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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 271 records · Page 15
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NASA NTRSDate not supplied

Development of Data Reduction Methods for Dynamic Stability Tests in a Magnetic Suspension and Balance System

The NASA/ODU 6-inch Magnetic Suspension and Balance System (MSBS) is operational in a “free-to-yaw” configuration in a subsonic wind tunnel. The MSBS hardware has been heavily modified over recent years to utilize a transverse magnetization scheme, with mixed electromagnetic and motion tracking camera position sensors and a relatively sophisticated control system. The project aims to provide a unique test capability for dynamic stability testing of planetary entry capsules, free from support interference. Aerodynamic tests are being conducted, with a focus of validation of the data reduction methods used to extract dynamic stability parameters. The unique complication is the existence of magnetic, aerodynamic, and mass centers, where magnetic, aerodynamic, and inertia forces respectively are resolved. The paper will report on tests of a family of EEV-like geometries, where the conical half-angle varied between 45 and 60 degrees in steps of 3.75 degrees. The paper will present experimental results from the parametric family of EEV-like geometries. Simulation results will also be presented, based on a two or three degree-of-freedom Simulink model. The model allows the exploration of the effects of non-coincident centers and the sensitivity of results arising from uncertainties in location.

Entry Systems Modeling↗
DOE OSTI2024

Evaluation of Global Fire Simulations in CMIP6 Earth System Models

Fire is the primary form of terrestrial ecosystem disturbance on a global scale and an important Earth system process. Most Earth system models (ESMs) have incorporated fire modeling, with 19 of them submitting model outputs of fire-related variables to the Coupled Model Intercomparison Project Phase 6 (CMIP6). This study provides the first comprehensive evaluation of CMIP6 historical fire simulations by comparing them with multiple satellite-based products and charcoal-based historical reconstructions. Our results show that most CMIP6 models simulate the present-day global burned area and fire carbon emissions within the range of satellite-based products. They also capture the major features of observed spatial patterns and seasonal cycles, the relationship of fires with precipitation and population density, and the influence of the El Niño–Southern Oscillation (ENSO) on the interannual variability of tropical fires. Regional fire carbon emissions simulated by the CMIP6 models from 1850 to 2010 generally align with the charcoal-based reconstructions, although there are regional mismatches, such as in southern South America and eastern temperate North America prior to the 1910s and in temperate North America, eastern boreal North America, Europe, and boreal Asia since the 1980s. The CMIP6 simulations have addressed three critical issues identified in CMIP5: (1) the simulated global burned area being less than half of that of the observations, (2) the failure to reproduce the high burned area fraction observed in Africa, and (3) the weak fire seasonal variability. Furthermore, the CMIP6 models exhibit improved accuracy in capturing the observed relationship between fires and both climatic and socioeconomic drivers and better align with the historical long-term trends indicated by charcoal-based reconstructions in most regions worldwide. However, the CMIP6 models still fail to reproduce the decline in global burned area and fire carbon emissions observed over the past 2 decades, mainly attributed to an underestimation of anthropogenic fire suppression, and the spring peak in fires in the Northern Hemisphere midlatitudes, mainly due to an underestimation of crop fires. In addition, the model underestimates the fire sensitivity to wet–dry conditions, indicating the need to improve fuel wet-ness estimation. Based on these findings, we present specific guidance for fire scheme development and suggest a postprocessing methodology for using CMIP6 multi-model outputs to generate reliable fire projection products.

