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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 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Application of model reference adaptive control to a flexible remote manipulator arm

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Meldrum, D. R.↗
NASA NTRS1986

Satellite contributions to convective scale weather analysis and forecasting

Severe weather phenomena which are amenable to remote sensing by satellite instruments and having resolution fine enough to discern mesoscale features are described. GOES satellites acquire imagery with 1 km resolution in the visible band and 8 km at IR wavelengths. Animation of the images allows tracking the evolution and motions of clouds, which are the prime indicators of convective activity. Sample satellite imagery of sea, lake and river breezes which reveal differential heating processes, the effect of early morning cloud cover, thunderstorm outflow processes, and mesoscale convective systems are provided. Techniques for analyzing the satellite data to predict the onset of severe weather are discussed.

Purdom, James F. W.↗
NASA NTRS1992

Control of joint motion simulators for biomechanical research

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Colbaugh, R.↗
NASA NTRS1996

Space Telescope Fine Guidance Sensor Bearing Anomaly

Early in 1993, a servo motor within one of three Fine Guidance Sensors (FGS) aboard the Hubble Space Telescope (HST) reached stall torque levels on several occasions. Little time was left to plan replacement during the first servicing mission, scheduled at the end of '93. Accelerated bearing life tests confirmed that a small angle rocking motion, known as Coarse Track (CT), accelerated bearing degradation. Saturation torque levels were reached after approximately 20 million test cycles, similar to the flight bearings. Reduction in CT operation, implemented in flight software, extended FGS life well beyond the first servicing mission. However in recent years, bearing torques have resumed upward trends and together with a second, recent bearing torque anomaly has necessitated a scheduled FGS replacement during the upcoming second servicing mission in '97. The results from two series of life tests to quantify FGS bearing remaining life, discussion of bearing on-orbit performance, and future plans to service the FGS servos are presented in this paper.

Loewenthal, S.↗
NASA NTRS2020

Flight Simulation Scenarios for Commercial Pilot Training and Crew State Monitoring

NASA Langley researchers addressed the Commercial Aviation Safety Team Safety Enhancement 211 through a series of studies to address "Attention-related Human Performance Limiting States" which include channelized attention, diverted attention, startle/surprise, and confirmation bias. The present report focuses on the development of improved training scenarios for operationally realistic Line-Oriented Flight Training scenarios. Areas addressed in the report include: (1) Highlights of events in the LOFT scenario used; (2) Interesting findings with implications for simulator motion; (3) Eye-tracking heat maps in proximity to failure events; (4) Researcher observations of crews as test subjects versus a pilot and a research team co-pilot; and (5) The results of a follow-up questionnaire completed by pilot participants regarding their usual training as well as the scenarios employed in the SHARP studies. These pilot ratings and comments are of value to simulation training developers.

James R. Comstock, Jr.↗
NASA NTRS2002

SIM white light on-board processing algorithms

Interferometry in optical astronomy is an important and growing field of astronomical observation. A number of stellar interferometers have come online over the past several years, and several more are due to be operational in the near future. In addition, space based interferometers are also planned missions of NASA's Origins program, including the Space Interferometry Mission (SIM), the focus of the present paper. The fundamental measurement made by each of these interferometers is the white light fringe measurement to determine the optical pathlength delay between the two arms of the interferometer. SIM makes white light measurements with three independent interferometers observing three different objects. Two of these are the "guide" interferometers that observe bright objects (approximately 7th magnitude) to track the rigid body motion of the instrument. The third interferometer, the "science" interferometer, observes the science targets of interest.

interferometry↗
NASA NTRS1993

Lunar Scout Infrared Detector (LSIRD): Simple low-cost imaging spectrometer

A novel design for a compact, light weight, imaging spectrometer has been proposed for an orbiting Lunar mapping mission. Simple in design, its dual arm optical system employs a transmission grating and a dichroic mirror to provide continous two-octave spectral response. The grating's first order wavelengths are reflected into the SWIR arm, while the second order wavelenghts are transmitted to the VNIR arm. The instrument design is that of a push broom camera. It uses one of the detector(s) dimensions for spectral selection, the other detector(s) dimension for cross-track spatial selection, and the foward motion of the platform (in this case, a spececraft) for down-track spatial coverage.

