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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 NTRS1988

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, G.↗
NASA NTRS1989

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, Guillermo↗
NASA NTRS1991

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering more than 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, Blake↗
NASA NTRS1992

Results of telerobotic hand controller study using force information and rate control

To increase quantified information about the effectiveness and subjective workload of force information relayed through manipulator input control devices, a space related task was performed by eight subjects with kinesthetic force feedback and/or local force accommodation through three different input control devices (i.e., hand controllers) operating in rate control mode. Task completion time, manipulator work, and subjective responses were measured. Results indicated a difference among the hand controllers. For the Honeywell six degree-of-freedom hand controller, the overall task completion times were shortest, the amount of work exerted was the least, and was the most preferred by test subjects. Neither force accommodation with or without reflection resulted in shorter task completion times or reduced work although those conditions were better than no force information for some aspects. Comparisons of results from previous studies are discussed.

Willshire, Kelli F.↗
NASA NTRS1972

The measurement of driver describing functions in simulated steering control tasks

Measurements of driver describing functions in steering control tasks have been made using a driving simulator. The task was to regulate against a random crosswind gust input on a straight roadway, in order to stay in the center of the lane. Although driving is a multiloop task in general, the forcing function and situation were configured so that an inner-loop visual cue feedback of heading angle of heading rate would dominate, and the driver's response was interpreted to be primarily single-loop. The driver describing functions were measured using an STI describing function analyzer. Three replications for each subject showed good repeatability within a subject. There were some intersubject differences as expected, but the crossover frequencies, effective time delays, and stability margins were generally consistent with the prior data and models for similar manual control tasks. The results further confirm the feasibility of measuring human operator response properties in nominal control tasks with full (real-world) visual field displays.

Weir, D. H.↗
NASA NTRS1997

Force Model for Control of Tendon Driven Hands

Knowing the tendon forces generated for a given task such as grasping via a model, an artificial hand can be controlled. A two-dimensional force model for the index finger was developed. This system is assumed to be in static equilibrium, therefore, the equations of equilibrium were applied at each joint. Constraint equations describing the tendon branch connectivity were used. Gaussian elimination was used to solve for the unknowns of the Linear system. Results from initial work on estimating tendon forces in post-operative hands during active motion therapy were discussed. The results are important for understanding the effects of hand position on tendon tension, elastic effects on tendon tension, and overall functional anatomy of the hand.

Pena, Edward↗
NASA NTRS1971

Centrifugally obtained artificial gravity

Artificial gravity field produced by rotating spacecraft in earth orbit, examining astronaut physical responses and centrifugal force effects on work tasks

Hoffman, D. B.↗
NASA NTRS1985

Hand controllers for teleoperation. A state-of-the-art technology survey and evaluation

Hand controller technology for teleoperation is surveyed in three major catagories: (1) hand grip design, (2) control input devices, and (3) control strategies. In the first category, 14 hand grip designs are reviewed and evaluated in light of human factor considerations. In the second, 12 hand controller input devices are evaluated in terms of task performance, configuration and force feedback, controller/slave correspondence, operating volume, operator workload, human limitations, cross coupling, singularities, anthropomorphic characteristics, physical complexity, control/display interference, accuracy, technological base, cost, and reliability. In the third catagory, control strategies, commonly called control modes, are surveyed and evaluated. The report contains a bibliography with 189 select references on hand controller technology.

Brooks, T. L.↗
NASA NTRS1992

Quantitative Evaluation Of Teleoperator Performance

Report describes experiments on remote manual control of robotic manipulator. Experiments conducted to evaluate quantitatively relative effectiveness of several control modes: various combinations of position control, rate control, remote compliance, and feedback from force and torque sensors. Tasks evaluated: removing thermal blanket, unbolting electrical panel, and handling bundles of electrical wires and electrical connectors on simulated solar Max satellite by means of remotely controlled robot in teleoperation laboratory.

