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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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS1972

Experiments evaluating compliance and force feedback effect on manipulator performance

The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

Kugath, D. A.↗
NASA NTRS1991

Evaluation of telerobotic systems using an instrumented task board

An instrumented task board was developed at NASA Marshall Space Flight Center (MSFC). An overview of the task board design, and current development status is presented. The task board was originally developed to evaluate operator performance using the Protoflight Manipulator Arm (PFMA) at MSFC. The task board evaluates tasks for Orbital Replacement Unit (ORU), fluid connect and transfers, electrical connect/disconnect, bolt running, and other basic tasks. The instrumented task board measures the 3-D forces and torques placed on the board, determines the robot arm's 3-D position relative to the task board using IR optics, and provides the information in real-time. The PFMA joint input signals can also be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to real-time force/torque data presentation. The instrumented task board's most promising use is developing benchmarks for NASA centers for comparison and evaluation of telerobotic performance.

Carroll, John D.↗
NASA NTRS1989

Portable Dextrous Force Feedback Master for robot telemanipulation (PDMFF)

A major drawback of open loop masters is a lack of force feedback, limiting their ability to perform complex tasks such as assembly and repair. Researchers present a simple dextrous force feedback master for computer assisted telemanipulation. The device is compact, portable and can be held in the operator hand, without the need for a special joystick or console. The system is capable of both position feed forward and force feedback, using electronic position sensors and a pneumatic micro-actuator. The level of forces exercised by the pneumatic actuator is such that near rigidity may be attained. Experimental results showing good system linearity and small time lag are given.

Burdea, Grigore C.↗
NASA NTRS1992

A teleoperation training simulator with visual and kinesthetic force virtual reality

A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

Kim, Won S.↗
NASA NTRS1994

An analysis of the loads applied to a heavy Space Station rack during translation and rotation tasks

To prepare for Space Station Alpha's on-orbit assembly, maintenance, and resupply, NASA requires information about the crew members' ability to move heavy masses on orbit. Ease of movement in microgravity and orbiter stay time constraints may change the Space Station equipment and outfitting design requirements. Therefore, the time and effort required to perform a particular task and how and where the forces and torque should be applied become critical in evaluating the design effort. Thus, the three main objectives of this investigation were to: (1) quantify variables such as force and torque as they relate to heavy mass handling techniques; (2) predict the time required to perform heavy mass handling tasks; and (3) note any differences between males and females in their ability to manipulate a heavy mass.

Stoycos, Lara E.↗
NASA NTRS1991

Hidden-Markov-Model Analysis Of Telemanipulator Data

Mathematical model and procedure based on hidden-Markov-model concept undergoing development for use in analysis and prediction of outputs of force and torque sensors of telerobotic manipulators. In model, overall task broken down into subgoals, and transition probabilities encode ease with which operator completes each subgoal. Process portion of model encodes task-sequence/subgoal structure, and probability-density functions for forces and torques associated with each state of manipulation encode sensor signals that one expects to observe at subgoal. Parameters of model constructed from engineering knowledge of task.

Hannaford, Blake↗
NASA NTRS1974

Relative motion of orbiting particles under the influence of perturbing forces. Volume 1: Summary

The relative motion for orbiting vehicles, under the influence of various perturbing forces, has been studied to determine what influence these inputs, and others, can have. The analytical tasks are discribed in general terms; the force types considered, are outlined modelled and simulated, and the capabilities of the computer programs which have evolved in support of this work are denoted.

Eades, J. B., Jr.↗
NASA NTRS2003

Three-dimensional Aerodynamic Instability in Multi-stage Axial Compressors

Four separate tasks are reported. The first task: A Computational Model for Short Wavelength Stall Inception and Development In Multi-Stage Compressors; the second task: Three-dimensional Rotating Stall Inception and Effects of Rotating Tip Clearance Asymmetry in Axial Compressors; the third task:Development of an Effective Computational Methodology for Body Force Representation of High-speed Rotor 37; and the fourth task:Development of Circumferential Inlet Distortion through a Representative Eleven Stage High-speed axial compressor. The common theme that threaded throughout these four tasks is the conceptual framework that consists of quantifying flow processes at the fadcompressor blade passage level to define the compressor performance characteristics needed for addressing physical phenomena such compressor aerodynamic instability and compressor response to flow distoriton with length scales larger than compressor blade-to-blade spacing at the system level. The results from these two levels can be synthesized to: (1) simulate compressor aerodynamic instability inception local to a blade rotor tip and its development from a local flow event into the nonlinear limit cycle instability that involves the entire compressor as was demonstrated in the first task; (2) determine the conditions under which compressor stability assessment based on two-dimensional model may not be adequate and the effects of self-induced flow distortion on compressor stability limit as in the second task; (3) quantify multistage compressor response to inlet distortion in stagnation pressure as illustrated in the fourth task; and (4) elucidate its potential applicability for compressor map generation under uniform as well as non-uniform inlet flow given three-dimensional Navier-Stokes solution for each individual blade row as was demonstrated in the third task.