Wildfire, Earth system models↗
NASA NTRS2002

An Efficient Scheme for Updating Sparse Cholesky Factors

Raghavan had earlier developed the software package DCSPACK which can be used for solving sparse linear systems where the coefficient matrix is symmetric and positive definite (this project was not funded by NASA but by agencies such as NSF). DSCPACK-S is the serial code and DSCPACK-P is a parallel implementation suitable for multiprocessors or networks-of-workstations with message passing using MCI. The main algorithm used is the Cholesky factorization of a sparse symmetric positive positive definite matrix A = LL(T). The code can also compute the factorization A = LDL(T). The complexity of the software arises from several factors relating to the sparsity of the matrix A. A sparse N x N matrix A has typically less that cN nonzeroes where c is a small constant. If the matrix were dense, it would have O(N2) nonzeroes. The most complicated part of such sparse Cholesky factorization relates to fill-in, i.e., zeroes in the original matrix that become nonzeroes in the factor L. An efficient implementation depends to a large extent on complex data structures and on techniques from graph theory to reduce, identify, and manage fill. DSCPACK is based on an efficient multifrontal implementation with fill-managing algorithms and implementation arising from earlier research by Raghavan and others. Sparse Cholesky factorization is typically a four step process: (1) ordering to compute a fill-reducing numbering, (2) symbolic factorization to determine the nonzero structure of L, (3) numeric factorization to compute L, and, (4) triangular solution to solve L(T)x = y and Ly = b. The first two steps are symbolic and are performed using the graph of the matrix. The numeric factorization step is of dominant cost and there are several schemes for improving performance by exploiting the nested and dense structure of groups of columns in the factor. The latter are aimed at better utilization of the cache-memory hierarchy on modem processors to prevent cache-misses and provide execution rates (operations/second) that are close to the peak rates for dense matrix computations. Currently, EPISCOPACY is being used in an application at NASA directed by J. Newman and M. James. We propose the implementation of efficient schemes for updating the LL(T) or LDL(T) factors computed in DSCPACK-S to meet the computational requirements of their project. A brief description is provided in the next section.

Raghavan, Padma↗
NASA NTRS1978

Substructuring techniques - Status and projections

Substructuring techniques are examined in terms of their application to structural analysis. Attention is given to multilevel substructuring algorithms, hypermatrix and other sparse matrix schemes, automated design systems, and elasto-plastic problems. Applications include use with computing hardware such as CDC STAR-100 and minicomputer systems.

Noor, A. K.↗
NASA NTRS1990

The semidiscrete Galerkin finite element modeling of compressible viscous flow past an airfoil

The primary project was the numerical simulation, by a finite element/finite difference method, of the viscous flow about an airfoil. The secondary project involved the numerical simulation of the three-dimensional separated and vortex-dominated flow about a hemispherically capped cylinder in the transonic regime. Preliminary calculations were started for the hemisphere-cylinder at 0 and 5 degree angle of attack. The solution of the flow field about airfoils and wings is required to determine the important parameters of lift, moment, and drag. Viscous effects must be accounted for if the drag is to be accurately calculated. At present there are basically two approaches to the numerical simulation of the flow field, the use of fully viscous models and the inviscid/viscous models. The fully viscous models require the solution of an approximation of the Navier-Stokes equations and therefore should simulate most of the physical mechanisms. A fast, accurate, and computationally efficient inviscid flow solver was recently developed by Hartwich. It is thought that Hartwich's program coupled to a fast, accurate, and computationally efficient boundary layer code, will make an excellent tool for airfoil design. The purpose of the primary project was to develop a compressible boundary layer code using the semidiscrete Galerkin finite element method. The numerical scheme employed used the combination of a Dorodnitsyn formulation of the boundary layer equations, with a finite difference/finite element procedure (semidiscrete Galerkin method), in the solution of the compressible two-dimensional boundary layer equations. A laminar compressible boundary layer code was developed and tested for a NACA 0012 airfoil at a Mach number of 0.5, a Reynolds number of 5000, and zero angle of attack. At present the boundary layer program solves up to, but not beyond, separation.

Meade, Andrew J.↗
NASA NTRS1993

On the performance of Trellis coded modulation with octal phase shift keying over the TDRSS channel

