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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
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

A kinematic analysis of the Space Station remote manipulator system (SSRMS)

An efficient reverse analysis of three 6-degree-of-freedom (dof) subchains of the 7-dof SSRMS is presented. The first subchain is formed by locking the seventh joint. The second subchain is formed by locking the second joint, while the third subchain is formed by locking the first joint (the grounded joint is counted as the first joint in the chain). There are a maximum of eight different arm configurations in each of the three subchains, and these were determined by employing a computer-efficient algorithm, which required the rooting of only at most quadratic polynomials. The algorithms were implemented, and the SSRMS was employed in an animated environment to perform and practice a number of useful tasks for Space Station servicing. The locking of the second joint has the advantage in that an operator can choose the orientation of the plane that contains the two longest links so as to avoid collisions with obstacles. However, it has the disadvantage that when the second joint angle equals 0 deg or 180 deg, the manipulator is in a singularity configuration. This plane can also be oriented by specifying the first joint angle, so that the plane can be oriented arbitrarily and, in this, the singularity is avoided.

Crane, Carl D., III↗
NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗
NASA NTRS1993

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.

Gettman, Chang-Ching LO↗
NASA NTRS1992

Dynamic analysis to evaluate viscoelastic passive damping augmentation for the Space Shuttle Remote Manipulator System

The effectiveness of constrained viscoelastic layer damping treatment designs is evaluated separately as passive control measures for low frequency joint dominated modes and higher frequency boom flexure dominated modes using a NASTRAN finite element analysis. Passive damping augmentation is proposed which is based on a constrained viscoelastic layer damping treatment applied to the surface of the manipulators's flexible booms. It is pointed out that even the joint compliance dominated modes can be damped to some degree through appropriate design of the treatment.

Alberts, Thomas E.↗
NASA NTRS1995

Certification of a hybrid parameter model of the fully flexible Shuttle Remote Manipulator System

The development of high fidelity models of mechanical systems with flexible components is in flux. Many working models of these devices assume the elastic motion is small and can be superimposed on the overall rigid body motion. A drawback associated with this type of modeling technique is that it is required to regenerate the linear modal model of the device if the elastic motion is sufficiently far from the base rigid motion. An advantage to this type of modeling is that it uses NASTRAN modal data which is the NASA standard means of modal information exchange. A disadvantage to the linear modeling is that it fails to accurately represent large motion of the system, unless constant modal updates are performed. In this study, which is a continuation of a project started last year, the drawback of the currently used modal snapshot modeling technique is addressed in a rigorous fashion by novel and easily applied means.

Barhorst, Alan A.↗
NASA NTRS2003

Parameters Describing Earth Observing Remote Sensing Systems

The Earth science community needs to generate consistent and standard definitions for spatial, spectral, radiometric, and geometric properties describing passive electro-optical Earth observing sensors and their products. The parameters used to describe sensors and to describe their products are often confused. In some cases, parameters for a sensor and for its products are identical; in other cases, these parameters vary widely. Sensor parameters are bound by the fundamental performance of a system, while product parameters describe what is available to the end user. Products are often resampled, edge sharpened, pan-sharpened, or compressed, and can differ drastically from the intrinsic data acquired by the sensor. Because detailed sensor performance information may not be readily available to an international science community, standardization of product parameters is of primary performance. Spatial product parameters described include Modulation Transfer Function (MTF), point spread function, line spread function, edge response, stray light, edge sharpening, aliasing, ringing, and compression effects. Spectral product parameters discussed include full width half maximum, ripple, slope edge, and out-of-band rejection. Radiometric product properties discussed include relative and absolute radiometry, noise equivalent spectral radiance, noise equivalent temperature diffenence, and signal-to-noise ratio. Geometric product properties discussed include geopositional accuracy expressed as CE90, LE90, and root mean square error. Correlated properties discussed include such parameters as band-to-band registration, which is both a spectral and a spatial property. In addition, the proliferation of staring and pushbroom sensor architectures requires new parameters to describe artifacts that are different from traditional cross-track system artifacts. A better understanding of how various system parameters affect product performance is also needed to better ascertain the utility of existing datasets and products as well as to specify the performance of new sensors and products. Examples of simulations performed for the Landsat Data Continuity Mission illustrate how various parameters affect system and product performance. Specific examples include the effects of ground sample distance, MTF, and band-to-band registration on various products.

Zanoni, Vicki↗
NASA NTRS2006

Emerging Techniques for Vicarious Calibration of Visible Through Short Wave Infrared Remote Sensing Systems

Simple field-portable white light LED calibration source shows promise for visible range (420-750 nm) 1) Prototype demonstrated <0.5% drift over 10-40 C temperature range; 2) Additional complexity (more LEDs) will be necessary for extending spectral range into the NIR and SWIR; 3) LED long lifetimes should produce at least several hundreds of hours or more stability, minimizing need for expensive calibrations and supporting long-duration field campaigns; and 4) Enabling technology for developing autonomous sites.

