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At least 271 records · Page 15

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NASA NTRS1989

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 over 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. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator 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, B.↗

NASA NTRS1989

Human serum albumin crystals and method of preparation

Human serum albumin (HSA) crystals are provided in the form of tetragonal plates having the space groups P42(sub 1)2, the crystals being grown to sizes in excess of 0.5 mm in two dimensions and a thickness of 0.1 mm. Growth of the crystals is carried out by a hanging drop method wherein a precipitant solution containing polyethylene glycol (PEG) and a phosphate buffer is mixed with an HSA solution, and a droplet of mixed solution is suspended over a well of precipitant solution. Crystals grow to the desired size in 3 to 7 days. Concentration of reagents, pH and other parameters are controlled within prescribed limits. The resulting crystals exhibit a size and quality such as to allow performance of x ray diffraction studies and enable the conduct of drug binding studies as well as genetic engineering studies.

Carter, Daniel C.↗

NASA NTRS1989

Rotational modulation and flares on RS CVn and BY Draconis stars. XIII - IUE spectroscopy and photometry of II Pegasi during September 1986

UV spectroscopy obtained for the RS CVn star II Pegasi in September, 1986, indicates the presence of a rotational modulation effect for the Mg II h and k and O I 1305 A lines; the largest flux is observed when the primary spot concentration is nearly on the opposite hemisphere, and the rotational modulation is noted to be of opposite sense to that observed in 1981. Optical photometry shows the largest concentration of spots on one hemisphere ever observed on II Peg, implying a spot group covering over 50 percent of the projected area of one hemisphere.

Doyle, J. G.↗

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 NTRS1989

An experimental study of forced streamwise vortical structures in a plane mixing layer

Streamwise structures have been shown to ride among the primary spanwise vortices in past flow visualization investigations of plane mixing layers. More recently, quantitative measurements were obtained which showed the origin and evolution of streamwise vortices within a mixing layer. In the present study, the effects of perturbing the mixing layer using two different mechanisms are investigated. A serration on the splitter plate trailing edge was found to have a relatively small effect, confined to the near-field development of the streamwise structures. The installation of cylindrical pegs in the high-speed side boundary layer, however, not only generated a regular array of vortex pairs, but also affected the mean development of the mixing layer far downstream. In both cases, the mean streamwise vorticity was found to decay rapidly with increasing downstream distance.

Mehta, Rabindra D.↗

NASA NTRS1992

Force-reflection and shared compliant control in operating telemanipulators with time delay

The performance of an advanced telemanipulation system in the presence of a wide range of time delays between a master control station and a slave robot is quantified. The contemplated applications include multiple satellite links to LEO, geosynchronous operation, spacecraft local area networks, and general-purpose computer-based short-distance designs. The results of high-precision peg-in-hole tasks performed by six test operators indicate that task performance decreased linearly with introduced time delays for both kinesthetic force feedback (KFF) and shared compliant control (SCC). The rate of this decrease was substantially improved with SCC compared to KFF. Task performance at delays above 1 s was not possible using KFF. SCC enabled task performance for such delays, which are realistic values for ground-controlled remote manipulation of telerobots in space.

Kim, Won S.↗

NASA NTRS1992

Line profile asymmetries in chromospherically active stars

A powerful, new probe of chromospheric activity, cross-correlation, has been developed and applied to a variety of stars. In this particular application, an entire CCD spectrum of an active star is correlated with the spectrum of a narrow-line, inactive star of similar spectral type and luminosity class. Using a number of strong lines in this manner enables the detection of absorption profile asymmetries at moderate resolution (lambda/Delta lambda about 40,000) and S/N 150:1. This technique has been applied to 14 systems mostly RS CVn's, with 10 not greater than nu sin i not greater than 50 km/s and P not less than 7 d. Distortions were detected for the first time in five systems: Sigma Gem, IM Peg, GX Lib, UV Crb, and Zeta And. Detailed modeling, incorporating both spectral line profiles and broad-band photometry, is applied to Sigma Gem. Profile asymmetries for this star are fitted by two high-latitude spots covering 5 percent of the stellar surface. The derived spot temperature of 3400 K is lower than found in previous studies. In addition, two well-known systems have been studied: HD 199178 and V711 Tau. Polar spots are found on both.