Lunar↗
NASA NTRSDate not supplied

Lunar Surface Mixed Reality and ARGOS Trainer

This Artemis focused Mixed Reality (MR) and ARGOS project extends the current VR/ARGOS CIF project to enhance and add VR/MR capabilities to support analysis, training and risk reduction for lunar surface EVA operations in the extreme South Pole lunar environment. This third year focused on establishing a functional trainer for crew that supports the ingress/egress of a lander as well as surface tasks such as sample collection and tool deployment and operation. Completed enhancements include improving hand tracking, the addition of supporting mixed reality surface operations, and the implementation of a higher fidelity body tracking capability through a motion capture system.

Lunar↗
NASA NTRS1986

Nonlinear interfaces for acceleration-commanded control of spacecraft and manipulators

Nominal command generation in real time for the control of manipulators or of maneuvering spacecraft is hampered by the nonlinearity of the equations of motion. Likewise the real time tracking of a computed nominal trajectory in the presence of disturbances requires the computation of time-varying Jacobians of the motion. An alternative approach is the formulation of acceleration-commanded control laws in appropriately chosen generalized advantageous to design dedicated circuit interfaces to perform the required transformation. It is also possible to guarantee that actuator and sensor saturation limits are not exceeded, by means of feedback-biased circuits that implement automatic overload limitation of acceleration commands. Recent developments following this 'hardware computation' point of view will be discussed.

Dwyer, T. A. W., III↗
NASA NTRS1983

An investigation of motion base cueing and G-seat cueing on pilot performance in a simulator

The effect of G-seat cueing (GSC) and motion-base cueing (MBC) on performance of a pursuit-tracking task is studied using the visual motion simulator (VMS) at Langley Research Center. The G-seat, the six-degree-of-freedom synergistic platform motion system, the visual display, the cockpit hardware, and the F-16 aircraft mathematical model are characterized. Each of 8 active F-15 pilots performed the 2-min-43-sec task 10 times for each experimental mode: no cue, GSC, MBC, and GSC + MBC; the results were analyzed statistically in terms of the RMS values of vertical and lateral tracking error. It is shown that lateral error is significantly reduced by either GSC or MBC, and that the combination of cues produces a further, significant decrease. Vertical error is significantly decreased by GSC with or without MBC, whereas MBC effects vary for different pilots. The pattern of these findings is roughly duplicated in measurements of stick force applied for roll and pitch correction.

Mckissick, B. T.↗
NASA NTRS1992

Man-in-the-loop study of filtering in airborne head tracking tasks

A human-factors study is conducted of problems due to vibrations during the use of a helmet-mounted display (HMD) in tracking tasks whose major factors are target motion and head vibration. A method is proposed for improving aiming accuracy in such tracking tasks on the basis of (1) head-motion measurement and (2) the shifting of the reticle in the HMD in ways that inhibit much of the involuntary apparent motion of the reticle, relative to the target, and the nonvoluntary motion of the teleoperated device. The HMD inherently furnishes the visual feedback required by this scheme.

Lifshitz, S.↗
NASA NTRS1983

Electromagnetically-tracked free-mass gravitational wave antennas

The response to a gravitational wave of two free masses whose relative motion is monitored with an electromagnetic tracking signal is derived. The results indicate a two-feature signature in one-way data and a three-feature signature in two-way data. The effect is applied to gravitational wave experiments using laser interferometers, spacecraft Doppler tracking, planetary ranging, and pulsar timing analysis. Actual results are presented from spacecraft Doppler experiments and from pulsar timing data analysis, with new upper limits being set on a possible cosmic gravitational wave background via the pulsar data.

Hellings, R. W.↗
NASA NTRS1984

Models for the Effects of G-seat Cuing on Roll-axis Tracking Performance

Including whole-body motion in a flight simulator improves performance for a variety of tasks requiring a pilot to compensate for the effects of unexpected disturbances. A possible mechanism for this improvement is that whole-body motion provides high derivative vehicle state information whic allows the pilot to generate more lead in responding to the external disturbances. During development of motion simulating algorithms for an advanced g-cuing system it was discovered that an algorithm based on aircraft roll acceleration producted little or no performance improvement. On the other hand, algorithms based on roll position or roll velocity produced performance equivalent to whole-body motion. The analysis and modeling conducted at both the sensory system and manual control performance levels to explain the above results are described.