As the National Aeronautics and Space Administration moves into the 21st century with programs like Space Station Freedom, a manned mission to Mars, and the new Landsat mission, transmission demands on the Tracking and Data Relay Satellite System (TDRSS) will very likely exceed the available bandwidth. The Manual Lujan, Jr. Center for Space Telemetering and Telecommunications Systems (CSTTS) at New Mexico State University (NMSU) is studying techniques for increasing the data rate capabilities of TDRSS. These techniques include the use of advanced bandwidth efficient modulation formats to increase the data rate that can be sustained in a TDRSS transponder and the use of lossless bandwidth compression of the data to be transmitted to lower the data rate required from the user spacecraft. Based upon current technology the most promising bandwidth efficient modulation technique is Trellis Coded Modulation (TCM) operating with Octal Phase shift Keying (8PSK). Trellis Coded Modulation coding with 8PSK carrier modulation has the capability to increase the data rate which can be transmitted through the TDRSS spacecraft by a factor of 2 to 2.5 times that available with todays coded QPSK systems with only a small penalty in link performance relative to the existing systems. However, before NASA can safely employ TCM coding it is necessary to prove that this complex format can perform on the real TDRSS link as it does in labs and simulation studies. This proof-of-concept test over a live satellite channel was the objective of the construction and testing performed under this task of the NMSU NASA grant referenced above. In conjunction with NASA, NMSU's CSTTS has constructed a system to test a new candidate TDRSS modulation scheme, TCM 8PSK, that can enhance the information throughput of the TDRSS spacecraft. The test system for this project which was constructed over a period of 18 months by NMSU consisted of two racks of commercial and univeristy-designed and -built equipment. This project has included modifications of an existing White Sands Ground Terminal (WSGT) High Rate QPSK Demodulator to demodulate 8PSK as well as the construction of other support hardware. Also, two TCM codecs (coder/decoders) have been constructed to implement two levels of bandwidth efficiency. One was designed and built by the research team at NMSU while the other was created by the University of Notre Dame with the University of South Australia. The NMSU codec achieves a 2-to-1 increase in data rate per unit bandwidth with a coding gain relative to QPSK of about 3dB. The Notre Dame/South Australia codec achieves a 2.5-to-1 increase in data rate per unit of occupied bandwidth and a coding gain of about 2dB.

Osborne, William P.↗
NASA NTRS1995

Removal of the solar component in AVHRR 3.7 micrometer radiances for the retrieval of cirrus cloud parameters

A numerical scheme has been developed to remove the solar component in the Advanced Very High Resolution Radiometer (AVHRR) 3.7- micrometer channel for the retrieval of cirrus parameters during daytime. This method uses a number of prescribed threshold values for AVHRR channels 1 (0.63 micrometer), 2 (0.8 micrometer), 3 (3.7 micrometer), 4 (10.9 micrometer), and 5 (12 micrometer) to separate clear and cloudy pixels. A look-up table relating channels 1 and 3 solar reflectances is subsequently constructed based on the prescribed mean effective ice crystal sizes and satellite geometric parameters. An adding-doubling radiative transfer program has been used to generate numerical values in the construction of the look-up table. Removal of the channel 3 solar component is accomplished by using the look-up table and the measured channel 1 reflectance. The cloud retrieval scheme described in Ou et al. has been modified in connection with the removal program. The authors have applied the removal-retrieval scheme to the AVHRR global area coverage daytime data, collected during the First ISCCP (International Satellite Cloud Climatology Project) Regional Experiment cirrus intensive field observation (FIRE IFO) at 2100 UTC 28 October 1986 over the Wisconsin area. Distributions of the retrieved cloud heights and optical depths are comparable to those determined from Geostationary Operational Environmental Satellite (GOES) visible and IR channels data reported by Minnis et al. Moreover, verifications of the retrieved cirrus temperature and height against lidar data have been carried out using results reported from three FIRE IFO stations. The retrieved cloud heights are within 0.5 km of the measured lidar values.

Rao, N. X.↗
NASA NTRS1998

Locating Biodiversity Data Through The Global Change Master Directory

The Global Change Master Directory (GCMD) presently holds descriptions for almost 7000 data sets held worldwide. The directory's primary purpose is for data discovery. The information provided through the GCMD's Directory Interchange Format (DIF) is the set of information that a researcher would need to determine if a particular data set could be of value. By offering data set descriptions worldwide in many scientific disciplines - including meteorology, oceanography, ecology, geology, hydrology, geophysics, remote sensing, paleoclimate, solar-terrestrial physics, and human dimensions of climate change - the GCMD simplifies the discovery of data sources. Direct linkages to many of the data sets are also provided. In addition, several data set registration tools are offered for populating the directory. To search the directory, one may choose the Guided Search or Free-Text Search. Two experimental interfaces were also made available with the latest software release - one based on a keyword search and another based on a graphical interface. The graphical interface was designed in collaboration with the Human Computer Interaction Laboratory at the University of Maryland. The latest version of the software, Version 6, was released in April, 1998. It features the implementation of a scheme to handle hierarchical data set collections (parent-child relationships); a hierarchical geospatial location search scheme; a Java-based geographic map for conducting geospatial searches; a Related-URL field for project-related data set collections, metadata extensions (such as more detailed inventory information), etc.; a new implementation of the Isite software; a new dataset language field; hyperlinked email addresses, and more. The key to the continued evolution of the GCMD is in the flexibility of the GCMD database, allowing modifications and additions to made relatively easily to maintain currency, thus providing the ability to capitalize on current technology while importing all existing records. Changes are discussed and approved through an online "interoperability" forum. The next major release of the GCMD is scheduled for early 1999 and will include the incorporation of a new matrix-based interface, a rapid valids-based query system; improvement in the operations facility - important for future distributed options; new streamlined code for greater performance and maintainability; improvements in the handling of seven current fields proposed through the interoperability forum (at no expense to the data providers); and the release of DOCmorph, a more robust version of DIFmorph to translate many 'standards' multi-directionally. Issues and actions will also be addressed.