Suder, Kenneth↗
NASA NTRS1991

The effect of bandwidth on telerobot system performance

The purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths.

Uebel, Mark↗
NASA NTRS2013

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Abdallah, Muhammad E.↗
NASA NTRS1984

Importance of gravity for plant growth and behavior

Accomplishments during the past fiscal year consisted of (1) completion of research on a study of the kinetics of damping out of circummutation when the axially directed g-force was abruptly eliminated (Research Task NULYRL). (2) Further experiments were accomplished on a comprehensive study, underway for several years, to validate (or invalidate) the use of clinostat rotation as a hypogravity simulation device. (3) Some of our earlier (unpublished) observations on plant seedlings resistance to g-loading were evaluated, interpreted, and a paper was submitted for publication (Research Task HYGEFF). (4) In what has been called ""Shuttle middeck locker ecology" an attempt to acquire reliable empirical information on the thermal profile experienced by test packages housed in middeck lockers (MDDL) during shuttle flights at long last seems to be yielding some results.

Brown, A. H.↗
NASA NTRS1991

Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

Williams, Robert L., II↗
NASA NTRS1992

A new scheme of force reflecting control

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme.

Kim, Won S.↗
NASA NTRS2000

Advanced Hydrocarbon Fuel Development

As a part of a high energy density materials (HEDM) development, the hot fire tests for Quadricyclane, 1,7 Octadiyne, AFRL-1, Biclopropylidene, and CINCH (Dimethyl amino ethyl azide) have been conducted at NASA/MSFC. The first 4 materials for this task are provided from Air Force Research Laboratory at Edward Air Force Base and US Army provided CINCH. The performance of these fuels is compared with RP-1. The preliminary results of these tests are presented. The preliminary results of Quadricyclane tests indicate that the specific impulse and c-star efficiency for quadricyclane at the mixture ratio 1.94 are approximately 5 sec and 105 ft/sec better than the RP-1 at mixture ratio 1.9. The 1,7 Octadiyne test indicate that the specific impulse and c-star efficiency at the mixture ratio 2.1 are approximately -1 sec and 89 ft/sec differ than the RP-1 at mixture ratio 2.04. The Quadricyclane soot buildup at the combustor is a little more than RP-1, but detail study of soot formation is not considered at this time. There was no visual soot buildup for the 1,7 Octadiyne and AFRL-1.

Bai, S. Don↗
NASA NTRS2003

Scale Model Experiments on Sound Propagation From a Mach 2.5 Cold Nitrogen Jet Flowing Through a Rigid-Walled Duct With a J-Deflector

The Launch Systems Testbed (LST) represents the evolution of vibroacoustics research and development work performed at NASA John F. Kennedy Space Center (KSC) over the last 15 years. The LST is located at the Launch Equipment Test Facility (LETF) in the KSC industrial complex. The LETF is operated by Sierra Lobo, Inc., as a member of University-Affiliated Technology Development Contract (USTDC) to KSC Spaceport and Engineering and Technology Directorate (YA), with ASRC Aerospace Corporation as a the prime contractor. Trajectory Simulation Mechanism (TSM) is a major component of the LST, developed specifically to simulate nonstationary acoustic loads on launch pad structures, vehicles, and payloads. TSM enhances the capabilities within LST for simulating launch environments of future vehicles. The scaled launch environments will be used to predict the full-scale launch environment via an appropriate scaling procedure. Air Force Research Laboratory (AFRL) has tasked NASA KSC to perform a basic technology test program in support of developing a low-cost clean pad (incorporating passive mitigation techniques) for future launch vehicles. The overall goal of the program is to develop innovative launch exhaust management systems, which effectively reduce launch acoustic environment with innovative duct designs, while eliminating traditional sound suppression water systems. Passive techniques, such as nontraditional duct geometries, resonators, and diffusers, etc., will be investigated. The overall goals are to advance innovative concepts for a clean pad while developing ideas to reduce transmitted sound via investigation and modeling of jet exhaust acoustic and flow field characteristics. The series of tests outlined in this report represent baseline tests and are geared towards defining the acoustic load environment on the TSM pad for open and closed duct configurations. This report summarizes the cold jet acoustic testing for Mach 2.5 supersonic nitrogen jet issuing from a nozzle with 1-inch exit diameter. Acoustic data, including spectral sound power and Overall Sound Pressure Level (OASPL), are obtained both for a free jet and with the jet flowing through a rigid-walled duct with a J-deflector. The relative performance of closed duct and open duct is evaluated. The results show that the closed duct is superior to the partially open duct, and results in about 3-decibel (dB) noise reduction (near the duct axis) relative to the free jet. The location of the nozzle exit plane (NEP) relative to the duct inlet plane (DIP) has a significant effect on the acoustic field. The results suggest that the location of NEP at 10 inches above the DIP results in reduced acoustic loads relative to 5 inches above the duct inlet and 1 inch into the duct inlet.