Levison, W. H.↗
NASA NTRS1975

Automated parking garage system model

A one-twenty-fifth scale model of the key components of an automated parking garage system is described. The design of the model required transferring a vehicle from an entry level, vertically (+Z, -Z), to a storage location at any one of four storage positions (+X, -X, +Y, +Y, -Y) on the storage levels. There are three primary subsystems: (1) a screw jack to provide the vertical motion of the elevator, (2) a cam-driven track-switching device to provide X to Y motion, and (3) a transfer cart to provide horizontal travel and a small amount to vertical motion for transfer to the storage location. Motive power is provided by dc permanent magnet gear motors, one each for the elevator and track switching device and two for the transfer cart drive system (one driving the cart horizontally and the other providing the vertical transfer). The control system, through the use of a microprocessor, provides complete automation through a feedback system which utilizes sensing devices.

Collins, E. R., Jr.↗
NASA NTRS2020

Monitoring of Dust Devil Tracks Around the InSight Landing Site, Mars, and Comparison With In Situ Atmospheric Data

The NASA InSight mission on Mars is a unique opportunity to study atmospheric processes both from orbit and in situ observations. We use post-landing high-resolution satellite images to monitor dust devil activity during the first 8 months of the mission. We perform mapping and semiautomatic detection of newly formed dust devil tracks and analyze their characteristics (sizes, azimuths, distances, and directions of motion).We find a large number of tracks appearing shortly after landing, followed by a significant decrease of activity during late winter, then a progressive increase during early spring. New tracks are characterized by dark linear, to slightly curvilinear, traces ranging from a few to more than 10 m wide. Tracks are oriented in the ambient wind direction, according to measurements made by InSight's meteorological sensors. The systematic analysis of dust devil tracks is useful to have a better understanding of atmospheric and aeolian activity around InSight.

C. Perrin↗
NASA NTRS1986

A magnetospheric simulation at the space station

It is proposed that a strong magnet (terrella) be flown at or near the Space Station to create an artificial magnetosphere in a laboratory setting. The relative flow of the ionosphere past the terrella will constitute a plasma wind that will interact with the magnetic field of the terrella to produce a localized magnetosphere. This object could then be extensively studied using diagnostic probes attached to the Space Station, or with free flyers. The space and storage requirements would be minimal, since the experiment would be conducted outside the space station. The total equipment would consist of several terrella (with varying surface conductivities), approximately 3 small magnetometer/plasma diagnostic packages, and several gas canisters for upstream seeding. Power requirements would be approximately 60 watts. Several track mounted tethers, each approximately or 200 m long in length, with track parallel to the orbital motion and 100 m long, are also needed. Astronaut time needed would be minimal in the tethered configuration (approximately 4 man hours/week). A free flying configuration, while not needing the tether track, would require much more human interaction.

Lopez, R. E.↗
NASA NTRS1987

A magnetospheric simulation at the Space Station

It is proposed that a strong magnet (terrella) be flown at or near the Space Station to create an artificial magnetosphere in a laboratory setting. The relative flow of the ionosphere past the terrella will constitute a plasma wind that will interact with the magnetic field of the terrella to produce a localized magnetosphere. This object could then be extensively studied using diagnostic probes attached to the Space Station or with free flyers. The space and storage requirements would be minimal, since the experiment would be conducted outside the Space Station. The total equipment would consist of several terrella (with varying surface conductivities), approximately 3 small magnetometer/plasma diagnostic packages, and several gas canisters for upstream seeding. Power requirements would be approximately 60 watts. Several track mounted tethers, each approximately or 200 m long in length, with track parallel to the orbital motion and 100 m long, are also needed. Astronaut time needed would be minimal in the tethered configuration (approximately 4 man hours/week). A free flying configuration, while not needing the tether track, would require much more human interaction.

Lopez, R. E.↗
NASA NTRS1983

Improved cloud motion wind vector and altitude assignment using VAS

A CO2 cloud tracking technique to determine simultaneous heights and velocities of cloud motion winds is presented. Using animated CO2 channel imagery from VAS (Visible Infrared Spin-Scan Radiometer Atmospheric Sounder), multi-level cloud situations are separated into high, middle and low level cloud motion wind vectors by the CO2 slicing method. The VAS CO2 channel radiometric values are used in the CO2 absorption method to assign quantitative heights to the cloud vectors; cloud top pressures are determined from the ratio of the deviations in cloud produced radiances and the corresponding clear air values for three CO2 channels in a radiative transfer equation formulation. Two case studies are presented that show CO2 cloud-motion wind vectors to be in good agreement with radiosonde wind observations and CO2 cloud heights to be within a 50 mb rms deviation of radiosonde, bispectral and stereo height determinations.

Menzel, W. P.↗