Olsen, Lola M.↗
NASA NTRS2008

Defect Categorization: Making Use of a Decade of Widely Varying Historical Data

This paper describes our experience in aggregating a number of historical datasets containing inspection defect data using different categorizing schemes. Our goal was to make use of the historical data by creating models to guide future development projects. We describe our approach to reconciling the different choices used in the historical datasets to categorize defects, and the challenges we faced. We also present a set of recommendations for others involved in classifying defects.

Shull, Forrest↗
NASA NTRS2013

Automated Design of Propellant-Optimal, End-to-End, Low-Thrust Trajectories for Trojan Asteroid Tours

The Sun-Jupiter Trojan asteroids are celestial bodies of great scientific interest as well as potential resources offering water and other mineral resources for longterm human exploration of the solar system. Previous investigations under this project have addressed the automated design of tours within the asteroid swarm. This investigation expands the current automation scheme by incorporating options for a complete trajectory design approach to the Trojan asteroids. Computational aspects of the design procedure are automated such that end-to-end trajectories are generated with a minimum of human interaction after key elements and constraints associated with a proposed mission concept are specified.

Trojan asteroid↗
DOE OSTI2021

Evaluation and improvement of the parameterization of aerosol hygroscopicity in global climate models using in-situ surface measurements (Final Report)

Aerosols are tiny particles suspended on the atmosphere that can interact with incoming solar radiation and affect the Earth radiative budget. They do so by scattering and absorbing solar radiation, and these properties vary depending on the aerosol size and chemical composition. Moreover, by taking up water from the surrounding air, hygroscopic aerosol particles will grow in size and change their chemical composition, thus modifying their optical properties (scattering and absorption) and their final impact on radiative forcing calculations. An accurate knowledge of aerosol hygroscopicity is crucial for estimating the net radiative impact of aerosols. We took a three-pronged approach to improve our understanding of aerosol hygroscopicity and how it is implemented in Earth system models. In the first part of our project, we developed a benchmark dataset from existing aerosol hygroscopic growth measurements made by tandem nephelometer humidogram systems. We analyzed, using a standardized methodology, observations from 26 in-situ stations around the globe. Measurement data was collected from multiple data providers, reviewed and harmonized to create a consistent dataset of the scattering enhancement factor due to aerosol water uptake. This dataset is archived in several publicly available databases for use by interested researchers. In the second part of the project, we used the benchmark hygroscopicity dataset to perform a global study on aerosol hygroscopicity and aerosol optical properties. Measurements show a global picture of scattering enhancement with larger values for Arctic and marine sites and lower for urban and desert sites. We assessed the RH dependence of aerosol radiative forcing and showed that the overall effect of aerosol hygroscopicity on DARF is an increase in the absolute forcing effect (negative sign) by a factor of up to 4 compared to dry conditions (RH<40%). Finally, we explored using aerosol single scattering albedo (SSA) and scattering Angstrom exponent (SAE) as possible proxies for aerosol hygroscopicity. SSA showed more promise as a surrogate for the scattering enhancement factor than SAE, but neither was ideal. In the third part of the project we evaluated the output of ten Earth system models (ESMs) against the benchmark hygroscopicity dataset. ESMs utilize various schemes for aerosol hygroscopicity which had not been previously tested against observations on a global scale. We found that ESMs currently overestimate scattering enhancement due to hygroscopic growth. Model parameterizations of hygroscopicity and model chemistry are two main factors driving the observed diversity in hygroscopicity simulations among the models. In addition, our study makes several suggestions for modelers, including improving the parameterizations of organic and sea salt aerosol hygroscopicity. Future hygroscopicity model evaluation experiments should include the model data related to particles size which was not available for our study.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1994

Design of a vehicle based system to prevent ozone loss

This project is designed to be completed over a three year period. Overall project goals are: (1) to understand the processes that contribute to stratospheric ozone loss; (2) to determine the best scheme to prevent ozone loss; and (3) to design a vehicle based system to carry out the prevention scheme. The 1993/1994 design objectives included: (1) to review the results of the 1992/1993 design team, including a reevaluation of the key assumptions used; (2) to develop a matrix of baseline vehicle concepts as candidates for the delivery vehicle; and (3) to develop a selection criteria and perform quantitative trade studies to use in the selection of the specific vehicle concept.

