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The Cassini Spacecraft's Attitude and Articulation Control Subsystem has been tested extensively at the Jet Propulsion Laboraroty in Pasadena, California. Three of the subsystem's assemblies have been tested using assembly simulators in place of actural hardware.
This paper describes the assembly level testing and calibration of the Articulating Fold Mirrors (AFMs), and the development of a software tool that generates the commands for adjusting the positions of the Pickoff Mirror Mechanism (PMM) and the AFMs to achieve system level optical alignment. Our experience with the POMM and AFMs through system level calibration and testing of the WFPC-2 instrument is described.
The Cassini spacecraft was launched on 15 October 1997 on a Titan IV-B launch vehicle. The spacecraft is comprised of various subsystems, including the Attitude and Articulation Control Subsystem (AACS). The AACS Flight Software (FSW) and its development has been an ongoing effort, from the design, development and finally operations. As planned, major modifications to certain FSW functions were designed, tested, verified and uploaded during the cruise phase of the mission. Each flight software upload involved extensive verification testing. A standardized FSW testing methodology was used to verify the integrity of the flight software. This paper summarizes the flight software testing methodology used for verifying FSW from pre-launch through the prime mission, with an emphasis on flight experience testing during the first 2.5 years of the prime mission (July 2004 through January 2007).
As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.
For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.
When several microphones are fed into a common system, sound originating at any given source results in poor articulation. Introduction of an automatic microphone priority control suppresses echo and reverberation.
Synthetic speech recognition and articulation scores
System aids in therapeutic retraining of damaged muscles or functions as walking support during therapy. Articulated harness assembly contains patient, suspension system supports harness assembly in such a way as to counterbalance exertion of external forces on patient.
Space suit using nonflexible material with low leakage and providing protection against thermal extremes, physical punctures, and radiation with high mobility articulation
A wind tunnel test program was conducted on an eight foot diameter model rotor system to determine blade element airloads characteristics in the unstalled and stalled flight regimes. The fully articulated model rotor system utilized three blades with a Vertol 23010-1.58 airfoil section, the blades being 1/7.5 scale models of the Ch-47C rotor blades. Instrumentation was incorporated at the blade 75% radial station to measure pressure and skin friction distributions, surface streamline directions and local angle of attack. The test program was conducted in three phases; non-rotating, hover and forward flight at advance ratios of 0.15, 0.35 and 0.60. Test data were analyzed with respect to providing insight to the mechanisms affecting blade stall, particularly retreating blade stall during forward flight conditions. From such data, an assessment was made as to the applicability of current theoretical analyses used for the prediction of blade element airloads in the stall regime.
Several significant design improvements have been incorporated into the second-generation full-scale ELMS unit. A major improved design accomplishment was the increase of the load carrying capacity of elastic loops without severe weight or stress penalties. Redesign of the loop form and size, plus selection of a more advanced titanium alloy, resulted in performance characteristics representing a marked improvement over the first-generation unit. Another important design improvement was the shaping of the loop's footprint into a favorable form for uniform pressure distribution. Other improvements are associated with a more efficient drive torque transmission from the internal drive drums to the elastic loop which are expected to reduce the internal losses of the drive system. The new ELMS unit will be capable of being integrated, on a modularized basis, with a multi-loop articulated ELMS test vehicle as the next logical step in the development of the mobility concept.
Actuators for control and articulation aboard Mariner spacecraft have employed output shaft seals to maintain an internal gaseous atmosphere. On future missions, considerably greater expected lifetimes, temperature ranges, and radiation exposures have led to a need to determine the limitations of the present O-ring output shaft seal and to examine other candidate seals. Seals suited both to dynamic and static sealing were examined for potential use in three specific actuator applications and the following candidate seals were selected: (a) O-ring seal, (b) chevron seal, (c) bellows seal (linear actuator only), (d) magnetic fluid seal (rotary actuators only) and as a backup seal to any of the foregoing, (e) the labyrinth seal.
A system design and test plan are described for operational evaluation of the NASA-Goddard position location and aircraft communications equipment (PLACE), at C band (4/6GHz), using NASA's ship, the USNS Vanguard, and the ATS 3 and ATS 5 synchronous satellites. The Sea Test phase, extending from March 29, 1973 to April 15, 1973 was successfully completed; the principal objectives of the experiment were achieved. Typical PLACE-computed, position-location data is shown for the Vanguard. Position location and voice-quality measurements were excellent; ship position was determined within 2 nmi; high-quality, 2-way voice transmissions resulted as determined from audience participation, intelligibility and articulation-index analysis. A C band/L band satellite trilateration experiment is discussed.
Description of planned Skylab experiments in the general fields of life sciences, solar physics, earth observations, astrophysics, engineering, and technology. Each experiment is outlined in terms of its specific purpose, supporting hardware, relevant functions to be performed by an astronaut, and data recovery measures. Major support facilities described include the scientific airlock, the articulated mirror system, the extendable boom, and the film vault.
The preliminary design of a Shuttle-Attached Manipulator System is based on two arms that are articulated at shoulder, elbow, and wrist. Details of manipulator design are considered, giving attention to arm reach, velocity, acceleration, torque, joint angular travel limits, control, crew systems and man-machine interface, and telecommunications. The results of man-in-the-loop simulations show the feasibility of grappling a representative space payload from the Shuttle using a long boom manipulator system. The task, however, is sufficiently difficult to require the full concentration of one operator who should be relieved of any other tasks while performing operations with the manipulator system.
A system design and test plan are described for operational evaluation of the NASA-Goddard position location and aircraft communications equipment (PLACE), at C-band (4/6 GHz), using NASA's ship, the USNS Vanguard, and the ATS-3 and ATS-5 synchronous satellites. The sea test phase, extending from Mar. 29, 1973 to Apr. 15, 1973 has been successfully completed; the principal objectives of the experiment were achieved. Typical PLACE-computed, position-location data are shown for the Vanguard. Position location and voice-quality measurements were excellent; ship position was determined within 2 n mi; high-quality, 2-way voice transmissions resulted as determined from audience participation, intelligibility and articulation-index analysis. A C-band/L-band satellite trilateration experiment is discussed.
Finite element computer analyses of the reinforcement of cutouts and cracks in metal sheet by bonded overlays of composite material are described. The analyses articulate the separate responses of the sheet, the overlays, and the adhesive. Contour plots of computed stress and strain fields are automatically generated by the computer programs. Strains measured on the surfaces of several reinforced-sheet tensile specimens were, for the most part, in good agreement with strains predicted by the analyses. Significant correlations between certain failure modes observed in the test specimens and the stress distributions given by finite element analysis are apparent.
An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.