perturbations acting upon the system is discussed. These simulation runs were performed in order to provide results useful for the interpretation of the data from the tests, on the ground, of a scaled down engineering model of the elevator. In these simulation runs the elevator crawls along the tether in accordance to the developed mirror image motion control law (MIMCL). Results from the simulation of the 4 km long maneuver run were compared to those obtained by adopting the modified hyperbolic tangent control law (MHTCL). A preprocessor was developed for setting up the initial conditions of a tethered system with L platforms, M longitudinal dampers, and N lumped masses (platforms plus tether beads). A short test run of the 4-platform system with 3 longitudinal dampers and 10 lumper mass without any perturbation acting upon the system is illustrated. In support of the Tether Applications Working Group, SAO is preparing a catalog of tether simulations, has prepared a set of simulator test cases, obtained results from SKYHOOK, and solicited results from simulators at other institutions, and prepared a paper on a specific analytic solution.
The primary goal of this program is to produce the motion control tools necessary to enhance and enable a particular NASA mission - space laboratory-based microgravity experiments. To that end, a spectrum of technology is being developed in the disciplines of precision mechanisms and robotics.
A reconfigurable workstation is described having video, keyboard, and hand operated motion controller capabilities. The workstation includes main side panels between which a primary work panel is pivotally carried in a manner in which the primary work panel may be adjusted and set in a negatively declined or positively inclined position for proper forearm support when operating hand controllers. A keyboard table supports a keyboard in such a manner that the keyboard is set in a positively inclined position with respect to the negatively declined work panel. Various adjustable devices are provided for adjusting the relative declinations and inclinations of the work panels, tables, and visual display panels.
The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.
The concept underlying the Engineering Data Compendium was the product of a research and development program (Integrated Perceptual Information for Designers project) aimed at facilitating the application of basic research findings in human performance to the design of military crew systems. The principal objective was to develop a workable strategy for: (1) identifying and distilling information of potential value to system design from existing research literature, and (2) presenting this technical information in a way that would aid its accessibility, interpretability, and applicability by system designers. The present four volumes of the Engineering Data Compendium represent the first implementation of this strategy. This is Volume 3, containing sections on Human Language Processing, Operator Motion Control, Effects of Environmental Stressors, Display Interfaces, and Control Interfaces (Real/Virtual).
This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems used for on-orbit operations. These issues are robot motion control, robot path-planning/verification, and robot dynamics. The major design issues in developing effective telerobotic systems are discussed, and the use of ROBOSIM, a NASA-developed computer graphic simulation tool, to address these issues is presented. Simulation plans for the Space Station and the Orbital Maneuvering Vehicle are presented and discussed.
Acoustic driver digitally controls sound fields along three axes. Allows computerized acoustic levitation and manipulation of small objects for such purposes as containerless processing and nuclear-fusion power experiments. Also used for controlling motion of vibration-testing tables in three dimensions.
Welding station mechanized by installing preset indexing system and gear drive. Mechanism includes a low-cost, versatile, single-axis motion control and motor drive to provide fully-automatic weld sequencing and spot-to-spot spacing. Welding station relieves operator of some difficult, tedious tasks and increases both productivity and quality of welds. Results in welds of higher quality and greater accuracy, fewer weld defects, and faster welding operation.
Redundant coordinates used to define additional tasks. Configuration control emerging as effective way to control motions of robot having more degrees of freedom than necessary to define trajectory of end effector and/or of object to be manipulated. Extra or redundant degrees of freedom used to give robot humanlike dexterity and versatility.
Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.