Kandula, Max↗
NASA NTRS2007

An Overview of the Applied Meteorology Unit (AMU)

The Applied Meteorology Unit (AMU) acts as a bridge between research and operations by transitioning technology to improve weather support to the Shuttle and American space program. It is a NASA entity operated under a tri-agency agreement by NASA, the US Air Force, and the National Weather Service (NWS). The AMU contract is managed by NASA, operated by ENSCO, Inc. personnel, and is collocated with Range Weather Operations at Cape Canaveral Air Force Station. The AMU is tasked by its customers in the 45th Weather Squadron, Spaceflight Meteorology Group, and the NWS in Melbourne, FL with projects whose results help improve the weather forecast for launch, landing, and ground operations. This presentation describes the history behind the formation of the AMU, its working relationships and goals, how it is tasked by its customers, and examples of completed tasks.

Merceret, Francis↗
NASA NTRS2021

Exploring uncertainties in global crop yield projections in a large ensemble of crop models and CMIP5 and CMIP6 climate scenarios

Concerns over climate change are motivated in large part because of their impact on human society. Assessing the effect of that uncertainty on specific potential impacts is demanding, since it requires a systematic survey over both climate and impacts models. We provide a comprehensive evaluation of uncertainty in projected crop yields for maize, spring and winter wheat, rice, and soybean, using a suite of nine crop models and up to 45 CMIP5 and 34 CMIP6 climate projections for three different forcing scenarios. To make this task computationally tractable, we use a new set of statistical crop model emulators. We find that climate and crop models contribute about equally to overall uncertainty. While the ranges of yield uncertainties under CMIP5 and CMIP6 projections are similar, median impact in aggregate total caloric production is typically more negative for the CMIP6 projections (+1% to −19%) than for CMIP5 (+5% to −13%). In the first half of the 21st century and for individual crops is the spread across crop models typically wider than that across climate models, but we find distinct differences between crops: globally, wheat and maize uncertainties are dominated by the crop models, but soybean and rice are more sensitive to the climate projections. Climate models with very similar global mean warming can lead to very different aggregate impacts so that climate model uncertainties remain a significant contributor to agricultural impacts uncertainty. These results show the utility of large-ensemble methods that allow comprehensively evaluating factors affecting crop yields or other impacts under climate change. The crop model ensemble used here is unbalanced and pulls the assumption that all projections are equally plausible into question. Better methods for consistent model testing, also at the level of individual processes, will have to be developed and applied by the crop modeling community.

crop yield projections↗
NASA NTRS2020

Development of a Display Tool to Quality Control Weather Balloon Data for Space Launch Vehicles Using Python

Continuous atmospheric data analysis is an important factor for space launch vehicle design and operations. The balloon quality control tool was developed by NASA’s Marshall Space Flight Center (MSFC) Natural Environments Branch (NEB) for monitoring quality control processes and verifying the automated flags created on the balloon data sets analyzed. The data sets currently analyzed are comprised of high-resolution and low-resolution balloon data from NASA Kennedy Space Center (KSC), co-located on the United States Air Force’s Eastern range (ER) at the Cape Canaveral Air Force Station. The NEB was tasked to perform a quality assessment of these data sets and needed a tool to confirm the quality control (QC) flags produced from an automated process and add additional QC flags if necessary. This Graphical User Interface (GUI) was developed to visualize all of the data from these balloon sets, display any flags from the automated QC process, and add additional flags to variables if necessary. The GUI was developed in Python 3.6 utilizing different packages available such as pandas for data analysis and manipulation, NumPy for high-performance multidimensional array and tools to compute with and manipulate arrays, Matplotlib for plotting data and Tkinter to build the GUI.

Jessica K Headley↗