Talbot, Matthew D.↗
NASA NTRS2019

The Diurnal Cycle of Precipitation and Organized Convection in a Set of Global Mesoscale Simulations with the NASA GEOS AGCM

The NASA Global Modeling and Assimilation Office (GMAO) has conducted a series of 40-day nonhydrostatic global simulations with horizontal grid spacing ranging from 200 km to 3 km, as part of the DYAMOND model intercomparison project. The Goddard Earth Observing System (GEOS) model was run with the Grell-Freitas scale-aware convection scheme, which smoothly reduces parameterized deep convection with increasing resolution. Here we evaluate the diurnal cycle and other statistics of precipitation and organized convection as a function of resolution. For validation we use the 0.1 degree IMERG precipitation and 4 km Merged IR brightness temperature datasets, focusing on four regions: the continental United States, Amazonia, the equatorial Indian ocean, and the Maritime Continent. Early results indicate good phase agreement but excessive magnitude of the continental diurnal cycle of precipitation at coarser resolutions, with improved magnitude as resolution increases and the role of parameterization is reduced. Convective cloud clusters are identified with a brightness temperature threshold, and we find realistic numbers of the largest clusters (>10^4 km sq) at all resolutions, while the number of smaller clusters increases with resolution, approaching observations when dx=3 km. The observed diurnal cycle in the cluster size distribution is also reproduced, with realistic magnitude in the highest resolution runs. Precipitation characteristics across cluster sizes are also examined. The results show the potential for global mesoscale simulations as a community science resource, and we invite collaboration to explore these runs in greater detail.

Arnold, Nathan↗
DOE OSTI2023

Preliminary Design of a LAMP DTL (Update)

Present report is a continuation of the previously published report LA-UR-23-26600 from 19-Jun-2023 and incorporates the mentioned report as its part. All the additional information is contained in the part III of this report, the DTL Transverse Focusing Scheme. A preliminary Drift Tube Linac (DTL) layout was designed to create an algorithm for developing the conceptual design of the proposed LANSCE Accelerator Modernization Project (LAMP) final section: the proton linear accelerator from 3 MeV to 100 MeV. Preceding reports describe the proposed layouts of the LEBT, the RFQ, and the MEBT subsections of the linac. Initial estimates of the needed RF power for the DTL are also presented in the report. Present report describes the initial layout of the DTL and the first longitudinal beam dynamics (BD) results of the simulations in simplified models. The part III of this report includes the transverse focusing scheme and transverse BD in details.

43 PARTICLE ACCELERATORS↗
DOE OSTI2022

Improved Representation of Horizontal Variability and Turbulence in Mesoscale Simulations of an Extended Cold-Air Pool Event

Abstract Cold-air pools (CAPs), or stable atmospheric boundary layers that form within topographic basins, are associated with poor air quality, hazardous weather, and low wind energy output. Accurate prediction of CAP dynamics presents a challenge for mesoscale forecast models in part because CAPs occur in regions of complex terrain, where traditional turbulence parameterizations may not be appropriate. This study examines the effects of the planetary boundary layer (PBL) scheme and horizontal diffusion treatment on CAP prediction in the Weather Research and Forecasting (WRF) Model. Model runs with a one-dimensional (1D) PBL scheme and Smagorinsky-like horizontal diffusion are compared with runs that use a new three-dimensional (3D) PBL scheme to calculate turbulent fluxes. Simulations are completed in a nested configuration with 3-km/750-m horizontal grid spacing over a 10-day case study in the Columbia River basin, and results are compared with observations from the Second Wind Forecast Improvement Project. Using event-averaged error metrics, potential temperature and wind speed errors are shown to decrease both with increased horizontal grid resolution and with improved treatment of horizontal diffusion over steep terrain. The 3D PBL scheme further reduces errors relative to a standard 1D PBL approach. Error reduction is accentuated during CAP erosion, when turbulent mixing plays a more dominant role in the dynamics. Last, the 3D PBL scheme is shown to reduce near-surface overestimates of turbulence kinetic energy during the CAP event. The sensitivity of turbulence predictions to the master length-scale formulation in the 3D PBL parameterization is also explored. Significance Statement In this article, we demonstrate how a new framework for modeling atmospheric turbulence improves cold pool predictions, using a case study from January 2017 in the Columbia River basin (U.S. Pacific Northwest). Cold pools are regions of cold, stagnant air that form within valleys or basins, and improved forecasts could help to mitigate the risks they pose to air quality, transportation, and wind energy production. For the chosen case study, our tests show a reduction in temperature and wind speed errors by up to a factor of 2–3 relative to standard model options. These results strongly motivate continued development of the framework as well as its application to other complex weather events.