Das, Hari↗
NASA NTRS1993

Graphics simulation and training aids for advanced teleoperation

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Kim, Won S.↗
NASA NTRS1994

Constraints on Neural Mechanisms Underlying the Spatial Integration of Speed Information

We measured human ability to integrate speed information presented simultaneously at multiple locations in the visual field. Observers did a two-interval forced-choice speed discrimination task with n grating patches in each interval at 4' eccentricity from fixation. In the first (integration) paradigm, all gratings in each interval moved at the same speed and observers were asked to pick the interval containing the faster gratings. Speed discrimination improved as the number of gratings in each interval increased. The observed decrease in threshold is not due simply to an increase in the effective area because performance with a single grating two, four, or six times the area of the original grating showed no such improvement. Furthermore, the improvement with n was still observed even when the speeds of the individual gratings in each interval were independent samples from a Gaussian distribution and the grating directions were balanced (i.e. equal numbers of gratings moved to the left and right). These results indicate that the neural mechanisms responsible for the integration of speed information act as if each patch provides an independent sample of speed, independent of grating direction. The results are not consistent with simple summation across space by a directionally selective mechanism with a large receptive field. In the second (search) paradigm, only one of the gratings in an interval moved faster and observers were asked to pick this interval. In this case, thresholds increased with the number of distractor gratings. The decrease in performance with increased n is common in search tasks and is often attributed to a bottleneck in the information that observers can process simultaneously. However, the results in the integration paradigm show that subjects indeed have access to and can use additional information with increasing n, at least up to 4 patches. Finally, simple detection models predict the trends in both the search and integration paradigms without invoking an input bottleneck.

Verghese, Preeti↗
NASA NTRS1994

Constraints on Neural Mechanisms Underlying the Spatial Integration of Speed Information

We measured human ability to integrate speed information presented simultaneously at multiple locations in the visual field. Observers did a two-interval forced-choice speed discrimination task with n grating patches in each interval at 4deg eccentricity from fixation. In the first (integration) paradigm, all gratings in each interval moved at the same speed and observers were asked to pick the interval containing the faster gratings. Speed discrimination improved as the number of gratings in each interval increased. The observed decrease in threshold is not due simply to an increase in the effective area because performance with a single grating two, four, or six times the area of the original grating showed no such improvement. Furthermore, the improvement with n was still observed even when the speeds of the individual gratings in each interval were independent samples from a Gaussian distribution and the grating directions were balanced (i.e. equal numbers of gratings moved to the left and right). These results indicate that the neural mechanisms responsible for the integration of speed information act as if each patch provides an independent sample of speed, independent of grating direction. The results are not consistent with simple summation across space by a directionally selective mechanism with a large receptive field. in the second (search) paradigm, only one of the gratings in an interval moved faster and observers were asked to pick this interval. In this case, thresholds increased with the number of distractor gratings. The decrease in performance with increased n is common in search tasks and is often attributed to a bottleneck in the information that observers can process simultaneously. However, the results in the integration paradigm show that subjects indeed have access to and can use additional information with increasing n, at least up to 4 patches. Finally, simple detection models predict the trends in both the search and integration paradigms without invoking an input bottleneck.

Verghese, Preeti↗
NASA NTRS2003

Task III: Development of an Effective Computational Methodology for Body Force Representation of High-speed Rotor 37