Dempsey, Robert C.↗

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 NTRS1992

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

A capacitance based proximity sensor, the 'Capaciflector' (Vranish 92), has been developed at the Goddard Space Flight Center of NASA. We had investigated the use of this sensor for avoiding and maneuvering around unexpected objects (Mahalingam 92). The approach developed there would help in executing collision-free gross motions. Another important aspect of robot motion planning is fine motion planning. Let us classify manipulator robot motion planning into two groups at the task level: gross motion planning and fine motion planning. We use the term 'gross planning' where the major degrees of freedom of the robot execute large motions, for example, the motion of a robot in a pick and place type operation. We use the term 'fine motion' to indicate motions of the robot where the large dofs do not move much, and move far less than the mirror dofs, such as in inserting a peg in a hole. In this report we describe our experiments and experiences in this area.

Prinz, F. B. S.↗

NASA NTRS1993

IUE observations of cataclysmic variable

Twenty two approved International Ultraviolet Explorer (IUE) programs were studied over a 14 year period. These programs are listed. The observations and subsequent analysis centered on cataclysmic variables (close binaries with a late main sequence star transferring material to a primary white dwarf via an accretion disk). The early studies highlighted the flux distribution of the accretion disk at outburst and quiescence, while later studies accomplished time-resolved observations throughout the orbital cycles, the study of the outflowing winds present at outburst, the study of the white dwarf in those systems with low accretion rate. There are 39 publications resulting from this work which are listed. These results include those for individual systems (Stepanian's star, Lanning 10, AM Her, MV Lyr, TV Col, VW Hyi, T Leo, IR Gem, TT Ari, Z Cam, BV Pup, IP Peg, PG1030+590, V1315 Aql, SW UMa, V426 Oph, WZ Sge, BY Cam, and U Gem) as well as review articles in journals and publications from reviews at meetings that summarize the impact of IUE on the study of accretion disks, white dwarfs, and hot spots resulting from stream impact as well as magnetic accretion columns.

Szkody, Paula↗

NASA NTRS1992

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Kim, Won S.↗

NASA NTRS1993

The boron abundance of Procyon

The B I 2496.8 A resonance line and HST/GHRS echelle spectra are used with model atmospheres and synthetic spectra to derive the B abundance of the F dwarfs Procyon (Alpha Canis Minoris), Theta Ursae Majoris, and Iota Pegasi. The B abundance of Theta UMa and Iota Peg is similar to that derived by Boesgaard and Heacox (1978) from the B II resonance line in spectra of A- and B-type stars. These two dwarfs show normal abundances of Li, Be, and B. Procyon, which is highly depleted in Li and Be, is depleted in B by a factor of at least 3. Comparison of the spectra of Procyon and the halo dwarf HD 140283 shows that the B abundance assigned by Duncan et al. (1992) to three halo dwarfs is not greatly overestimated as a result of contamination of the B I line by an unidentified line.

Lemke, Michael↗

NASA NTRS1992

Cool stars, stellar systems, and the sun; Proceedings of the 7th Cambridge Workshop, Tucson, AZ, Oct. 9-12, 1991

Consideration is given to HST observations of late-type stars, molecular absorption in the UV spectrum of Alpha Ori, EUV emission from late-type stars, Rosat observations of the Pleiades cluster, a deep ROSAT observation of the Hyades cluster, optical spectroscopy detected by EXOSAT, stellar photospheric convection, a structure of the solar X-ray corona, magnetic surface images of the BY Dra Star HD 82558, a Zebra interpretatin of BY Dra stars, optical flares on II Peg, a low-resolution spectroscopic survey of post-T tauri candidates, millimeter and sub-millimeter emission from flare stars, and activity in tidally interacting binaries. Attention is also given to modeling stellar angular momentum evolution, extended 60-micron emission from nearby Mira variables, the PANDORA atmosphere program, the global properties of active regions, oscillations in a stratified atmosphere, lithium abundances in northern RS CVn binaries, a new catalog of cool dwarf stars, the Far UV Spectrograph Explorer, and development of reflecting coronagraphs.

Giampapa, Mark S.↗

NASA NTRS1994

Stereoscopic, Force-Feedback Trainer For Telerobot Operators

Computer-controlled simulator for training technicians to operate remote robots provides both visual and kinesthetic virtual reality. Used during initial stage of training; saves time and expense, increases operational safety, and prevents damage to robots by inexperienced operators. Computes virtual contact forces and torques of compliant robot in real time, providing operator with feel of forces experienced by manipulator as well as view in any of three modes: single view, two split views, or stereoscopic view. From keyboard, user specifies force-reflection gain and stiffness of manipulator hand for three translational and three rotational axes. System offers two simulated telerobotic tasks: insertion of peg in hole in three dimensions, and removal and insertion of drawer.