17 WIND ENERGY↗
NASA NTRS2007

Motion Parameters Determination of the SC and Phobos in the Project Phobos-Grunt

The SC "Phobos-Grunt" flight is planned to 2009 in Russia with the purpose to deliver to the Earth the soil samples of the Mars satellite Phobos. The mission will pass under the following scheme [1-4]: the SC flight from the Earth to the Mars, the SC transit on the Mars satellite orbit, the motion round the Mars on the observation orbit and on the quasi-synchronous one [5], landing on Phobos, taking of a ground and start in the direction to the Earth. The implementation of complicated dynamical operations in the Phobos vicinity is foreseen by the project. The SC will be in a disturbance sphere of gravitational fields from the Sun, the Mars and the Phobos. The SC orbit determination is carried out on a totality of trajectory measurements executed from ground tracking stations and measurements of autonomous systems onboard space vehicle relatively the Phobos. As ground measurements the radio engineering measurements of range and range rate are used. There are possible as onboard optical observations of the Phobos by a television system and ranges from the SC up to the Phobos surface by laser locator. As soon as the Phobos orbit accuracy is insufficient for a solution of a problem of landing its orbit determination will be carried out together with determination of the SC orbit. Therefore the algorithms for joint improving of initial conditions of the SC and the Phobos are necessary to determine parameters of the SC relative the Phobos motion within a single dynamical motion model. After putting on the martial satellite orbit, on the Phobos observation orbit, on the quasi-synchronous orbit in the Phobos vicinity the equipment guidance and the following process of the SC orbit determination relatively Phobos requires a priori knowledge of the Phobos orbit parameters with sufficiently high precision. These parameters should be obtained beforehand using both all modern observations and historical ones.

Akim, E. L.↗
DOE OSTI2020

Distributed Minimization of the Power Generation Cost in Prosumer-Based Distribution Networks: Preprint

Traditionally, electrical power was generated in big power plants. The cost of producing energy was related to the cost of fuel, e.g., carbon or gas, and by the cost of maintaining the power plants. With the advent of distributed energy resources, power can be produced directly at the edge of the electrical network by a new type of agents: the prosumers. Prosumers are entities that both consume and generate power, e.g., by means of photovoltaic panels. The cost of the power produced by prosumers is no longer related to fuel consumption since energy coming from distributed generators is essentially free. Rather, the cost is related to the remuneration that is due to the prosumers for the services they provide. The proposed control strategy minimizes the active power generation cost in the aforementioned scenario. The control scheme requires that the prosumers measure their voltage and then adjust the amount of injected power, according to a continuous time feedback control law that is indeed a projected gradient descent strategy. Simulations are provided in order to illustrate the algorithm behavior.

distributed control↗
NASA NTRS1989

Cooperative control of visual displays for telemanipulation

Two cooperative control schemes for telerobot visual displays are addressed. In the first scheme, on-the-screen visual enhancements such as reference lines indicating the vertical height of the robot hand, a stick figure model of the robot hand, and its projection on the horizontal grid plane are constructed by the interactive cooperation between the human operator and the telerobotic system, and then superimposed on the video screen. Experimental results with a five-degree-of-freedom robot and a frame grabber indicate that superimposition of visual enhancements on the video screen greatly improves telemanipulation task performance. In the second scheme, the position and orientation of an object on video screens are determined interactively; these then assist the telerobotic system in executing the human operator's task-level commands autonomously.

Kim, Won S.↗