A framework for an effective computational methodology for characterizing the stability and the impact of distortion in high-speed multi-stage compressor is being developed. The methodology consists of using a few isolated-blade row Navier-Stokes solutions for each blade row to construct a body force database. The purpose of the body force database is to replace each blade row in a multi-stage compressor by a body force distribution to produce same pressure rise and flow turning. To do this, each body force database is generated in such a way that it can respond to the changes in local flow conditions. Once the database is generated, no hrther Navier-Stokes computations are necessary. The process is repeated for every blade row in the multi-stage compressor. The body forces are then embedded as source terms in an Euler solver. The method is developed to have the capability to compute the performance in a flow that has radial as well as circumferential non-uniformity with a length scale larger than a blade pitch; thus it can potentially be used to characterize the stability of a compressor under design. It is these two latter features as well as the accompanying procedure to obtain the body force representation that distinguish the present methodology from the streamline curvature method. The overall computational procedures have been developed. A dimensional analysis was carried out to determine the local flow conditions for parameterizing the magnitudes of the local body force representation of blade rows. An Euler solver was modified to embed the body forces as source terms. The results from the dimensional analysis show that the body forces can be parameterized in terms of the two relative flow angles, the relative Mach number, and the Reynolds number. For flow in a high-speed transonic blade row, they can be parameterized in terms of the local relative Mach number alone.

Tan, Choon-Sooi↗
NASA NTRS2013

Applied Meteorology Unit Quarterly Report. First Quarter FY-13

The AMU team worked on five tasks for their customers: (1) Ms. Crawford continued work on the objective lightning forecast task for airports in east-central Florida. (2) Ms. Shafer continued work on the task for Vandenberg Air Force Base to create an automated tool that will help forecasters relate pressure gradients to peak wind values. (3) Dr. Huddleston began work to develop a lightning timing forecast tool for the Kennedy Space Center/Cape Canaveral Air Force Station area. (3) Dr. Bauman began work on a severe weather forecast tool focused on east-central Florida. (4) Dr. Watson completed testing high-resolution model configurations for Wallops Flight Facility and the Eastern Range, and wrote the final report containing the AMU's recommendations for model configurations at both ranges.

Source record↗
NASA NTRS2018

Ascent Aerodynamic Force and Moment Database Development for the Space Launch System

The Space Launch System Aerodynamics Task Team is responsible for delivering aerodynamic force and moment databases from liftoff through ascent until the rocket leaves the Earth’s atmosphere. The process for developing the ascent portion of this database is described in the current paper. The data used to develop the database were generated using a combination of wind tunnel testing and CFD simulations. The details of the wind tunnel testing performed at the NASA Ames Unitary Plan Wind Tunnel and CFD simulations performed using FUN3D at wind tunnel and flight conditions are discussed, and comparisons of these data sets are provided. The methods used for converting the source data into the final database response surfaces with corresponding uncertainty are also detailed.

Shea, Patrick R.↗
NASA NTRS1992

Dual-arm supervisory and shared control space servicing task experiments

A dual-arm task execution primitive has been implemented for cooperative dual-arm telerobotic task execution utilizing multiple sensors concurrently. The primitive has been integrated into a telerobot task execution system and can be called by a task planning system for execution of tasks requiring dual-arm sensor based motion, e.g., force control, teleoperation, and shared control. The primitive has a large input parameter set which is used to specify the desired behavior of the motion. Move-squeeze decomposition is utilized to decompose forces sensed at the wrists of the two manipulators into forces in the move subspace, which cause system motion, and forces in the squeeze subspaces, which cause internal forces. The move and squeeze forces are then separately controlled. Several space servicing tasks utilizing the cooperative dual-arm control capability are described, and experimental results from the tasks are given. The supervisory and shared control tasks include capture of a rotating satellite, orbital replacement unit changeout, fluid coupler seating and locking, and contour following.

Backes, Paul G.↗
NASA NTRS1988

NASA telerobot testbed development and core technology demonstration

In 1985, NASA initiated a major program of technology development and demonstration for robotics applications to space servicing, assembly, repair, and remote exploration. A ground-based telerobot testbed at the Jet Propulsion Laboratory has been the focal point within this program. Designed to prove technology concepts for supervised automation of increasingly unstructured and complex tasks, the testbed has reached an initial stage of integration. Several significant testbed experiments have been performed, including visual tracking and grapple of a satellite, dual-arm spatial coordination and manipulator control, force-reflecting teleoperations, and simulated task planning for a satellite servicing scenario. The current NASA plans for continuing testbed development and demonstration are also described.

Schenker, Paul S.↗