Kim, Won S.↗

NASA NTRS1994

Robotic technologies of the Flight Telerobotic Servicer (FTS) including fault tolerance

The original FTS concept for Space Station Freedom (SSF) was to provide telerobotic assistance to enhance crew activity and safety and to reduce crew EVA (Extra Vehicular Activity) activity. The first flight of the FTS manipulator systems would demonstrate several candidate tasks and would verify manipulator performance parameters. These first flight tasks included unlocking a SSF Truss Joint, mating/demating a fluid coupling, contact following of a contour board, demonstrating peg-in-hole assembly, and grasping and moving a mass. Future tasks foreseen for the FTS system included ORU (Orbit Replaceable Unit) change-out, Hubble Space Telescope Servicing, Gamma Ray Observatory refueling, and several in-situ SSF servicing and maintenance tasks. Operation of the FTS was planned to evolve from teleoperation to fully autonomous execution of many tasks. This wide range of mission tasks combined with the desire to evolve toward fully autonomy forced several requirements which may seen extremely demanding to the telerobotics community. The FTS requirements appear to have been created to accommodate the open-ended evolution plan such that operational evolution would not be impeded by function limitations. A recommendation arising from the FTS program to remedy the possible impacts from such ambitious requirements is to analyze candidate robotic tasks. Based on these task analyses, operational impacts against development impacts were weighed prior to requirements definition. Many of the FTS requirements discussed in the following sections greatly influenced the development cost and schedule of the FTS manipulator. The FTS manipulator has been assembled at Martin Marietta and is currently in testing. Successful component tests indicate a manipulator which achieves unprecedented performance specifications.

Chladek, John T.↗

NASA NTRS1993

Evolution of the symbiotic binary system AG Pegasi - The slowest classical nova eruption ever recorded

We present an analysis of new and existing photometric and spectroscopic observations of the ongoing eruption in the symbiotic star AG Pegasi, showing that this binary has evolved considerably since the turn of the century. Recent dramatic changes in both the UV continuum and the wind from the hot component allow a more detailed analysis than in previous papers. AG Peg is composed of a normal M3 giant and a hot, compact star embedded in a dense, ionized nebula. The hot component powers the activity observed in this system, including a dense wind and a photoionized region within the outer atmosphere of the red giant. The hot component contracted in radius at roughly constant luminosity from 1850 to 1985. Its bolometric luminosity declined by a factor of about 4 during the past 5 yr. Both the mass loss rate from the hot component and the emission activity decreased in step with the hot component's total luminosity, while photospheric radiation from the red giant companion remained essentially constant.

Kenyon, Scott J.↗

NASA NTRS1994

Manipulating flexible parts using a teleoperated system with time delay: An experiment

This paper reports experiments involving the handling of flexible parts (e.g. wires) when using a teleoperated system with time delay. The task is principally a peg-in-hole task involving the wrapping of a wire around two posts on the task-board. It is difficult to estimate the effects of the flexible parts; therefore, on-line teleoperation is indispensable for this class of unpredictable task. We first propose a teleoperation system based on the predictive image display, then describe an experimental teleoperation testbed with a four second transmission time delay. Finally, we report on wire handling operations that were performed to evaluate the performance of this system. Those experiments will contribute to future advanced experiments for the MITI ETS-7 mission.

Kotoku, T.↗

NASA NTRS1994

Design of teleoperation system with a force-reflecting real-time simulator

We developed a force-reflecting teleoperation system that uses a real-time graphic simulator. This system eliminates the effects of communication time delays in remote robot manipulation. The simulator provides the operator with predictive display and feedback of computed contact forces through a six-degree of freedom (6-DOF) master arm on a real-time basis. With this system, peg-in-hole tasks involving round-trip communication time delays of up to a few seconds were performed at three support levels: a real image alone, a predictive display with a real image, and a real-time graphic simulator with computed-contact-force reflection and a predictive display. The experimental results indicate the best teleoperation efficiency was achieved by using the force-reflecting simulator with two images. The shortest work time, lowest sensor maximum, and a 100 percent success rate were obtained. These results demonstrate the effectiveness of simulated-force-reflecting teleoperation efficiency.

Hirata, Mitsunori↗