Ryan, Robert E.↗
NASA NTRS1993

Compensation for the Atmosphere in Radiance Measured by the Airborne Visible/Infrared Imaging Spectrometer and Applications to an Advanced Land Remote Sensing System

The Airborne Visible/Infrared Imaging Spectrometer measures spatial images of the total upwelling spectral radiance from 400 to 2500 nm through 10 nm spectral channels. Quantitative research and application objectives for surface investigations require conversion of the measured radiance to surface reflectance or surface leaving radiance. To calculate apparent surface reflectance an estimation of atmospheric water vapor abundance, cirrus cloud effects, surface pressure elevation and aerosol optical depth is also required. Algorithms for the estimation of these parameters from the AVIRIS data themselves are described. Based upon these determined atmospheric parameters we show an example of the calculation of apparent surface reflectance from the AVIRIS-measured radiance using a radiative transfer code.

Airborne Visible/Infrared Imaging Spectrometer AVI↗
NASA NTRS2007

On-Orbit MTF Measurement and Product Quality Monitoring for Commercial Remote Sensing Systems

Initialization and opportunistic targets are chosen that represent the MTF on the spatial domain. Ideal targets have simple mathematical relationships. Determine the MTF of an on-orbit satellite using in-scene targets: Slant-Edge, Line Source, point Source, and Radial Target. Attempt to facilitate the MTF calculation by automatically locating targets of opportunity. Incorporate MTF results into a product quality monitoring architecture.

Person, Steven↗
NASA NTRS2007

Emerging Techniques for Vicarious Calibration of Visible Through Short Wave Infrared Remote Sensing Systems

Autonomous Visible to SWIR ground-based vicarious Cal/Val will be an essential Cal/Val component with such a large number of systems. Radiometrically calibrated spectroradiometers can improve confidence in current ground truth data through validation of radiometric modeling and validation or replacement of traditional sun photometer measurement. They also should enable significant reduction in deployed equipment such as equipment used in traditional sun photometer approaches. Simple, field-portable, white-light LED calibration source shows promise for visible range (420-750 nm). Prototype demonstrated <0.5% drift over 10-40 C temperature range. Additional complexity (more LEDs) will be necessary for extending spectral range into the NIR and SWIR. LED long lifetimes should produce at least several hundreds of hours or more of stability, minimizing the need for expensive calibrations and supporting long-duration field campaigns.

Ryan, Robert E.↗
NASA NTRS2018

Human-Automation Allocations for Current Robotic Space Operations: Space Station Remote Manipulator System

NASA’s Human Research Program’s Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) delineates the uncertainty surrounding crew work with automation and robotics in spaceflight. HARI is concerned with detrimental effects of ineffective user interfaces, system designs and/or functional task allocation on crew performance, potentially compromising mission success and safety. This risk arises because of limited experience with complex automation and robotics in spaceflight. One key knowledge gap within the HARI risk is related to function allocation.

Chang, Mai Lee↗
NASA NTRS1980

The Remote Computer Control (RCC) system

A system to remotely control job flow on a host computer from any touchtone telephone is briefly described. Using this system a computer programmer can submit jobs to a host computer from any touchtone telephone. In addition the system can be instructed by the user to call back when a job is finished. Because of this system every touchtone telephone becomes a conversant computer peripheral. This system known as the Remote Computer Control (RCC) system utilizes touchtone input, touchtone output, voice input, and voice output. The RCC system is microprocessor based and is currently using the INTEL 80/30microcomputer. Using the RCC system a user can submit, cancel, and check the status of jobs on a host computer. The RCC system peripherals consist of a CRT for operator control, a printer for logging all activity, mass storage for the storage of user parameters, and a PROM card for program storage.

Holmes, W.↗
NASA NTRS2015

Human Performance Considerations for Remotely Piloted Aircraft Systems (RPAS)

Successful integration of Remotely Piloted Aircraft Systems (RPAS) into civil airspace will not only require solutions to technical challenges, but will also require that the design and operation of RPAS take into account human limitations and capabilities. Human factors can affect overall system performance whenever the system relies on people to interact with another element of the system. Four types of broad interactions can be described. These are (1) interactions between people and hardware, such as controls and displays; (2) human use of procedures and documentation; (3) impact of the task environment, including lighting, noise and monotony; and lastly, (4) interactions between operational personnel, including communication and coordination. In addition to the human factors that have been identified for conventional aviation, RPAS operations introduce a set of unique human challenges. The purpose of document is to raise human factors issues for consideration by workgroups of the ICAO RPAS panel as they work to develop guidance material and additions to ICAO annexes. It is anticipated that the content of this document will be revised and updated as the work of the panel progresses.

ICAO↗
NASA NTRS1981

International Geoscience and Remote Sensing Symposium, Washington, DC, June 8-10, 1981, Digest. Volumes 1 & 2

Sensors used for the geophysical and remote sensing studies are reviewed; in particular, NIMBUS-7 Scanning Multichannel Microwave Radiometer results are given. Remote sensing analyses consider such areas as hydrology, soil moisture, and planetary surfaces. In addition, Shuttle remote sensing experiments and SAR systems, remote sensing in the thermal infrared, and microwave remote sensing of the earth are considered. Finally, attention is given to lithologic and geobotanical studies, and geophysical sensing techniques and inversion theory.

Source record↗